Vehicle pose determination method and device, equipment and storage medium

The embodiment of the invention provides a vehicle pose determination method and device, equipment and a storage medium. The method comprises the following steps: acquiring a to-be-processed area corresponding to a first actual positioning mark detected by a vehicle in a target scene at a previous moment; setting an expected positioning mark in the to-be-processed area; acquiring laser point cloud data falling into the to-be-processed area at the current moment; determining at least one second actual positioning mark according to the laser point cloud data; determining a target positioning mark according to the at least one second actual positioning mark and the expected positioning mark; and determining pose information of the vehicle according to the target positioning mark. According to the embodiment of the invention, the at least one second actual positioning mark is determined through the laser point cloud data falling into the to-be-processed area, and the target positioning mark is determined accordin