A voice control method for controlling functions of a vehicle including: creating a voice instruction set including voice instructions for converting interface elements associated with related vehicle functions into voice-controllable elements without any wake-up word; acquiring one or more interface elements currently presented on a human-machine interface (HMI) of the vehicle; extracting a voice instruction corresponding to the acquired one or more interface elements from the voice instruction set; and outputting the voice instruction to a speech engine, so that the speech engine processes a voice signal detected in the vehicle according to the voice instruction.