The invention provides a vehicle inching control method and device. A brake system is controlled to execute braking operation according to basic braking force to at least keep a target vehicle static,further, a power system is controlled to execute driving operation according to pulse driving force, the brake system is controlled to execute braking operation according to the preset maximum braking force to enable the target vehicle to complete one inching, and finally the target vehicle moves into the preset deviation allowable range of the target position through one or more inching. Based on the vehicle inching control method and device, the vehicle can be controlled to move by minute displacement, and automatic driving vehicle accurate parking is realized.