| 摘要 |
The present invention provides a vehicular posture estimation device for estimating a posture of a vehicle, including: a first processor, which determines a vehicular velocity, a roll axial component of a vehicular acceleration in a roll axis and a pitch axial component of the vehicular acceleration in a pitch axis and an angular velocity around a yaw axis in a vehicular coordinate system of the vehicle; and a second processor, which calculates the posture of the vehicle according to a composite operator of a first operator representing a rotation of a global coordinate system for matching a Z axis of the global coordinate system to the yaw axis, and a second operator representing the rotation of the global coordinate for matching an X axis and Y axis of the global coordinate system to the roll axis and pitch axis of the vehicular coordinate system, respectively, on the basis of a determination result from the first processor.
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