Abstract: The present disclosure provides a vehicle control method, an apparatus and a system, applied to a terminal control device in a vehicle. The terminal control device is in communication connection to a human-machine interface device, and the vehicle comprises a plurality of executive mechanisms. The method comprises: when a start instruction for a target function is monitored, receiving current gesture data sent by the human-machine interface device; and when the current gesture data meets a preset condition, generating a target control instruction according to the current gesture data, and sending the target control instruction to a target executive mechanism for the target executive mechanism to execute an operation corresponding to the current gesture data.