Embodiments of the present invention disclose a vehicular communication method, including: acquiring a current position of a vehicle; acquiring all fixed APs, the distance from each of which to the current position of the vehicle is smaller than its maximum transmission distance; scanning all the fixed APs in a scheduling period; selecting at least one fixed AP of which signal strength is greater than a preset value in all the fixed APs as a to-be-accessed fixed AP according to the scanning results; and triggering a mobile terminal in the vehicle to respectively access a vehicular AP in the vehicle and the to-be-accessed fixed AP in the scheduling period according to allocated time when an access condition is satisfied. The embodiments of the present invention further disclose a vehicular communication device and system. Through the above technical solutions, the communication bandwidth is increased and bulk data service is supported.