A positioning apparatus, positioning method and storage medium are described. The walking beam is rigidly attached to the axles and is pivotally coupled to a frame of the vehicle at a location intermediate of the first and second axles. The main injection timing is set so that when the spray stratified by the pre-injection is burned, the fuel spray injected by the main injection passes through the combustion zone while being ignited in the combustion zone, reaches a combustion chamber of the piston, and is burned in the combustion chamber.