A secure startup method includes: sending startup information to an auxiliary controller, where the auxiliary controller includes a secure storage unit that stores first public key information and the secure storage unit has a tamper resistance function. The first public key information authenticates a target controller and the startup information triggers the auxiliary controller to authenticate a first program of the target controller. The target controller receives challenge information sent by the auxiliary controller, obtains response information based on the challenge information and sends the response information to the auxiliary controller.