TRAVELING LANE ESTIMATION EQUIPMENT FOR VEHICLE, TRAVELING CONTROL EQUIPMENT FOR VEHICLE, TRAVELING LANE ESTIMATION METHOD FOR VEHICLE, AND MEDIUM-STORING PROGRAM FOR ESTIMATING TRAVELING LANE FOR VEHICLE

摘要

PROBLEM TO BE SOLVED: To enable accurate traveling lane estimation by estimating the traveling lane of a vehicle, on the basis of comparison result of a calculated traveling locus on a map and an actual traveling locus. ;SOLUTION: A DGPS 12 is connected with a navigation ECU 10, which performs high precision position detection by adding an absolute position, based on information from an artificial satellite and GPS error information obtained by other means. A vehicle speed sensor 14 and a yaw rate sensor 16 are connected to the ECU 10, so that the vehicle speed and the yaw rate in the present position are recognized at all times. Map data base 18 is also connected in which road form data are stored. The ECU 10 can read the form or the like of a road in front of the present position, from the map data base 18. A traveling locus on a map which is obtained from a curve form on the map is compared with an actual traveling locus. When a recognized lane in error, the real traveling locus becomes different from the traveling locus on the map. From the comparison result, an accurate traveling lane can be estimated.;COPYRIGHT: (C)1999,JPO