US Patent 7580780 Vehicle controller

A vehicle position detector in a vehicle on a road leading to a junction predictably evaluates road attributes for determining false map matching possibility before the vehicle actually reaches the junction. The evaluation is based on, for example, an attribute such as a direction of the road, an incline of the road or the like. The position of the vehicle in association with the traveling road in a map matching process is stochastically determined and is used for controlling the vehicle.