| 摘要 |
A position estimating section (115) outputs estimation positions (X, Y) for estimating the position where a vehicle is traveling on the basis of the information of a GPS receiver (111), an acceleration sensor (112), a speed sensor (113), and a gyro (114). A correction section (200) position-corrects so as to reduce an error with respect to the latest estimation positions (X, Y) by using the previous estimation positions and the previous map matching positions and outputs the position-corrected correction positions (cX, cY). A map matching section (116) performs a map matching processing to output map matching positions (mX, mY) with reference to road information stored in a storage section (117). Thus, the correction positions (cX, cY) where the position error is reduced are computed, so that the traveling route can be correctly detected.
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