Erroneous route conversion determination apparatus and erroneous route conversion determination method for erroneous route conversion determination apparatus

An erroneous route conversion determination method for an erroneous route conversion determination apparatus that determines presence or absence of erroneous route conversion when a set route on a navigation map for a navigation system of a vehicle is converted into a practical route on a high-precision map, the erroneous route conversion determination apparatus comprising a vehicle control apparatus, a processor and a memory, the erroneous route conversion determination method comprising:

• autonomously controlling, by the vehicle control apparatus, the vehicle to travel along the practical route
• extracting, by the processor, position information of intersections on the set route and heading angles at the intersections on the set route based on the navigation map and the set route by the erroneous route conversion determination apparatus;
• extracting, by the processor, position information of intersections on the practical route and heading angles at the intersections on the practical route based on the high-precision map and the practical route by the erroneous route conversion determination apparatus;
• determining, by the processor, whether or not the vehicle traveling along the set route will go straight ahead at a common intersection that is an intersection common between the set route and the practical route, based on a heading angle of the set route at the common intersection;
• determining, by the processor, whether or not the vehicle traveling along the practical route will go straight ahead at the common intersection, based on a heading angle of the practical route at the common intersection;
• based on a determination result of a heading direction at the common intersection of the set route and a determination result of a heading direction at the common intersection of the practical route do not match each other, determining, by the processor, that the erroneous route conversion occurs;
• based on determining that the erroneous route conversion occurs, discarding, by the processor, the practical route where the erroneous route conversion occurs and reconverting, by the processor, the set route generated by the navigation system into a reconverted practical route on the high-precision map;
• and
• based on the processor reconverting the set route into the reconverted practical route, autonomously controlling, by the vehicle control apparatus, the vehicle to travel along the reconverted practical route.