A method for positioning a vehicle, comprising: acquiring (S110, S210, S310) object distribution information collected by a road-side perception device, and determining road-side object distribution information based on the object distribution information collected by the road-side perception device; acquiring (S120, S320) vehicle-side object distribution information, and matching the road-side object distribution information with the vehicle-side object distribution information, the vehicle-side object distribution information referring to distribution information of a surrounding object detected by a target vehicle to be positioned; and determining (S130, S240) location information of the target vehicle according to the matching result, characterised in that the matching the road-side object distribution information with the vehicle-side object distribution information comprises: extracting a first location relationship between objects in the vehicle-side object distribution information and a second location relationship between objects in the road-side object distribution information, wherein the first location relationship and the second location relationship are converted into topological graphs; and matching the first location relationship with the second location relationship, wherein a topological graph consisting of location relationships between objects in vehicle-side object distribution information is matched with a topological graph consisting of location relationships between objects in road-side object distribution information, thus implementing the matching between the road-side object distribution information and the vehicle-side object distribution information. acquiring (S110, S210, S310) object distribution information collected by a road-side perception device, and determining road-side object distribution information based on the object distribution information collected by the road-side perception device; acquiring (S120, S320) vehicle-side object distribution information, and matching the road-side object distribution information with the vehicle-side object distribution information, the vehicle-side object distribution information referring to distribution information of a surrounding object detected by a target vehicle to be positioned; and determining (S130, S240) location information of the target vehicle according to the matching result, characterised in that the matching the road-side object distribution information with the vehicle-side object distribution information comprises: extracting a first location relationship between objects in the vehicle-side object distribution information and a second location relationship between objects in the road-side object distribution information, wherein the first location relationship and the second location relationship are converted into topological graphs; and matching the first location relationship with the second location relationship, wherein a topological graph consisting of location relationships between objects in vehicle-side object distribution information is matched with a topological graph consisting of location relationships between objects in road-side object distribution information, thus implementing the matching between the road-side object distribution information and the vehicle-side object distribution information. extracting a first location relationship between objects in the vehicle-side object distribution information and a second location relationship between objects in the road-side object distribution information, wherein the first location relationship and the second location relationship are converted into topological graphs; and matching the first location relationship with the second location relationship, wherein a topological graph consisting of location relationships between objects in vehicle-side object distribution information is matched with a topological graph consisting of location relationships between objects in road-side object distribution information, thus implementing the matching between the road-side object distribution information and the vehicle-side object distribution information.