| 摘要 |
PURPOSE:To highly accurately correct the present position by using a shape of a running locus of a moving body obtained actually as it is and searching a road on a road map which coincides therewith, aligning the running locus with its road and executing a correction of the present position of the moving body. CONSTITUTION:In an area (oblique lines in the figure) on a road map corresponding to one cell in a three-dimensional space consisting of search parameters (p), (q) and phi, if a road exists in its area, a voting number '1' is added to the corresponding cell. Also, since each value of the search parameters (p), (q) and phi is derived, a road which coincides with a shape of a running locus of a moving body is searched from in the road map. By allowing the running locus to be subjected to parallel movement and rotation so as to be aligned with its searched road, a correction of the present position of the moving body deviated from the road on the map is executed. |
