| 摘要 |
PURPOSE:To make it possible to perform integrated judgment of the position of a vehicle and to guide the vehicle adequately by distinguishing the state wherein there is a candidate road and the road having the largest number of similarities can be specified and the state wherein the road is not specified or there is no candidata road at all, and performing the judgment corresponding to the number of registered candidate roads. CONSTITUTION:All roads, which are located in a vehicle-presence probability region with an estimated position as the center, are selected based on the estimated position of own vehicle which is determined by a bearing sensor 3, distance sensors 4 and a road-map memory 5. The change in estimated position and the similarity with each road pattern are computed. The road whose similarity is a specified value or more is registered as a candidate road. In a position detecting device 8, the state wherein there is the candidate road and the road having the largest number of the similarities can be specified and the state wherein the road is not specified and there is no candidate road at all are distinguished. How many candidate roads remain and the like are judged in response to the number of the registered candidata roads. Thus, the integrated reliability of detection is judged, and the adequate guidance can be performed. |
