| 摘要 |
Free state determination at a high precision is made by using a simpler mechanism. A vehicle position detection device is configured to: store conditional probability information which associates each of values to be taken in vehicle information on a state of an own vehicle, a matching conditional probability that the value occurs in a matching state, and a free conditional probability that the value occurs in a free state; use the conditional probability information to acquire the matching conditional probability and the free conditional probability corresponding to the acquired value of the vehicle information; calculate a probability index in the matching state and a probability index in the free state based on the conditional probabilities; and determine which state is to be selected based on the probability index in the matching state and the probability index in the free state. |
