| 摘要 |
PURPOSE:To accurately detect the position of a vehicle even on a road where azimuth sensor error is large by varying the permissible range of the azimuth difference between a road azimuth and a traveling azimuth when a road section where parallelism is to be judged is an azimuth abnormal section. CONSTITUTION:The outputs of a traveling distance detecting means 101 and a traveling azimuth detecting means 102 are inputted to an estimated position arithmetic means 103 and the estimated position is outputted to an output means 108 through an estimated position storage means 104. An evaluated value arithmetic means 105 calculates the estimated value showing the possibility that the vehicle is on each road and when it is judged that the vehicle travels on or nearby a road in a map stored in a map storage means 107 almost in parallel, a guide-in arithmetic means 106 guides the vehicle onto the road in the map. When the road section where the parallelism is to be judged is an azimuth abnormal section, an evaluated value arithmetic means 105 or guide-in resetting arithmetic means 111 varies the permissible range of the azimuth difference between the road azimuth and traveling azimuth. |
