Vehicle positioning method, device and equipment and storage medium

The invention discloses a vehicle positioning method, device and equipment and a storage medium. The method is executed by a low-configuration vehicle client, and comprises the following steps: in response to a positioning event of a low-configuration vehicle, sending a global map acquisition request to a cloud to instruct the cloud to interact with a preset high-configuration vehicle client, generating a global map and sending the global map to the low-configuration vehicle client; obtaining a global map sent by the cloud, and adopting a preset low-configuration perception sensor to perceive the surrounding environment so as to generate a first perception result; according to the first sensing result, matching is carried out in the global map, and position information of the vehicle in the global map is determined, so that accurate positioning of the low-configuration vehicle is achieved. According to the technical scheme provided by the invention, the low-configuration vehicle client can effectively utilize