| 摘要 |
PURPOSE:To evade map mismatching of a projecting method. CONSTITUTION:Each time a vehicle travels by a constant distance, a vehicle position and vehicle azimuth calculation part 5c calculates the vehicle azimuth and position change quantity and adds the position change quantity to the last determined vehicle position to find an estimated vehicle position and a vehicle position correction part 5d searches for candidate links to be matched with the found estimated vehicle position by the projection method by referring to road data read out of a CD-ROM 1 and then finds the distance between each of the searched candidate link and the estimated vehicle position, the angle to the vehicle azimuth, and the degree of link connection indicating whether or not there is a connection with the last link where the determined vehicle position is present before in binary notation; and evaluated values are calculated by the candidate links by applying those link connection degrees, distances, and angles to a specific evaluation function and the estimated vehicle position is projected on the candidate link having the best evaluated value to obtain the current determined vehicle position. |
