PURPOSE: To select a road of high probability, through comparison between an estimated current position and a road from map information, and based on such conditions as directional difference from moving direction, distance from a current position, connectivity of roads, relation ship with travel traces, etc., and further to update a current position.
CONSTITUTION: A computer 12 calculates a current estimated position of a car based on the data from a wheel sensor 18 and a sensor 28. The error at that time is accumulated in averaged manner following car movement. Therefor, it is judged whether there is a position of higher possibility than current estimated position. The computer 12 generates a plurality of parameters for that purpose, and obtains its numerical value. They are, azimuth of road and that of a car to be compared, proximity of an estimated position with a road, connectivity of roads, relation ship with traveling trace, etc. By using these parameters, a plurality of roads at near-navigation part are sequentially tested, and if a possibility is high enough to update a current estimated position, it is selected, and updating is performed when it is sufficient.
UORUTAA BII ZABORI
KENESU EI MIRUNESU
ARAN SHII FUIRITSUPUSU
MAABUIN ESU HOWAITO JIYUNIA
JIYOOJI II RAKUMIRAA JIYUNIA
| JPS58129313A | 1983-08-02 | |||
| JPS59191083A | 1984-10-30 |
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