With the rapid development of the automotive industry, cars have been widely popularized as daily means of transportation, and the demand for vehicle driving safety performance has emerged accordingly. Among them, the braking function and parking safety of vehicles are the most important safety performance indicators. When the electronic gear shifting system of the entire vehicle malfunctions, drivers often fail to notice it. Moreover, due to the failure to identify the fault in time, they do not take active braking measures, which can easily lead to the vehicle rolling back and surging forward, thereby causing damage to the lives and property of drivers and the public. This paper proposes a braking control scheme for parking gear faults. After detecting faults in the vehicle's electronic shift system, the transmission controller determines the vehicle's safe braking state and automatically parks the vehicle in this state to control it to maintain braking. This avoids the problem of the vehicle rolling back and sudden acceleration when the driver does not take active braking measures. It has greatly protected the safety of drivers and the public.