| 摘要 |
PROBLEM TO BE SOLVED: To improve an estimation accuracy of a route of an own vehicle without using a yaw rate sensor, in other words, using only object detecting means for detecting objects in front of the vehicle. SOLUTION: A vehicle route estimation device includes: object detecting means mounted on a vehicle for detecting objects in front of the vehicle; stationary object determination means determining whether a detected object is a stationary object or not; means for selecting two position data based on the speed of the vehicle from time-series position data of the stationary object projected on a two-dimensional coordinates with the position of the vehicle defined as an origin; means for calculating the locus of the stationary object from a circle which has the center on an X axis and passes through the selected two position data in the two-dimensional coordinates; and means for calculating a turning radius of the vehicle based on the locus of the stationary object. COPYRIGHT: (C)2012,JPO&INPIT |
