The invention relates to a trackside auxiliary positioning method, device, equipment and medium for an out-of-position train, and the method comprises the steps: S1, after the train is out of position, an operator terminal sends an instruction of switching to an RSRM driving mode to vehicle-mounted equipment through an ATS; s2, the vehicle-mounted equipment prepares to be switched to an RSRM driving mode after receiving the ATS instruction, and sends an operation request of the RSRM driving mode to a corresponding ZC; s3, after the ZC receives the effective RSRM driving mode operation request message, auxiliary positioning is calculated for the train, and the auxiliary positioning is sent to the vehicle-mounted equipment; s4, the vehicle-mounted equipment constructs self-safety positioning position information according to the auxiliary positioning information sent by the ZC, and interacts with the corresponding ZC through a positioning position message subsequently; and S5, after the ZC receives the positioning position message of the train in the RSRM driving mode, calculating normal movement authorization for the train according to the set logic. Compared with the prior art, the method has the advantages that the operation efficiency of the unmanned train is improved, and the like.