The invention provides a train door opening and closing control method, device and system. The method comprises the following steps of: obtaining a target object, a vehicle on-plate controller (VOBC)obtains a remote door opening and closing instruction from an automatic train supervision (ATS), and the VOBC determines whether an execution condition corresponding to the remote door opening and closing instruction is met or not according to the operation state of the train, and if the operation state of the train meets the execution condition, the VOBC executes the door opening process or the door closing process according to the remote door opening and closing instruction. The operation state of a train is detected through the VOBC with a high safety integrity level, whether an execution condition corresponding to the remote door opening and closing instruction is met is determined, remote door opening and closing control is then carried out, the accuracy of judgment of the door opening and closing instruction execution condition is improved, and the problems that in the related art, whether the train meets the execution condition corresponding to the remote door opening and closing instruction or not is determined through the ATS, due to the low safety integrity level of the ATS, judgment of the remote door opening and closing execution condition is inaccurate, misoperation iscaused, and potential safety hazards are generated are solved.