The invention discloses a
tractor and trailer positioning method and
system, a storage medium and a vehicle, and the method comprises the following steps: fixing an
identification plate base on the front surface of a semitrailer, arranging an
identification plate on the
identification plate base, collecting the
point cloud data of the semitrailer and the
tractor in an unhooking state, building a
minimum bounding box, calculating the
point cloud data, and determining the position of the semitrailer and the trailer. Obtaining a first center coordinate of the identification plate; setting small
neighborhood search according to the obtained first center coordinate of the identification plate, performing
plane equation fitting on
point cloud data obtained by the small
neighborhood search, and calculating a normal vector of the front surface of the trailer; setting a large
neighborhood search according to the obtained first center coordinate of the identification plate, classifying and sorting point
cloud data obtained by the large neighborhood search, and screening the point
cloud data on a plane and the wiring harness thereof; and searching boundary points of the wire harnesses corresponding to the width of the base of the identification plate, screening the wire harnesses on the plane, and calculating to obtain a secondary center coordinate of the identification plate. Therefore, the relative position of the
tractor and the trailer can be quickly and accurately determined.