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

Claim 5:
6. The vehicular position specification apparatus according to claim 4, wherein:
(a) in cases of the lateral deviation between (i) the lateral position of the vehicle predicted by the position prediction unit and (ii) the lateral position estimated by the lateral position estimation unit being less than a second threshold value,
the position specification unit is further configured to adopt the lateral position of the vehicle using the lateral position estimated by the lateral position estimation unit without determining whether 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 is equal to or greater than the first threshold value;
(b) in cases of the lateral deviation between the lateral position of the vehicle predicted by the position prediction unit and the lateral position estimated by the lateral position estimation unit being equal to or greater than the second threshold value,
the position specification unit is further configured
to determine whether 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 is equal to or greater than the first threshold value,
not to adopt the lateral position of the vehicle using the lateral position estimated by the lateral position estimation unit in response to determining that the lateral deviation is 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 determining that the lateral deviation is less than the first threshold value.