The invention is suitable for the technical field of automobile electronics, and provides an unmanned vehicle navigation method, device, and equipment based on a vector map and a storage medium. The method comprises the following steps: when an unmanned vehicle navigation request is received, acquiring the real-time position of the unmanned vehicle traveling in the current running lane of the pre-planned optimal global path through a GPS sensor; when it is detected that there is a turn ahead the current running lane, calculating the course angle when the unmanned vehicle runs on the turning road section in the current running lane according to the real-time position, the pre-recorded vector map and the optimal global path; adjusting the running track of the unmanned vehicle in the currentrunning lane according to the real-time position and the course angle, so that the unmanned vehicle can run according to the trajectory of the optimal global path. Therefore, the accuracy and the precision of the unmanned vehicle navigation based on the vector map are improved, and the running safety of the unmanned vehicle is improved.