The invention relates to the technical field of automatic control, and provides a vehicle positioning device, a vehicle positioning system and a vehicle. The vehicle positioning device is operated based on a plurality of signal transmitting units, and comprises: at least two communication units which are arranged on a vehicle and used for receiving signals of the plurality of signal transmitting units, wherein at least two communication units are arranged at intervals; a processing unit which is used for determining the coordinate of each communication unit according to the time when each communication unit in the at least two communication units receives the signal of each signal transmitting unit in the plurality of signal transmitting units and the coordinate of each signal transmittingunit and determining the course angle of the vehicle according to the coordinate of each communication unit. The vehicle positioning device provided by the invention can realize accurate measurementof the course angle.