| 摘要 |
PROBLEM TO BE SOLVED: To improve the reliability of steering control by improving the estimation accuracy of a travel route curvature, in a vehicle travel assistance device.SOLUTION: From a traveling traffic lane of an own vehicle detected by a periphery monitoring section 20 and the position of a preceding vehicle, target travel coordinate recording means 31 calculates and records target travel coordinates, which are the coordinates that an own vehicle has to travel as a target. Based on information about the target travel coordinate group recorded by the target travel coordinate recording means 31, travel route curvature estimation means 32 estimates a travel route curvature, which is the curvature of the target travel coordinate group. In this case, based on a vehicle speed and yaw rate detected by a vehicle state quantity detecting section 10 and the travel route curvature estimated previously by the travel route curvature estimation means 32, curvature estimation-calculation adjustment means 32a adjusts weight for each of target travel coordinates used for the estimation of the travel route curvature. From the estimation results of the plurality of travel route curvatures estimated by the travel route curvature estimation means 32, plural curvature estimation result calculation means 32b makes a calculation so that the curvatures change smoothly. |
