| 摘要 |
PURPOSE:To indicate the position of a vehicle accurately by determining the largest curvature among curvatures calculated by a curvature calculating means and then determining the maximum curvature point representative of the position of maximum curvature. CONSTITUTION:A first decision means decides that a target feature point is an intersection, thereby, deciding that a vehicle is passing the intersection. A second decision means decides that the maximum curvature is larger than a predetermined value when the vehicle is running, thereby, deciding that the vehicle is not running straight at the intersection but turning to the right or left. Subsequently, a third decision means decides that the position where the maximum curvature is calculated is present within a predetermined range being set at the target feature point thus deciding that the maximum curvature point is present at an intersection in viewpoint of orientation and position. When the decisions of first to third decision means are entirely true, an operating means updates the reference position for starting the operation to the intersection. |
