COURSE ESTIMATION DEVICE AND COURSE ESTIMATION PROGRAM

摘要

PROBLEM TO BE SOLVED: To provide a course estimation device capable of enhancing responsiveness of the estimation of a course parameter at proper timing when a travel environment changes suddenly.SOLUTION: A course estimation device comprises: calculation means for calculating a coordinate of edge points constituting a partition line of a course from an image taken by an on-vehicle camera 10; estimation means for estimating a course parameter by using a predetermined filter based on the calculated coordinate of the edge points; setting means for setting a filter parameter which is a parameter of the predetermined filter and related to responsiveness of the estimation of the course parameter; and detection means for detecting a sharp curve based on information which notifies a driver of the sharp curve before a vehicle enters the sharp curve. The setting means sets the filter parameter of the predetermined filter from the time when the sharp curve is detected by the detection means by the time when the vehicle enters the sharp curve so that the responsiveness becomes higher than before the sharp curve is detected.