The invention discloses a vehicle driving experience data extraction method, which comprises the steps of obtaining driving data during vehicle driving, and judging whether the vehicle performs steering operation or not according to the driving data; when the vehicle performs steering operation, judging whether the vehicle is in a stable state or not in the steering operation according to the driving data; and if so, processing and storing the driving data as experience data used in the automatic driving process. According to the method, the driving data in stable steering of a vehicle are obtained and serve as the experience data of automatic driving, so that the situation that the structure of the steering data in automatic driving is single can be well avoided, steering judgment can beconducted through the corresponding experience data in the steering process, the vehicle driving and steering stability is improved, and the vehicle driving safety is kept. The invention further discloses a vehicle driving experience data extraction device and a vehicle, which have the above beneficial effects.