Safety evaluation method and device and vehicle

The embodiment of the invention provides a safety evaluation method and device and a vehicle, the method can be applied to evaluating a first behavior of a first vehicle, and the method comprises the steps that the first time when the first vehicle reaches a first position is acquired, and the first position is a track intersection point of the first vehicle and a first traffic participant caused by the first behavior; acquiring a second time when the first traffic participant arrives at the first position; calculating a first time difference between the first time and the second time; and determining the safety degree of the first behavior according to the first time difference. According to the scheme, the vehicle behavior can be evaluated more comprehensively, and the driving safety of the vehicle can be improved.