METHOD FOR CORRECTING POSITIONAL ERROR AND DEVICE FOR CORRECTING POSITIONAL ERROR IN DRIVING ASSISTANCE VEHICLE

摘要

A position of a host vehicle after having passed through an intersection via a right or left turn is made to approach a lane center even in intersections without white lines or a pedestrian crossing.In a device for correcting a position error of an autonomous vehicle provided with a navigation control unit (3) that corrects navigational error during autonomous travel, the navigation control unit (3) includes, in a target route corrector 36 that corrects a target route, a road boundary information consolidation unit (361), a lateral correction amount calculation unit (362), and a lateral/sideways movement unit (363). The road boundary information consolidation unit (361) detects a lane boundary of a lane in which the host vehicle travels. The lateral correction amount calculation unit (362) calculates a target value for a lateral correction amount of the target route by comparing positional relationships between lane boundary detection results and the target route on a map, and changes a lateral movement speed of the target route to calculate the target value for the lateral correction amount according to a bearing of the host vehicle in which the bearing being a vehicle attitude angle. The lateral/sideways movement unit (363) corrects the target route by moving the target route sideways in a lateral direction by an amount equal to the lateral correction amount upon the calculation of the lateral correction amount.