This application discloses a vehicle control method, apparatus, and system, and relates to the field of autonomous driving technologies. The method includes: determining a target vehicle, where the target vehicle is located in a first parking location; obtaining a topological relationship, where the topological relationship indicates an association relationship between multi-level parking locations, the multi-level parking locations include a first-level parking location and a second-level parking location, the first-level parking location includes the first parking location, and the second-level parking location includes at least one downstream parking location of the first parking location; allocating a second parking location to the target vehicle based on the topological relationship, where the second parking location is an idle parking location in the second-level parking location; and indicating the target vehicle to move from the first parking location to the second parking location. According to the method, vehicle resources are flexibly scheduled.