A method for positioning an autonomous vehicle, comprising: matching a current point cloud projected image of a first resolution with a map of the first resolution to generate a first histogram filter based on the matching result, the first histogram filter comprising a first reflection value histogram filter and a first height value histogram filter (301, 302), the matching result comprising probability values obtained by the matching; determining at least two first response areas in the first histogram filter based on probability values of elements in the first histogram filter, comprising: determining a contribution ratio of the first reflection value histogram filter to the at least two first response areas and a contribution ratio of the first height value histogram filter to the at least two first response areas; and determining elements corresponding to the at least two first response areas in the first reflection value histogram filter and the first height value histogram filter respectively based on the contribution ratios, to determine the at least two first response areas, the probability values of the elements corresponding to each of the at least two first response areas being greater than probability values of other elements in the first histogram filter; mapping the at least two first response areas to a pre-established second histogram filter to determine a second response area in the pre-established second histogram filter; determining probability values of elements corresponding to the second response area in the pre-established second histogram filter based on a result of matching a current point cloud projected image of a second resolution with a map of the second resolution, to generate (203, 305) a second histogram filter corresponding to the current point cloud projected image of the second resolution, the first resolution being less than the second resolution; and calculating (204, 306) a weighted average of probability values of target elements in the second histogram filter corresponding to the current point cloud projected image of the second resolution to determine a positioning result of the autonomous vehicle in the map of the second resolution. matching a current point cloud projected image of a first resolution with a map of the first resolution to generate a first histogram filter based on the matching result, the first histogram filter comprising a first reflection value histogram filter and a first height value histogram filter (301, 302), the matching result comprising probability values obtained by the matching; determining at least two first response areas in the first histogram filter based on probability values of elements in the first histogram filter, comprising: determining a contribution ratio of the first reflection value histogram filter to the at least two first response areas and a contribution ratio of the first height value histogram filter to the at least two first response areas; and determining elements corresponding to the at least two first response areas in the first reflection value histogram filter and the first height value histogram filter respectively based on the contribution ratios, to determine the at least two first response areas, the probability values of the elements corresponding to each of the at least two first response areas being greater than probability values of other elements in the first histogram filter; mapping the at least two first response areas to a pre-established second histogram filter to determine a second response area in the pre-established second histogram filter; determining probability values of elements corresponding to the second response area in the pre-established second histogram filter based on a result of matching a current point cloud projected image of a second resolution with a map of the second resolution, to generate (203, 305) a second histogram filter corresponding to the current point cloud projected image of the second resolution, the first resolution being less than the second resolution; and calculating (204, 306) a weighted average of probability values of target elements in the second histogram filter corresponding to the current point cloud projected image of the second resolution to determine a positioning result of the autonomous vehicle in the map of the second resolution.