| 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 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). A buffering correction section (200) judges whether or not the route on which the map matching positions (mX, mY) are positioned is correct on the basis of a route (R) and a joint (J) of road information. If misjudging the route, the buffering correction section (200) makes a correction to replace the position data of the map matching positions (mX, mY) positioned on the misjudged route by the position information of the joint (J) positioned at the entrance of the latest route. This makes it possible to correctly detect a traveling route.
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