OWN-POSITION ESTIMATING DEVICE AND OWN-POSITION ESTIMATING METHOD.

摘要

This own-position estimating device estimates the own position of a vehicle by: detecting the positions of objects present around the vehicle; accumulating the detected object positions as object position data on the basis of the amount of movement of the vehicle; extracting straight lines from the accumulated object position data; selecting object position data to use for estimating the own position of the vehicle, on the basis of the sizes of angles formed between mutually intersecting straight lines, from among the extracted straight lines; and comparing the selected object position data with the positions of objects in map information.