Patent ID: 11915494
Assignee: MITSUBISHI ELECTRIC CORPORATION
Field: Control (Instruments)
Classification: CPC G  B | IPC G

Claim 6:
7. The relative position determining apparatus according to claim 2, further comprising
a matching information storage in which the first matching information and the second matching information that are generated are stored,
wherein the determining of whether each of the first trajectory information and the second trajectory information matches the lane shape information includes determining a section in which the map information is accurate, based on the first matching information and the second matching information in the past that are stored in the matching information storage, and estimating, as a mismatch section, a section in which the map information is accurate but the lane shape information and each of the first trajectory information and the second trajectory information do not match, and
the determining of the relative lanes of the first moving object and the second moving object includes correcting the first trajectory information and the second trajectory information included in the mismatch section, using the lane shape information, and determining the relative lanes of the first moving object and the second moving object, based on the first trajectory information and the second trajectory information that are corrected.