分析了当前无人驾驶汽车发展现状,在比较几种目前常用隧道无人驾驶导航技术之后,介绍了LED室内定位原理及其在隧道、城市地铁等领域应用的可行性,详细分析了基于LED定位技术在隧道内为无人驾驶车辆导航的过程及相关公式的推导。 After analyzing the current unmanned navigation technologies in tunnels, this paper introduces the indoor positioning principle of LED and its feasibility in tunnels and metros, and analyzes the LED positioning based on LED Technology in the tunnel for unmanned vehicles navigation process and derivation of the formula.