Aiming at the problem of confidential determination of the positional relationship between automatic guided vehicle (AGV) and elliptical forbidden area in intelligent warehousing, this paper transforms the problem into the problem of confidential determination of the positional relationship between a point and an ellipse and proposes a determination scheme based on a secure multi-party computation, which utilizes Paillier encryption algorithm to substitute the point coordinates into the elliptical general-form equations and realizes the confidential determination of the positional relationship by the sign of the computation results. Firstly, the confidential determination protocol of the positional relationship between point and ellipse under the semi-honest model is designed, based on which the potential malicious attack behaviors are analyzed in depth, including malicious behaviors such as the malicious adversary forging the calculation results or terminating the protocol. In response to these malicious behaviors, a confidentiality determination procedure was created using a malicious model and encryption techniques including zero-knowledge proofs and the cut-and-choose. The efficiency of the strategy suggested in this study has greatly increased after an analysis of its correctness, likelihood of successful attacks by malevolent adversaries, and efficiency.