| 摘要 |
PROBLEM TO BE SOLVED: To make it possible to precisely form running locus of a vehicle required for the case of forming a precise road map, etc., by forming the running locus in the case of assuming that the vehicle continues to run on a specified place on a road from a vehicle position and the position on the road of the vehicle. SOLUTION: A vehicle position calculation part 11a corrects an absolute position informed by a GPS receiver 12 with a positioning error informed by a receiver 15 to calculate the vehicle position. Then, the part 11a detects the situation of the change of the detected vehicle position, that is, the running locus of the vehicle. An on-road position calculation part 16 detects what extent the central line of the vehicle is shifted from the central line of the road or a lane as the position on the road of the vehicle by the video in front of the vehicle photographed by a TV camera 17. A road central position calculation part 11b calculates the central position of the road and the lane based on the informed vehicle position and position on the road to record the running locus by the central position on a recording part 19. |
