The invention discloses a complete-vehicle control method and a complete-vehicle controller of an intelligent vehicle. The method includes the steps that after a BSP is initialized and a system is initialized, a main task of the system is created; after system parameters are initialized, unit sub-tasks are created in the main task of the system; according to the priorities of the unit sub-tasks, time slice round-robin scheduling is performed; a time slice comprises a preset mode and/or a user-defined mode. Different task priorities can be distributed among the unit sub-tasks of the vehicle according to the importance of events, time slice round-robin scheduling is adopted for circulation, operation time of all the tasks is reasonably distributed, the requirement for real-time performance is met, in addition, the multi-task performance can be used for integrating part of intelligent unit modules into the complete-vehicle controller, in this way, the cost of each unit module is lowered, space inside the vehicle is saved, and communication faults among the modules are reduced.