A vehicle positioning method, comprising the following steps: obtaining current location coordinates of a vehicle, and selecting candidate areas within a preset distance according to the current location coordinates of the vehicle (S1); obtaining historical location coordinates of the vehicle within a preset time, and selecting a first candidate area from the candidate areas according to the historical location coordinates of the vehicle (S2); and judging whether the vehicle enters the first candidate area to determine the current location of the vehicle (S3), characterized in that , judging whether the vehicle enters the first candidate area (S3) comprises: obtaining a vector in a direction entering the first candidate area at an entrance of the first candidate area to serve as a first vector; obtaining a driving vector of the vehicle at the entrance of the first candidate area to serve as a second vector, comprising obtaining a coordinate point at which the vehicle passes through the entrance of the first candidate area within the preset time to serve as the starting point of the second vector; and starting from the starting point of the second vector, selecting the next driving trajectory point in the historical trajectory of the vehicle to serve as the end point of the second vector, so as to obtain the second vector; and calculating an included angle between the first vector and the second vector, and judging whether the vehicle enters the first candidate area according to the included angle. obtaining current location coordinates of a vehicle, and selecting candidate areas within a preset distance according to the current location coordinates of the vehicle (S1); obtaining historical location coordinates of the vehicle within a preset time, and selecting a first candidate area from the candidate areas according to the historical location coordinates of the vehicle (S2); and judging whether the vehicle enters the first candidate area to determine the current location of the vehicle (S3), characterized in that , judging whether the vehicle enters the first candidate area (S3) comprises: obtaining a vector in a direction entering the first candidate area at an entrance of the first candidate area to serve as a first vector; obtaining a driving vector of the vehicle at the entrance of the first candidate area to serve as a second vector, comprising obtaining a coordinate point at which the vehicle passes through the entrance of the first candidate area within the preset time to serve as the starting point of the second vector; and starting from the starting point of the second vector, selecting the next driving trajectory point in the historical trajectory of the vehicle to serve as the end point of the second vector, so as to obtain the second vector; and calculating an included angle between the first vector and the second vector, and judging whether the vehicle enters the first candidate area according to the included angle. obtaining a vector in a direction entering the first candidate area at an entrance of the first candidate area to serve as a first vector; obtaining a driving vector of the vehicle at the entrance of the first candidate area to serve as a second vector, comprising obtaining a coordinate point at which the vehicle passes through the entrance of the first candidate area within the preset time to serve as the starting point of the second vector; and starting from the starting point of the second vector, selecting the next driving trajectory point in the historical trajectory of the vehicle to serve as the end point of the second vector, so as to obtain the second vector; and calculating an included angle between the first vector and the second vector, and judging whether the vehicle enters the first candidate area according to the included angle. <EOS>