| 摘要 |
The present invention estimates a driving lane in which a vehicle is traveling by a driving lane estimating unit (14) on the basis of map information, present location information of the vehicle, and white line information relating to a white line that divides the road through which the vehicle is traveling. The driving lane estimating unit (14) estimates the driving lane on the basis of a driving lane probability of each lane obtained on the basis of the line type of the white line, a driving lane probability of each lane obtained on the basis of the presence/absence of a lane adjacent to the driving lane, and a driving lane probability of each lane obtained on the basis of the lane through which the vehicle was driving when the driving lane was estimated previously. |
