A vehicle positioning method, characterized in that, the method comprises: identifying a site entrance; acquiring an indoor semantic map of the site according to the site entrance, the indoor semantic map comprising semantic feature points of the site, wherein the semantic feature points are semantic and recognizable feature points in a road, comprising at least one of: speed bumps, entry and exit slope points, road connection points, parking places, obstacle positions, and wherein the indoor semantic map is a map composed of semantic feature points and mutual relationships of the semantic feature points; correcting positioning information of the vehicle in the indoor semantic map according to the semantic feature points acquired during the movement of the vehicle, comprising: identifying the semantic feature points according to movement data obtained during the movement; and correcting the positioning information of the vehicle according to the semantic feature points, wherein the movement data comprises a vehicle speed, an observed quantity of an IMU, an angle of a steering wheel, and a body posture of the vehicle, and identifying the semantic feature points comprises: identifying the entry and exit slope points according to the body posture of the vehicle and the observed quantity of the IMU; identifying the speed bump according to the vehicle speed and the observed quantity of the IMU; and identifying the road connection point according to the angle of the steering wheel and the observed quantity of the IMU; and acquiring the positioning information of the vehicle according to movement information of the vehicle relative to a previous semantic feature point. identifying a site entrance; acquiring an indoor semantic map of the site according to the site entrance, the indoor semantic map comprising semantic feature points of the site, wherein the semantic feature points are semantic and recognizable feature points in a road, comprising at least one of: speed bumps, entry and exit slope points, road connection points, parking places, obstacle positions, and wherein the indoor semantic map is a map composed of semantic feature points and mutual relationships of the semantic feature points; correcting positioning information of the vehicle in the indoor semantic map according to the semantic feature points acquired during the movement of the vehicle, comprising: identifying the semantic feature points according to movement data obtained during the movement; and correcting the positioning information of the vehicle according to the semantic feature points, wherein the movement data comprises a vehicle speed, an observed quantity of an IMU, an angle of a steering wheel, and a body posture of the vehicle, and identifying the semantic feature points comprises: identifying the entry and exit slope points according to the body posture of the vehicle and the observed quantity of the IMU; identifying the speed bump according to the vehicle speed and the observed quantity of the IMU; and identifying the road connection point according to the angle of the steering wheel and the observed quantity of the IMU; and identifying the semantic feature points according to movement data obtained during the movement; and correcting the positioning information of the vehicle according to the semantic feature points, wherein the movement data comprises a vehicle speed, an observed quantity of an IMU, an angle of a steering wheel, and a body posture of the vehicle, and identifying the semantic feature points comprises: identifying the entry and exit slope points according to the body posture of the vehicle and the observed quantity of the IMU; identifying the speed bump according to the vehicle speed and the observed quantity of the IMU; and identifying the road connection point according to the angle of the steering wheel and the observed quantity of the IMU; and identifying the entry and exit slope points according to the body posture of the vehicle and the observed quantity of the IMU; identifying the speed bump according to the vehicle speed and the observed quantity of the IMU; and identifying the road connection point according to the angle of the steering wheel and the observed quantity of the IMU; and acquiring the positioning information of the vehicle according to movement information of the vehicle relative to a previous semantic feature point.