| 摘要 |
<P>PROBLEM TO BE SOLVED: To simply and precisely determine the current position of a moving body by map matching while taking into account the roll or pitch of a vehicle. <P>SOLUTION: On a vehicle V as a moving body, an object detection sensor 1 is installed which detects objects around a road. Prior to determining the current position of the vehicle V, a roll angle of the vehicle V is detected by utilizing fixed objects having a vertical line segment detected by the object detection sensor 1. Also, a pitching angle of the vehicle V is detected by utilizing fixed objects having a horizontal line segment. On the basis of the roll angle and pitching angle determined, positional information of the fixed objects detected by the object detection sensor 1 is converted (corrected) to the positional information when the vehicle V is in a horizontal state. <P>COPYRIGHT: (C)2013,JPO&INPIT |
