| 摘要 |
PROBLEM TO BE SOLVED: To provide a road profile prediction unit capable of highly precisely predicting a forward road profile in an advancing direction even if a vehicle body slip angle is produced.SOLUTION: Included are a vehicle body slip angle estimation block 11 that estimates a vehicle body slip angle, a vehicle state quantity calculation block 10 that calculates as vehicle state quantities a vehicle posture angle, vehicle trajectory curvature, and vehicle trajectory curvature change rate on the basis of a detected vehicle speed, steering angle, acceleration, yaw rate, and estimated vehicle body slip angle, a road profile estimation block 12 that estimates as parameters, which represent a road profile, a road curve tangent direction, road curvature, and road curvature change rate on the basis of the calculated vehicle state quantities, and a road profile prediction block 13 that predicts a forward road profile in a vehicle advancing direction by integrating the estimated parameters of the road profile. |
