LANE-LEVEL POSITIONING

A lane-level positioning method and apparatus, a device, a vehicle, and a medium are provided. The method includes: obtaining map road information and visual perception road information of surroundings of a vehicle based on positioning information of the vehicle; determining a plurality of candidate lanes based on the positioning information; determining a topological recursion probability of the vehicle being in each of the candidate lanes by utilizing the map road information; determining a perception observation probability of the vehicle being in each of the candidate lanes by utilizing the visual perception road information; determining a positioning probability of the vehicle being in each of the candidate lanes by utilizing the positioning information; determining a target lane the vehicle is in from the plurality of candidate lanes based on the topological recursion probability, the perception observation probability, and the positioning probability of the vehicle being in each of the candidate lanes.