Patent ID: 8145419

Claim:
A mobile object position estimation apparatus, comprising: a position detection device that detects absolute coordinates of a mobile object position using communication; a first estimation device that estimates the mobile object position based on output from inertial navigation sensor devices mounted on a mobile object; a storage device that stores map information including at least node information; a second estimation device that estimates the mobile object position based on a predicted travel path of the mobile object as predicted from the node information, the predicted travel path being a line that is an estimated road contour line shifted by an offset, the estimated road contour line being a line connecting nodes of the node information in a vicinity of the mobile object, and the offset being determined by the second estimation device in a road widthwise direction between the estimated road contour line and the mobile object position detected by the position detection device; and a synthesizing device that determines a final estimated mobile object position by synthesizing the mobile object position estimated by the first estimation device and the mobile object position estimated by the second estimation device.