The embodiment of the invention discloses a vehicle and a control method and device thereof. The control method comprises: detecting whether it is an emergency brake during shifting; and if the emergency brake is detected, calculating a motor torque compensation coefficient according to the brake pedal change rate and the motor rotational speed change rate, and performing motor torque compensationon a motor with the motor torque compensation coefficient. According to the embodiment of the invention, the motor torque compensation is performed by using the brake pedal working condition and themotor rotational speed working condition during shifting, the compensated motor torque takes the rotational speed inertia factor of a motor rotor in the emergency brake into account, thus the phenomenon of failure to shift to the neutral gear in the emergency brake does not occur, the problem that a gearbox fails to shift to the neutral gear caused by the rotational speed inertia factor of the motor rotor in the emergency brake of the existing vehicle is solved, and the phenomena that gears are stuck or the vehicle is decommissioned caused by failure to shift to the neutral gear in the emergency brake of the vehicle are avoided. The vehicle and the control method and device thereof have the advantages of being highly real-time, simple in process and favorable to productization control, thelosses of the gearbox are decreased, and the service life of the gearbox is prolonged.