Insulation detection method, insulation detection device, insulation detection system and vehicle

The invention discloses an insulation detection method, an insulation detection device, an insulation detection system, a vehicle and a computer readable storage medium, and belongs to the technical field of insulation detection. The invention provides an insulation detection method applied to an insulation bridge arm circuit, and the method comprises the steps: obtaining a voltage data set of the insulation bridge arm circuit in a plurality of stages in a single-side detection period; determining a confidence coefficient corresponding to each voltage data set; determining a target voltage data set meeting a confidence condition according to the confidence and the voltage data set; and performing insulation resistance calculation according to the target voltage data set. According to the insulation detection method, the single-side detection period is divided into a plurality of stages, the confidence coefficient of the voltage data set in each stage is calculated, the target voltage data set meeting the confidence condition is adopted for insulation resistance calculation, unreliable data is removed, and the insulation detection precision under various working conditions can be improved.