| 摘要 |
Setting a planimetric feature having a high frequency of appearance as a planimetric feature to be recognized necessary for an own-vehicle position correction by referring to arrangement patterns of planimetric features having a high frequency of appearance for each of a plurality of types of road in response to a target object for an assist control, for example, a characteristic planimetric feature in an area where the own-vehicle will travel hereafter from among planimetric features on a road of which information is stored in a map database. Then, recognizing the set planimetric feature, and correcting an own-vehicle position from one based on a GPS and a travel path in accordance with a recognition result thereof.
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