Embodiments of the invention disclose a vehicle control method and device based on automatic driving, equipment and a medium. The method includes the following steps: when control abnormality is recognized according to a current vehicle state, a manual intervention prompt is performed; it is determined that a vehicle performs an automatic driving degradation mode according to an input behavior ofa driver; and in the automatic driving degradation mode, according to the control abnormality, and combining a manual control instruction input by the driver and an automatic control instruction generated by an automatic driving system, driving of the vehicle is controlled. The technical scheme of the embodiments solves the problem that when a self-driving vehicle exits automatic driving, the vehicle directly stops running, the driver lacks of intermediate transition from completely not participating in vehicle control to safely controlling the vehicle, achieves that when a driving level of adriverless vehicle needs to be rolled back, if conditions are possible, rollback of moderate degradation is performed to reduce the burden of the driver, and is beneficial to maintain the safety effect.