The invention provides a method and a system for identifying objects in an unmanned vehicle, a terminal and a storage medium. The method comprises the following steps: S01, capturing perception data in a vehicle; S02, judging whether the current environment in the vehicle is abnormal according to the perception data in the vehicle, and when it is judged that the environment in the vehicle is abnormal, judging abnormal attributes; and S03, correspondingly giving alarm, coordinating passengers, communicating with the passengers or notifying related operators of matters for handling according tothe abnormal attributes. According to the invention, the problems about monitoring, alarming and the like of the environment in a vehicle and objects left in a vehicle under the situation of shared travel and time-sharing leasing of an unmanned vehicle are solved, the service quality of a shared travel service provider is improved, the operation efficiency of the shared travel vehicle is improved,and the experience of a shared travel user is also improved.