| 摘要 |
PURPOSE: To obtain an adequate timing for pattern matching with high accuracy and with a relatively small burden, by providing various means including a running locus detecting means, a bearing variation calculating means, and a bending pickup mode deciding means. CONSTITUTION: The period from the time when the absolute value of a bearing variation amountΔθp in a specific section is made more than a specific first variation amount Rs, to the time when it, is made less than a specific second variation amount Re, and the mark of the bearing variation amountΔθp is changed, is decided as a bending pickup mode. And, a bearing differenceϕi of running 2m during the bending pickup mode is calculated, it is integrated to a bending pickup mode time bearing variation amountϕ, and its running distance is measured. When there is no change of the mark after the bending mode is finished, the above bearing variation amountΔθp is added to the bending pickup mode time bearing variation amountϕfurther, and when the amount of the variationϕobtained in such a way is within a specific scope, the intersection is serached by a matching or the like, and the position of the vehicle is corrected. Consequently, since the pattern matching is carried out in an adequate timing, the burden on the device is reduced, and the position correcting at a high accuracy can be carried out even though the number of the pattern matching is few. |
