The present disclosure relates to an electrical parking control method and device, a readable storage medium and a computer device. The method includes that: when it is detected that a vehicle is in a self-piloting mode and a preset parking control condition is satisfied, a parking switching request message is generated, and sent to a VCU; a parking switching message fed back by the VCU is received, the parking switching message being a message generated when the VCU detects that a vehicle state is executable parking switching; a parking switching signal corresponding to the parking switching message is generated; and the parking switching signal is pushed to an external Electrical Park Brake (EPB) system, the parking switching signal being used to switch a state of the external EPB system, the state including a tightening state and a releasing state.