| 摘要 |
<P>PROBLEM TO BE SOLVED: To estimate a traveling state of own vehicle with high accuracy, based on the yaw rate value outputted by a yaw rate sensor, even if the own vehicle performs acceleration/deceleration. Ž<P>SOLUTION: This traveling state estimation device has: the yaw rate sensor 3 for detecting a yaw rate of the vehicle; a filter 11 filter-processing the yaw rate value detected by the yaw rate sensor 3; a traveling state estimating part 14 for estimating the traveling state of the vehicle, based on the yaw rate value outputted by the filter 11; a rectilinear traveling state decision part 13 for deciding the rectilinear traveling state of the vehicle; a back-and-forth acceleration sensor 4 for detecting the acceleration or the deceleration of the vehicle; and a time constant setting part 12 for setting a time constant of the filter 11, based on the acceleration or the deceleration of the vehicle detected by the back-and-forth acceleration sensor 4, when the rectilinear traveling state decision part 13 decides that the vehicle is traveling rectilinearly. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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