Patent ID: 11959752
Assignee: DENSO CORPORATION
Field: Measurement (Instruments)
Classification: CPC G  B | IPC G

Claim 0:
1. A vehicular position specification apparatus used in a vehicle, comprising:
a lane recognition result acquisition unit configured to acquire a recognition result of a boundary line, the boundary line being (i) a lane division line along a traffic lane or (ii) the lane division line and a road edge that is a boundary between a road and an outside of the road, the recognition result of each of the lane division line and road edge being recognized from a detection result by a peripheral monitoring sensor that monitors a periphery of the vehicle;
a landmark recognition result acquisition unit configured to acquire a recognition result of a landmark that is different from the boundary line, the recognition result being recognized from the detection result by the peripheral monitoring sensor;
a map data acquisition unit configured to acquire a map data of a map including a position of the boundary line and a position of the landmark;
a lateral position estimation unit configured to estimate, on the map, a lateral position of the vehicle on a traveling road by collating a relative position of the boundary line with respect to the vehicle indicated by the recognition result of the boundary line acquired by the lane recognition result acquisition unit with the position of the boundary line included in the map data; and
a position specification unit configured to specify a detailed position of the vehicle by
not adopting the lateral position of the vehicle using the lateral position estimated by the lateral position estimation unit using the lane division line of the boundary line in response to a lateral deviation between (i) the position of the landmark indicated by the recognition result of the landmark acquired by the landmark recognition result acquisition unit and (ii) the position of the landmark included in the map data being equal to or greater than a first threshold value, and
adopting the lateral position of the vehicle using the lateral position estimated by the lateral position estimation unit using the lane division line of the boundary line in response to the lateral deviation being less than the first threshold value,

wherein
the position specification unit outputs the detailed position of the vehicle to a driving support apparatus, and
the driving support apparatus executes a driving support function by using the detailed position of the vehicle.