Patent ID: 7899589

Claim:
A control information storage apparatus comprising: a position detector that detects a current position of a vehicle; an information storage that stores a travel locus of the vehicle based on the current position of the vehicle as control information to be utilized for controlling the vehicle at an exit from an intersection; a control point detection unit that detects an exit point from the intersection as a control start point for starting a control of the vehicle; an object detection unit that detects a featured object on a road; a map acquisition unit that acquires map data for representing a road by using a node that is positioned in an intersection and a link that connects the nodes, wherein the information storage stores the control start point detected by the control point detection unit as the control information, the control point detection unit detects a detection point where the vehicle passes by an object that is closest to a point where a link that corresponds to a road traveled by the vehicle is changed from among plural locations of featured objects detected by the object detection unit, and the control point detection unit detects the detection point as the control start point.