The invention discloses a vehicle positioning method and system. The positioning system comprises a GPS module, an IMU module, a camera module, a laser module and a controller module. When a vehicle drives in a shielded traffic environment, the positioning precision of the vehicle by the GPS module is lower than a preset positioning precision, the controller module turns on the camera module and the laser module, and preliminary positioning of the vehicle is performed by employing a road environment image acquired by the camera module; a local map corresponding to a preliminary positioning result is determined from a pre-stored map; three-dimensional map reconstruction is performed by employing 3D point cloud data, scanned by the laser module, of a vehicle surrounding environment; and thereconstructed three-dimensional map and the local map are matched to obtain practical position information and course angle information of the vehicle. According to the method and system, problems ofinaccurate positioning and accumulative errors of the GPS module in the shielded traffic environment are effectively avoided, and the accuracy of vehicle positioning is improved.