| 摘要 |
PROBLEM TO BE SOLVED: To achieve an accurate control of a vehicle based on the geometry of a road judged by compensating for errors of a road data to accurately judge the actual geometry of the road. SOLUTION: A deviationΔθV is calculated between an azimuthθ1 of a road connecting a node N0 behind the position of own vehicle and a node N1 ahead of the position of own vehicle and an azimuthθV in the advancing of the vehicle or a deviationΔθV is calculated between the azimuthθ1 of the road connecting the position of own vehicle and the node N1 ahead of the position of the own vehicle and the azimuth V in the advancing of the vehicle. Now when the deviationΔθV exceeds a reference value, any error is judged to exist at the position of the node N1 . The geometry of the road (indicated by the broken line) estimated from a road data to correct the actual geometry of the road (indicated by the solid line). When the vehicle can pass at a curve ahead thereof, an alarming and an automatic control are executed based on the geometry of the road after the correction thereby prompting a driver to make a deceleration. |
