The present invention discloses a vehicle control method, apparatus and terminal, a vehicle, a server and a system. The method comprises detecting an identity identification card of a user; sending an authentication request to a vehicle server on basis of the identity identification card of the user and receiving a session token of the vehicle server; if a session token of a cloud service request is successfully authenticated on basis of a certificate encryption key, encrypting identity identification card information through the session token, and sending the identity identification card information encrypted by the session token to the vehicle server; if the user is an authorized application user of the vehicle, encrypting authorization application information through the session token by the vehicle server and sending the authorization application information to the vehicle; receiving the authorization application information encrypted through the session token by the vehicle server, decrypting the authorization application information through the session token, and authorizing the user to control the vehicle so that the user can use the vehicle. According to the method, the apparatus, the terminal, the vehicle, the server and the system, the user can use the vehicle conveniently, and information safety is ensured.