| 摘要 |
PROBLEM TO BE SOLVED: To provide a yaw rate estimating device capable of estimating the yaw rate with high accuracy even when a vehicle is not in a normal turning state. SOLUTION: The yaw rate estimating device 1 has a control unit which determines a turning state whether or not a vehicle is in a normal turning state and estimates the yaw rate of the vehicle based on the result. The control unit 7 comprises an image processing unit 8 for obtaining the curve radius of a road with its image picked up by a camera 4, and a yaw rate estimation unit 9 for estimating the yaw rate of the vehicle based on the lateral acceleration detected by a lateral acceleration sensor 2, the vehicle speed detected by a vehicle speed sensor 3, the curve radius obtained by the image processing unit 8, the steering speed detected by a steering speed sensor 5, and the longitudinal acceleration detected by a longitudinal acceleration sensor 6. When the vehicle is not in a normal turning state, the yaw rate estimation unit 9 estimates the third yaw rate by taking the weighted mean of the first and second yaw rates, and sets the third yaw rate as a final value. COPYRIGHT: (C)2008,JPO&INPIT
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