| 摘要 |
PURPOSE: To collate running locus and road pattern without carrying out the rotation process of the running locus, even though a bearing sensor is a relative bearing sensor, when the running road of vehicle is inferred by collating the running locus of the vehicle and the form of the road in a map. CONSTITUTION: The section of a running locus between two points, and the section of a proposed road on which vehicle is liable to run 41% between two points, are partitioned into n section (2<=n) to make into line segments. The angleθi made by a straight line LM combining the two points of the running locus and each line segment Ki, and the angleβi made by the straight line LN combining the two points of the proposed road and each line segment Ri are found (i=1 to n), a square root (a square mean square root) made by dividing the total sum of the square of (θ-βi) by n is found, and when the value is within a specific value, it is decided that the forms of the running locus and the proposed road are coinsident, and the vehicle is running on the proposed road. |
