Vehicle positioning method and device, vehicle and storage medium

The embodiment of the invention discloses a vehicle positioning method and device, a vehicle and a storage medium, and the method comprises the steps: determining the image matching degree through determining the distance between a first feature point of a point cloud image with the same object type and a target feature point of each prediction image corresponding to each prediction pose; the predicted image corresponds to the predicted pose, and the point cloud image corresponds to the current pose of the vehicle, so that the image matching degree can be used for indicating the matching degree of the predicted pose and the current pose, and the target pose of the vehicle is determined according to the image matching degree. According to the positioning method, the positioning information in the satellite map is utilized, the accumulative error of long-term positioning of the vehicle is reduced, and the positioning accuracy is improved. 本申请实施例公开一种交通工具的定位方法、装置、交通工具及存储介质，该交通工具的定位方法通过确定对象类型相同的点云图像的第一特征点与各预测位姿对应的