| 摘要 |
PURPOSE: A method for estimating the curvature radius of a vehicle and a device thereof are provided to estimate the curvature radius of the vehicle using a vehicle velocity and a final yaw rate which is calculated with a first yaw rate and a second yaw rate which are weighted after filtered by a first and a second signal processing filter, thereby improving curvature radius estimation performance. CONSTITUTION: A method for estimating the curvature radius of a vehicle includes: a step of acquiring the yaw rate(γ) of the vehicle, a driver steering angle(Vs), and a vehicle velocity(δ); a step of filtering the yaw rate of the vehicle with a first signal processing filter(110) when the driver steering angle is not zero; a step of filtering the yaw rate of the vehicle with a second signal processing(120) of which the responsiveness is slower than that of the first signal processing filter when the driver steering angle is zero; a step of weighting a first yaw rate(γ1) a second yaw rate(γ2) which are filtered by the first and the second signal processing filter; and a step of estimating the curvature radius of the vehicle by using the vehicle velocity and a final yaw rate which is calculated with the first and the second yaw rate which are weighted. [Reference numerals] (110) Signal processing filter #1; (120) Signal processing filter #2; (130) Weighted-sum; (140) Curvature radius calculating equation; (AA) Yaw rate; (BB) Driver steering angle; (CC) Vehicle speed; (DD) Filtered yaw rate 1; (EE) Filtered yaw rate 2; (FF) Weighted-sum yaw rate; (GG) Estimated curvature radius |
