The invention discloses a vehicle and vehicle control method and device. A specific implementation manner of the vehicle comprises a sensor, a decision-making device and a control device, wherein the sensor is arranged on a brake pedal of the vehicle and is used for detecting pre-set operation aiming at the brake pedal when the vehicle is at an automatic driving mode; the decision-making device is used for generating a control signal for quitting the automatic driving mode of the vehicle based on the detected pre-set operation; and the control part is used for switching the vehicle from the automatic driving mode to a manual driving mode according to the control signal. The implementation manner realizes smooth switching of the driving modes.