The present disclosure provides a vehicle positioning method, including: a first controller synchronously controlling each first beacon node to send a detection initial signal; a second controller determining a target beacon node among second beacon nodes and controlling the target beacon node to send a detection feedback signal; the first controller synchronously controlling each first beacon node to send a corresponding detection signal to be responded and recording a first moment of sending the detection signal to be responded; the second controller controlling the target beacon node to send a detection response signal; the first controller recording a second moment of receiving the detection response signal and determining a distance between each first beacon node and the target beacon node according to the first moment and the second moment, so as to determine a position of the target beacon node relative to the first vehicle.