| 摘要 |
This road curvature estimation device acquires, from a definition unit defining relationships between vehicle speeds and maximum allowable change rates in curvature, the value of the maximum allowable change rate corresponding to the value of vehicle speed acquired by a vehicle speed acquisition unit. If a change rate in the value of an estimated curvature exceeds the value of said maximum allowable change rate, the road curvature estimation device corrects the value of the estimated curvature such that the change rate value thereof becomes less than or equal to the value of said maximum allowable change rate. |
