Importance

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Abstract

The position of the vehicle is detected by the position information from satellites and by the correction information based on the position data of a known point. On the other hand, the position of the vehicle is found based on the running histories since the reference point. Next, the difference between the position data from satellites and the position data based on the running histories at each moment when the position data is received from satellites is calculated and those differences are averaged to obtain a correction value. Finally the current position of the vehicle is calculated by correcting the position data based on the running histories by the newest correction value. Consequently, in the autonomous running control system an accurate position of the vehicle can be found without stopping the vehicle, even when the position data from satellites does not have a sufficient accuracy. Thus, according to the present invention an efficient and accurate autonomous running can be achieved.

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First Claim