| 摘要 |
A turning direction calculating unit determines a turning direction of a vehicle based on a change in azimuth of the vehicle. An angular velocity calculating unit calculates an angular velocity of the vehicle. A turning radius calculating unit calculates a turning radius of the vehicle by using the angular velocity and a travel distance of each predetermined time period. A turning radius correcting unit corrects the turning radius so that the turning radius becomes larger by a correction value WL according to a traveling position on a road if the vehicle turns to the left, and corrects the turning radius so that the turning radius becomes smaller by a correction value WR according to a traveling position on a road if the vehicle turns to the right. A vehicle position estimating unit estimates a vehicle position on a center line of the road by using the corrected turning radius.
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