The invention discloses an upper limb rehabilitation training method based on virtual driving experience. The method comprises the steps of 1 user account login, wherein a login button is clicked, a login request is submitted, correctness of a user password is inspected, login is allowed if the user password is correct, and login is conducted again if the user password is not correct; 2 training mechanism data collection, wherein a PC collects data of a lower computer through a USB in real time; 3 driving task execution, wherein a training mode and a training difficulty level are selected, the direction and the speed of a virtual vehicle or ship or plane are updated according to data sent by the lower computer, and a training task is completed; 4 training scoring, wherein comprehensive scoring is conducted through a virtual reality game, and meanwhile a training effect is achieved; 5 history training data query, wherein a query button is clicked to call database data, and the data is displayed. According to the method, motion of an upper limb rehabilitation training mechanism is combined with a virtual environment, sensory stimuli such as music, pictures and language notes are added into the upper limb virtual reality rehabilitation training process, and therefore the training positivity and the training effect of a patient can be improved more effectively.