The invention discloses a traffic jam auxiliary control method, and the method comprises the steps: carrying out lateral control and longitudinal control of a vehicle when the function of a traffic jam auxiliary system is activated; during transverse control, when a lane line exists, controlling a vehicle to run in the middle according to the lane line detected by a vehicle sensor, and when no lane line exists or the lane line is not clear, controlling the vehicle to transversely deviate along with a front vehicle; during longitudinal control, calculating the target vehicle speed of the vehicle according to front vehicle data, carrying out coupling speed limiting control on the target vehicle speed in combination with the road curvature information, the current steering wheel angle and thetarget steering wheel angle obtained through transverse control, controlling the target vehicle speed, and obtaining an expected vehicle acceleration. The vehicle is automatically controlled to carryout acceleration, deceleration, steering and other operations according to environmental perception, transverse and longitudinal coupling control is carried out on the vehicle, the safety and stability of the vehicle during high vehicle speed or curve control are guaranteed, the vehicle can still run along with a front vehicle when a lane line is not clear, and TJA function application scenes aregreatly increased.