| 摘要 |
PROBLEM TO BE SOLVED: To provide a state estimating device which regulates a picture processing, capable of realizing a speedy operation and control the stable traveling of a vehicle and to provide a vehicle travel controller using the state estimation device. SOLUTION: This state estimating device 1 provided with a relative lateral displacement measuring means 7 measuring the relative lateral displacement of the vehicle against a road at a prescribed vehicle front watch point, steering angle detection means 9 and 11 detecting at least one steering angle of a front wheel 21 or a rear wheel 23 in the vehicle and an operation means 15 estimating at least a road curvature and a feedback relative lateral displacement by an operation based on the relative lateral displacement and a steering angle is provided. An automatic steering mechanism 5 for automatical steering of the vehicle and a controller 40 controlling the automatic steering mechanism 5, based on output from the operation means 15 of the state estimation device 1, are provided. The operation means 15 takes into consideration the influence of the road curvature and estimates the relative lateral displacement for feedback.
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