| 摘要 |
PURPOSE:To determine the position of a vehicle accurately by determining the current position existing range from record data of the longest-range on- going bearing and a bearing-wise running range. CONSTITUTION:An estimated position is determined by integration by an estimated position computing means 103 from a distance detected by a running range detecting means 101 and a bearing detected by a on-going bearing detecting means 102. On the other hand, an on-going bearing-wise cumulative running range is recorded by a bearing-wise running range recording means 105 and from the results, a bearing with the longest cumulative running range is determined by a longest-range on-going bearing computing means 106 to obtain the current existing range from the bearing and the range recorded by the means 105 and a road within the range is checked by a map matching computation means 109 using a map data stored in a map recording means 108. Thus, the on-going bearing, a road bearing and the like are collated by comparison to determined a road where a vehicle is running thereby correcting the estimated position on the road. |
