The invention discloses a vehicle positioning system, method and devices. Thus, the problems in the prior art that vehicles or objects cannot perform accurate positioning in scenes that have many shelters or weak signals can be solved. The method includes the following steps: obtaining prestored positioning information in a road side device during the driving of a vehicle, wherein the positioninginformation includes the direction information and/or position information of positions where the road side device is located; and determining the current position of the vehicle according to the position information determined by a vehicle positioning device and the positioning information obtained from the road side device.