A correct vehicle position is detected even when the road data to be used in the map match computation includes errors of partial shape. When the matching computing operation of a running locus and the road data obtained from the outputs of a bearing sensor and a distance sensor and a non-match region...http://www.google.de/patents/US5552990?utm_source=gb-gplus-sharePatent US5552990 - Vehicle position detecting apparatus which comensates for errors in road map data matching operation
