# US 2010/0169013 A1 · Vehicle positioning device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2010/0169013 A1 - Document ID: US20100169013A1 - Status: Published application - Kind: A1 - Application number: 12/066,774 - Filed: 2007-05-15 - Published: 2010-07-01 - Earliest claimed: 2006-05-29 - Assignees: Toyota Jidosha Kabushiki Kaisha; Aisin Aw Co., Ltd. - Inventors: Motohiro Nakamura; Hidenobu Suzuki; Masaki Nakamura - Web page: https://patentgrep.com/patent/US20100169013A1 ## CPC - G01C 21/30: Map- or contour-matching - G01S 19/485: {whereby the further system is an optical system or imaging system} - G01S 19/50: whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks - G08G 1/0969: having a display in the form of a map - G09B 29/106: {using electronic means} - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) - G09B: EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS (devices for psychotechnics or for testing reaction times A61B5/16; games, sports, amusements A63; projectors, projector screens G03B) ## Abstract Setting a planimetric feature having a high frequency of appearance as a planimetric feature to be recognized necessary for an own-vehicle position correction by referring to arrangement patterns of planimetric features having a high frequency of appearance for each of a plurality of types of road in response to a target object for an assist control, for example, a characteristic planimetric feature in an area where the own-vehicle will travel hereafter from among planimetric features on a road of which information is stored in a map database. Then, recognizing the set planimetric feature, and correcting an own-vehicle position from one based on a GPS and a travel path in accordance with a recognition result thereof. ## Claims ### Claim 1 An own-vehicle position measuring apparatus comprising: planimetric feature recognizing means for recognizing a planimetric feature on a road that is necessary for correcting an own-vehicle position; and position correcting means for correcting the own-vehicle position detected according to a predetermined method based on a recognition result by said planimetric feature recognizing means, the own-vehicle position measuring apparatus further comprising recognizing planimetric feature setting means for setting a planimetric feature characteristic in an area where the own-vehicle will travel hereafter from among planimetric features on the road of which information is stored in a database, wherein said planimetric feature recognizing means recognizes said planimetric feature set by said recognizing planimetric feature setting means. ### Claim 2 (depends on 1) The own-vehicle position measuring apparatus as claimed in claim 1, wherein said recognizing planimetric feature setting means sets a planimetric feature, which is estimated to appear in the area where the own-vehicle will travel hereafter by referring to a predetermined arrangement pattern of the planimetric feature according to a kind of a road on which the own-vehicle will travel hereafter, as said planimetric feature to be recognized by said planimetric feature recognizing means. ### Claim 3 (depends on 1, 2) The own-vehicle position measuring apparatus as claimed in claim 1 or 2, wherein said recognizing planimetric feature setting means sets a planimetric feature of a kind in which a characteristic thereof tends to appear in the area where the own-vehicle will travel hereafter as said planimetric feature to be recognized by said planimetric feature recognizing means. ### Claim 4 (depends on 1, 2, 3) The own-vehicle position measuring apparatus as claimed in one of claims 1 to 3, wherein said recognizing planimetric feature setting means sets a planimetric feature of a kind in which a road-surface sign is hardly scraped in the area where the own-vehicle will travel hereafter as said planimetric feature to be recognized by said planimetric feature recognizing means. ### Claim 5 (depends on 1, 2, 3, 4) The own-vehicle position measuring apparatus as claimed in one of claims 1 to 4, wherein said recognizing planimetric feature setting means sets a planimetric feature having a distance from a planimetric feature positioned ahead or behind longer than a predetermined distance in the area where the own-vehicle will travel hereafter as said planimetric feature to be recognized by said planimetric feature recognizing means. ### Claim 6 (depends on 1, 2, 3, 4, 5) The own-vehicle position measuring apparatus as claimed in one of claims 1 to 5, wherein said planimetric feature recognizing means recognizes a planimetric feature on the road based on an image taken by image-taking means for taking images around a vehicle. ### Claim 7 (depends on 1, 2, 3, 4, 5, 6) The own-vehicle position measuring apparatus as claimed in one of claims 1 to 6, wherein said predetermined method is a method of detecting an own-vehicle position by using a GPS or a travel path of the own-vehicle.