Patent ID: 11920935
Assignee: NISSAN MOTOR CO., LTD.
Field: Measurement (Instruments)
Classification: CPC G  B | IPC B  G

Claim 10:
11. A navigation method using a first map comprising information of traveling routes and a second map comprising information of driving lanes in the traveling routes, the method comprising:
an own vehicle position detecting step of detecting position information of own vehicle;
a matching step of matching a detected position of the own vehicle with a position, referred to as a first own position, on the traveling route when the own vehicle travels on the first map on the basis of the first map and the position information of the own vehicle,
the first own position being a predetermined region around the center of the traveling route on which the own vehicle travels, the predetermined region having a dimension dependent on the resolution of the first map;
a route setting step of setting a guidance route that guides the own vehicle from its current detected position to a destination on the basis of the first map and the position information of the own vehicle;
a driving lane detecting step of matching the current detected position of the own vehicle with a position, referred to as a second own position, on a driving lane where the own vehicle travels on the second map on the basis of the second map and the position information of the own vehicle, the second own position being a predetermined region around the center of the driving lane on which the own vehicle travels the predetermined region having a dimension dependent on the resolution of the second map;
a determining step of determining whether the second own position is included in the first own position; and
an automatic driving controlling step of performing automatic driving on the own vehicle,
wherein when the guidance route is set and the matching step matches the first own position on the guidance route, and when the second own position is no longer included in the first own position thereafter, the matching step re-matches the first own position on the first map on the basis of the position information and the route setting step updates the guidance route, and
wherein the automatic driving controlling step can be performed when the guidance route is set and the second own position is included in the first own position.