The location and allocation of emergency supplies are an important part of emergency rescue work. The existing emergency location and allocation process is inefficient, costly, and neglects the psychology of victims. To improve the emergency relief work and solve the current problems, this paper introduces the victims’ pain perception cost into the model, takes the lowest cost of the whole emergency rescue system as the goal, constructs a government–enterprise joint emergency material location–allocation model, and uses the simulated annealing algorithm to solve the model. This paper takes the 2008 Wenchuan earthquake in Sichuan Province as the background and verifies the validity and rationality of the model through a comparative analysis of case simulations. The results show that the model and algorithm can effectively solve the emergency supplies location–allocation problem considering the victims’ pain perception, reflecting the idea of human-centered sustainable development and providing support for building a sustainable emergency relief system.