| 摘要 |
PURPOSE:To make it possible to perform parallel execution with a micro- correlation method even when a macro-correlation method is performed by adding the changing amount of the vehicle position from the start of correction to the time of completion to the estimated position obtained by macro- correlation processing, and further correcting the vehicle position. CONSTITUTION:The past vehicle position data are read out at a specified process timing. A running locus S from the past time to the read-out timing is reproduced. The locus is compared with path patterns L1-L4 on a road map. The estimated position of the vehicle is set on the path pattern L4 where the locus S agrees with the path pattern on the road map most closely. A macro- correlation processing is performed in this way, and the vehicle position S'n is obtained. The output Sp by a dead-reckoning navigation is read out of the running locus data Sn of the vehicle which have been outputted from the specified process timing to the present time. The distance S' on which the vehicle has moved during the computing time is obtained based on the output Sp. The distance is added to the position S'n. The output S'p of the macro- correlation processing corresponding to the output Sp is obtained. |
