| 摘要 |
PURPOSE: To find a proposed position with a high probability of existing of a vehicle on a road, when a calculated vehicle position has deviated from the road. CONSTITUTION: When a deviation of the vehicle position is detected, a main axis is set in the advancing direction X' of a vehicle at the deviated time, making the present position as the center O, an auxiliary axis is set in the direction Y' orthogonal to the direction X' (S1), and the main axial length and the auxiliary axial length of a vehicle existing range (VEPR) are set based on the existing range at the deviated time, a distance error coefficient, an azimuth error coefficient, and the moving distance from the deviated time to the present time (S2). A road specified line Lr of the road included in the existing range VEPR is found (S3), and a main axis section (m) and an auxiliary axis section (k) of the road specific line Lr are found (S4). A straight line Ll when the main axis section is (m) and the auxiliary axis section is ak/b is found (S5), a perpendular line is drawn from the center O to the straight line Ll, its intersection point is made as a tentative proposal position C (S6), and a perpendular line is drawn from the position C to the main axis, and its intersection point with the road specified line Lr is made as the proposal position D (S7). |
