A control method for a vehicle is disclosed. The vehicle includes an in-vehicle controller, the in-vehicle controller pre-stores an instruction relationship, and the instruction relationship is used to represent an execution selection that is made by the in-vehicle controller from contrary instructions of at least two controllers. The method includes: receiving, by the in-vehicle controller, a first instruction and a second instruction (S410); and determining, by the in-vehicle controller, a vehicle control instruction according to the instruction relationship, the first instruction, and the second instruction (S420).