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

Claim 6:
7. The vehicular position specification apparatus according to claim 1, wherein:
the lane recognition result acquisition unit is further configured to acquire the recognition result of each of the lane division line and the road edge of the boundary line, the recognition result of each of the lane division line and the road edge being recognized from the detection result of the peripheral monitoring sensor that monitors the periphery of the vehicle;
in response to
(a) the 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 the first threshold value, and
(b) the lateral position being enabled to be estimated by the lateral position estimation unit using the position of the road edge indicated by the recognition result of the road edge acquired by the lane recognition result acquisition unit,
the position specification unit is further configured to adopt the lateral position of the vehicle by using the lateral position estimated by the lateral position estimation unit using the position of the road edge; and
in response to
(a) the 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 the first threshold value, and
(b) the lateral position being not enabled to be estimated by the lateral position estimation unit using the position of the road edge indicated by the recognition result of the road edge acquired by the lane recognition result acquisition unit,
the position specification unit is further configured not to adopt the lateral position of the vehicle by using the lateral position estimated by the lateral position estimation unit.