The invention provides a vehicle control method and device, control equipment and a vehicle, and the control method comprises the steps: controlling the vehicle to enter a crawling mode and monitoringthe stroke of a push rod of a main cylinder when the vehicle is started; when the stroke of the main cylinder push rod is changed and the vehicle speed is reduced to 0, the current first moment and the first stroke of the main cylinder push rod are obtained, and the stroke of the main cylinder push rod continues to be monitored; when the main cylinder push rod stroke is smaller than the first stroke, controlling the vehicle to run; when the stroke of the main cylinder push rod is larger than the first stroke, judging whether the vehicle meets the short-term parking activation condition, and when the short-term parking activation condition is met, controlling the vehicle to exit from the creeping mode and enter the short-term parking mode; wherein the short-term parking activation condition at least comprises that an accelerator pedal is not stepped down; the current vehicle speed is 0; the time interval between the current moment and the first moment is greater than a preset first duration threshold; and the main cylinder push rod stroke between the current moment and the first moment is greater than 0. According to the method, crawling and other modes can be started only throughthe brake pedal, and operation is easy.