VEHICLE STATE QUANTITY PREDICTING APPARATUS AND VEHICLE STEERING CONTROLLER USING THE SAME, AND A METHOD FOR PREDICTING A VEHICLE STATE QUANTITY AND VEHICLE STEERING CONTROLLING METHOD USING THE SAME

摘要

A vehicle state quantity prediction apparatus has sensors such as a GPS receiver that observe prescribed state quantities representing a movement state of a vehicle and a Kalman filter that inputs the state quantities observed by the sensors into a model of the movement state of the vehicle to predict a state quantity including the prescribed state quantities representing a movement of the vehicle. The reliability of the prescribed state quantities observed by the sensors is evaluated, and the degree to which the prescribed state quantities are reflected in the Kalman filter is set based on the evaluated reliability.