| 摘要 |
<p>Provided is a travel route estimation device which can accurately estimate a travel route shape even when a vehicle is travelling on a travel route where no on-road obstacle is present, without excessively increasing the communication load in the device. A calculation unit calculates a curvature radius of a travel route according to a yaw rate detected by a yaw rate detection unit and a travel speed detected by a speed detection unit and successively stores the calculated values. When performing a filter process to suppress irregularities of the calculated curvature radius, the calculation unit selects a filter constant to be multiplied on the stored curvature radius in accordance with the type of the travel route where the vehicle is travelling and generates information indicating the curvature radius subjected to the filter process once or more using the selected filter constant.</p> |
