Steering wheel state detection method and device and vehicle

The invention relates to a steering wheel state detection method and device and a vehicle and relates to the technical field of intelligent auxiliary driving, and the method comprises the steps that multiple pieces of first torque information, continuously obtained by an EPS, of a steering wheel are monitored; in response to the fact that the difference between the multiple pieces of first torque information is larger than a set difference threshold value, target duration is determined according to the obtaining moments of the multiple pieces of first torque information; under the condition that the target duration is greater than a first set duration threshold value, sending a steering wheel vibration request to the EPS; monitoring second torque information of the steering wheel obtained by the EPS in the vibration state of the steering wheel; and according to the second torque information, determining whether the steering wheel is in a hand release state, so that when whether the steering wheel is in the ha