DISPOSITIF DE CORRECTION D'AUTO-LOCALISATION ET PROCÉDÉ DE CORRECTION D'AUTO-LOCALISATION D'UN VÉHICULE À CONDUITE ASSISTÉE

摘要

Provided are a self-position correction method and a self-position correction device for a drive-assisted vehicle that increase the number of opportunities to correct a self-position on a map can be increased.In lane selection control in which a lane in which a host vehicle (S) travels is selected (steps S4 to step S8) based on the map information and information acquired by an external sensor (11) that acquires periphery information of the host vehicle (S), a self-position correction object (white line L2) in an intended travel route is identified based on the map information. When the host vehicle (S) reaches a correction point (P) where the self-position correction object (white line L2) is present, a determination is made as to whether or not the self-position correction object (white line L2) can be recognized by the external sensor (11) from the lane (r2) in which the host vehicle (S) travels. When it is determined that the self-position correction object (white line L2) cannot be recognized from the center lane (r2) in which the host vehicle (S) travels, a lane change to a leftmost lane (r1) where the self-position correction object (white line L2) can be recognized is made before the host vehicle (S) reaches the correction point (P).