| 摘要 |
PROBLEM TO BE SOLVED: To precisely calculate the position of a vehicle by a method wherein the estimated position of the vehicle by a self-contained navigation operation is corrected on the basis of coordinate data on a detected road marker (a magnetic nail or the like). SOLUTION: A vehicle-position estimation means estimates the position of a vehicle by a self-contained navigation operation. That is to say, an estimated- position computing part 14 computes an estimated position on the basis of a running-distance detection signal and a running-direction detection signal which are output from a running-distance detection part 11 (a wheel speed sensor or the like) and a running-direction detection part 12 (a gyro or the like). A magnetic-nail detection part 13 detects the magnetic field of a magnetic nail which is buried in a road, and a magnetic-nail-coordinate-data memory 15 stores the coordinate data train of the magnetic nail. A position coordinate part 16 computes the relative distance between the magnetic nail and the vehicle, the relative distance is compared with coordinate data on the magnetic nail, and the estimated position which is computed by the estimated-position computing part 14 is corrected. In this manner, the position, of the vehicle, which is estimated by the autonomous navigation operation is corrected. |
