| 摘要 |
PURPOSE:To detect the present position of a vehicle correctly by making the starting point of a waterway agree with the arriving point, forming a road connected to the starting point and a road connected to the arriving point in the continuous road shape, and comparing the road shape with the running locus of the vehicle. CONSTITUTION:The position of a vehicle running on a running path, so-called a road, is sequentially operated based on the detected data from a detecting means having a bearing sensor and a distance sensor. Map data stored in a memory means 3 are checked. Thus, the running locus of the vehicle on the running path is computed. The starting point and the arriving point of a ferry waterway which is connected to the running path are made to agree. A forming means 7 is provided. The running path connected to the starting point and the running path connected to the arriving point are made to form as the continuous running-path shape in the forming means 7. The running path formed with the forming means 7 is compared with the running locus of the vehicle. The position of the vehicle is corrected in response to the result of comparison. Therefore, even if the ferry waterway exists on the path, the position of vehicle can be adequately detected. |
