Apparatus and method for determining traveling position of vehicle

An apparatus coupled to autonomous driving vehicles for determining a traveling position of an own vehicle which is an autonomous driving vehicle, the traveling position being a widthwise position within a lane in which the own vehicle is traveling, the apparatus comprising:

• a non-transitory memory storing one or more computer programs;
• and
• a processor executing the one or more programs to:
• determine a presence or absence of a travel history of other vehicles regarding the lane in which the own vehicle is traveling, the travel history being acquired from an external device that collects and manages the travel history of the other vehicles;
• determine a presence or absence of an object detected by a detection unit and located in a vicinity of the own vehicle within the lane in which the own vehicle is traveling and should be avoided coming into contact with;
• for a state in which the travel history and the object are determined to exist, determine the traveling position of the own vehicle using the travel history of the other vehicles and using position information of the object acquired from the detection unit;
• and
• perform traveling control of the own vehicle based on the determined traveling position of the own vehicle.