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

Claim 1:
2. 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 the lane division line of the boundary line, which is recognized from the detection result of the peripheral monitoring sensor that monitors the periphery of the vehicle;
the lateral position estimation unit is further configured to estimate, on the map, the lateral position of the vehicle on the traveling road 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; and
the position specification unit is further configured
not to adopt the lateral position of the vehicle using the lateral position estimated by the lateral position estimation unit, in response to 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
to adopt the lateral position of the vehicle using the lateral position estimated by the lateral position estimation unit in response to the lateral deviation being less than the first threshold value.