Lane level positioning method and system based on positioning and visual technology fusion

The invention discloses a lane level positioning method and system based on positioning and visual technology fusion, and the method comprises the steps: enabling a real distance between a vehicle center point and a rightmost lane line, which is obtained by high-precision positioning equipment, and a pixel distance between the vehicle center point and the rightmost lane line in an image, which is obtained by video equipment, to serve as input values of data fusion, adopting a data fusion method combining naive Bayes and a D-S evidence theory to output a judgment result of a lane where a current vehicle is located, so that external environment interference during traditional single-device lane-level positioning work is avoided, and the robustness and accuracy of lane-level positioning are improved. According to the invention, the Beidou satellite coordinate precision is improved to centimeter level by using high-precision positioning equipment, and precise and high-robustness lane-level positioning is realized