method for correcting position error and device for correcting position error in an assisted steering vehicle

摘要

the position of a host vehicle that has passed through an intersection through a right or left turn is produced to approach a central lane even at intersections without white lines or a crosswalk. in a device to correct an autonomous vehicle position error provided with a navigation control unit (3) that corrects navigation error during autonomous travel, the navigation control unit (3) includes, in a target route broker 36 that corrects the target route, a road boundary information consolidation unit (361), a lateral correction quantity calculation unit (362), and a lateral / lateral movement unit (363). the road boundary information consolidation unit (361) detects a lane limit of a lane on which the host vehicle travels. the side correction quantity calculation unit (362) calculates a target value for a lateral correction quantity of the target route by comparing the position relationships between lane limit detection results and the target route on a map, and changing the speed of lateral movement of the target route to calculate the target value for the amount of lateral correction according to a behavior of the host vehicle in which the behavior being an attitude angle of the vehicle. the lateral / lateral movement unit (363) corrects the target route by moving the target route laterally in a lateral direction by an amount equal to the amount of lateral correction with the calculation of the amount of lateral correction.