VEHICLE POSITION ESTIMATION APPARATUS, VEHICLE POSITION ESTIMATION METHOD, TRAVEL lane maintenance apparatus, and TR

摘要

PROBLEM TO BE SOLVED: To estimate the current position of a vehicle with high accuracy by searching the environment around a road using an on-vehicle radar. SOLUTION: Fixtures present around a road, such as reflectors and lights, are detected by a radar 4. A position correcting device 3 plots the positions of the detected fixtures on navigation coordinates (map coordinates). Data about the positions of the fixtures are stored in a road environment storage device 5 in advance. The position correcting device 3 calculates the accurate current position of a vehicle by comparing the data about the positions of the fixtures detected by the radar 4 with the position data stored in the road environment storage device 5, and supplies the same to a navigation system 2.