The invention discloses an intelligent parking braking and auxiliary starting control method, which includes steps of firstly, initializing an intelligent parking braking controller and reading control parameters stored in a single-chip microcomputer, secondly, reading a vehicular speed signal V, a brake pedal travelling signal Db, an accelerator pedal travelling signal Da, a transmission gear signal Js, an ignition key door switch signal Key, an enable switch signal Button, a front wheel speed signal wf, a rear wheel speed signal wr and a gradient signal Sa, thirdly, invoking and performing an intelligent parking control procedure, an auxiliary starting control procedure, a parking brake automatic retracting control procedure, a long-term parking control procedure, an emergency braking control procedure or manual reset cutting-off control procedure according to the read signals and fulfilled response conditions, fourthly, converting the target torque of a motor according to the motor target braking force calculated from the control procedures, fifthly, calculating the target rotor current of the motor according to the obtained target torque of the motor, and sixthly, controlling the duty ratio of a motor PWM (pulse width modulation) driving control circuit according to the target rotor current of the motor.