The invention discloses a recessive blind zone sensing method based on a vehicle-mounted virtual radar, a system and a vehicle. The method comprises the following steps: acquiring a cooperative sensing message of this vehicle; checking a packet loss condition of the cooperative sensing message, and acquiring an address of a packet loss message in the cooperative sensing message; establishing a this vehicle packet loss retransmission request containing a packet loss retransmission request sequence according to the address of the packet loss message in the cooperative sensing message; acquiring an neighbor vehicle packet loss retransmission request containing the packet loss retransmission request sequence of the neighbor vehicle; ordering the times of the neighbor vehicle packet loss retransmission requests from high to low; selecting each cooperative sensing message corresponding to the neighbor vehicle packet loss retransmission request ordered in front of a setting position; sending this vehicle packet loss retransmission request and the selected cooperative sensing message to the neighbor vehicle in an appendant way so that this vehicle and the neighbor vehicle respectively acquire the cooperative sensing message of packet loss. The recessive blind zone of the vehicle can be reliably and real-time sensed under a distributed broadcast mode while improving the communication throughput rate of the dynamic vehicle.