Patent ID: 7653482

Claim:
An on-vehicle navigation apparatus comprising: a subject vehicle position detection unit that detects a position of a subject vehicle and a direction along which the subject vehicle is advancing; a road marker line detection unit that detects a road marker line in an image of a road ahead of or behind the subject vehicle captured with a camera; a map matching candidate identifying unit that identifies a road to be designated as a map matching candidate based upon the subject vehicle position and the subject vehicle advancing direction detected by the subject vehicle position detection unit; a decision-making unit that makes a decision based upon results of road marker line detection by the road marker line detection unit as to whether or not the subject vehicle is traveling on the road identified by the map matching candidate identifying unit; a map matching unit that corrects the subject vehicle position detected by the subject vehicle position detection unit so as to set the subject vehicle position onto the road on which the subject vehicle is determined by the decision-making unit to be traveling; and a subject vehicle position indicating unit that indicates the subject vehicle position having been corrected by the map matching unit on a roadmap, wherein: the decision-making unit is configured to make a decision as to whether or not the subject vehicle has moved over a road marker line based upon results of road marker line detection by the road marker line detection unit, and the decision-making unit determines that the subject vehicle is not traveling on the road having been identified by the map matching candidate identifying unit if the subject vehicle is judged to have moved over a road marker line; and when the decision-making unit has determined that the subject vehicle is not traveling on the road having been identified by the map matching candidate identifying unit, the map matching unit stops correcting the subject vehicle position detected by the subject vehicle position detection unit, and the subject vehicle position indicating unit indicates the subject vehicle position detected by the subject vehicle position detection unit.