Our Ref.

: JNIS-2148-PCT-US/EP/CN/BR/RU/IN/MX/KR/CA

Amendments under PCT Article 34

We had amended the following document(s) under PCT Article 34.

Please amend the filing documents in the national phase of your
country in accordance with the amendments under PCT Article 34.

SPECIFICATION
CLAIMS
DRAWINGS

IN THE CLAIMS
Please amend claims in accordance with the TRANSLATION OF
AMENDED CLAIMS UNDER PCT ARTICLE 34 attached hereto.

1
 TRANSLATION OF AMENDED CLAIMS UNDER PCT ARTICLE 34

CLAIMS
[Claim 1] (Amended)
An own position estimation device configured to estimate an own position of a mobile
body, the own position estimation device comprising:
a landmark position detector configured to detect a landmark position of a
landmark existing around the mobile body;
a movement amount detector configured to detect a movement amount of the
mobile body;
a landmark position accumulator configured to accumulate, as pieces of
landmark position data, landmark positions each obtained by moving the landmark
position detected by the landmark position detector, by the movement amount detected
by the movement amount detector;
a map information acquirer configured to acquire map information including
landmark positions of landmarks existing on a map; and
an own position estimator configured to match the pieces of landmark position
data in a certain range with the landmark positions included in the map information and
estimate the own position of the mobile body, the certain range being set based on an
error factor in movement records of the mobile body traveling to a current position.

[Claim 2]
The own position estimation device according to claim 1, wherein the own position
estimator reduces the certain range as a change in a past movement amount of the mobile
body in the movement records increases.

[Claim 3]
The own position estimation device according claim 1 or 2, wherein
the mobile body is a vehicle, and

2
 the own position estimator reduces the certain range as a number of right and left
turns of the vehicle in the movement records increases.

[Claim 4]
The own position estimation device according to any one of claims 1 and 3, wherein
the mobile body is a vehicle, and
the own position estimator reduces the certain range as a number of lane changes
of the vehicle in the movement records increases.

[Claim 5]
The own position estimation device according to any one of claims 1 to 4, wherein
the mobile body is a vehicle, and
the own position estimator reduces the certain range as a number of leaving and
merging of the vehicle in the movement records increases.

[Claim 6]
The own position estimation device according to any one of claims 1 to 5, wherein
the mobile body is a vehicle, and
the own position estimator reduces the certain range as a radius of curvature of
a curve through which the vehicle has traveled in the movement records decreases.

[Claim 7]
The own position estimation device according to any one of claims 1 to 6, wherein
the own position estimator reduces the certain range as a turn amount of the
mobile body in the movement records increases.

[Claim 8]
The own position estimation device according to any one of claims 1 to 7, wherein the
own position estimation device reduces the certain range as a movement speed change of
the mobile body in the movement records increases.
3
[Claim 9] (Amended)
An own position estimation method of estimating an own position of a mobile body, the
own position estimation method comprising:
detecting a landmark position of a landmark existing around the mobile body by
a controller mounted in the mobile body;
detecting a movement amount of the mobile body by the controller;
accumulating, as pieces of landmark position data, landmark positions each
obtained by moving the detected landmark position by the detected movement amount by
the controller;
acquiring map information including landmark positions of landmarks existing
on a map by the controller; and
matching the pieces of landmark position data in a certain range with the
landmark positions included in the map information and estimating the own position of
the mobile body by the controller, the certain range being set based on an error factor
in movement records of the mobile body traveling to a current position.