Vehicle position determination method and device, radar and storage medium

The invention provides a vehicle position determination method and device, a radar and a storage medium. The method comprises the following steps: acquiring M frames of echo signals corresponding to the radar by taking M frames as frame lengths; wherein each frame of echo signal in the M frames of echo signals comprises a plurality of echo signals; the plurality of echo signals are single-frame echo signals reflected by a vehicle on a target road, and the target road is a road detected by the radar; determining the lane of the vehicle on the target road in each frame of echo signal according to the M frames of echo signals; if the lane where the vehicle is located on the target road comprises the first lane and the adjacent lane of the first lane, calculating probability values of the vehicle on the first lane and the adjacent lane in each frame of echo signal according to the M frames of echo signals; wherein the first lane is a lane where the vehicle is determined according to a previous frame of echo signa