VEHICLE LOCATION ESTIMATION APPARATUS AND VEHICLE LOCATION ESTIMATION METHOD

摘要

The azimuth of the running direction of the host vehicle (MV) ( ) is obtained, the host vehicle (MV) is estimated the radius (R) of the road running, the other vehicle (OV. _1. ) The position of the (X. _1. , Y. _1. ) are obtained, the other vehicle (OV. _1. the running direction of the .) azimuth ( . _1. ) is obtained, the estimated radius of the road in a traveling direction of the host vehicle is zero (MV) and the host vehicle axis (MV) (R) in the coordinate system to the other vehicle (OV. _1. ) is positioned, and the width of the path, the position error, the azimuth error, the estimated radius of the road error, due to the drift error of the vehicle , and taking into account the changes in other vehicle path curvature (OV. _1. ) This judgment is made as to whether the host vehicle (MV) and the same path.