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

Claim 9:
10. The vehicular position specification apparatus according to claim 6, wherein:
a first accuracy is lower than a second accuracy,
the second accuracy being of estimating the lateral position of the vehicle on the map by collating a relative position of the lane division line with respect to the vehicle indicated by the recognition result of the lane division line acquired by the lane recognition result acquisition unit with the position of the lane division line included in the map data,
the first accuracy being of estimating the lateral position of the vehicle on the map by collating the relative position of the landmark with respect to the vehicle indicated by the recognition result of the landmark acquired by the landmark recognition result acquisition unit with the position of the landmark included in the map data;

the first threshold value is larger than the second threshold value,
the first threshold value being a value according to the first accuracy of estimating the lateral position of the vehicle on the map by collating a relative position of the landmark with respect to the vehicle indicated by the recognition result of the landmark acquired by the landmark recognition result acquisition unit with the position of the landmark included in the map data,
the second threshold value being a value according to the second accuracy of estimating the lateral position of the vehicle on the map by collating a relative position of the lane division line with respect to the vehicle indicated by the recognition result of the lane division line acquired by the lane recognition result acquisition unit with the position of the lane division line included in the map data.