Disclosed is a lane level navigation method. High-precision positioning is performed on a vehicle and a road segment where the vehicle is located, and the high-precision positioning accuracy is not lower than the
centimeter level. The method comprises the following steps that S20, a
navigation path is planned for the vehicle according to road information and
road condition information; S21, whether the distance between the vehicle and the nearest road intersection in the driving direction of the
navigation path is smaller than or equal to a preset value or not is monitored in real time, if yes, the step S22 is executed; if not, the step S21 is executed continuously; S22, lane matching is performed; S23, whether the vehicle is located on the correct lane or not is judged, and the correct lane is a driving lane planned by a navigation center on the
navigation path; if yes, the step S21 is executed again; if not, the step S24 is executed; S24, the path is planned to guide the vehicle into the correct lane, and after the vehicle passes through the road intersection, the step S21 is executed again. The lane level positioning method and
system have the advantages that the positioning precision is high, the lane where the vehicle is located can be obtained in real time, the vehicle is planned and guided in real time to enter the correct lane, and the vehicle is not likely to miss the intersection where the vehicle needs to steer.