| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicle movement estimation apparatus capable of further robustly and highly accurately estimating a moving speed and moving direction of a vehicle.SOLUTION: A vehicle movement estimation apparatus 400 includes: a radar 410 disposed in a vehicle, for transmitting a radar wave and receiving a reflection wave; a radar movement estimation section 420 for estimating a moving speed and moving direction of the radar 410 on the basis of the received reflection wave; an angular velocity estimation section 430 for estimating a rotational angular velocity of the vehicle; and a vehicle movement estimation section 440 that estimates a moving speed and moving direction of a prescribed part of the vehicle on the basis of the estimated moving speed and moving direction of the radar 410, an estimated rotational angular velocity, and a physical relationship between the radar 410 and the prescribed part.SELECTED DRAWING: Figure 1 |
