ROAD SHAPE ESTIMATION DEVICE

摘要

PROBLEM TO BE SOLVED: To provide a road shape estimation device capable of accurately estimating a road shape on which a vehicle will travel. SOLUTION: This device comprises an object detection means 104 detecting object information B including a relative speed to an object A by transmitting electromagnetic wave V1 to a predetermined detection area and receiving reflected wave W2 therefrom; a first road shape estimation means 101 estimating a first road shape based on yaw rate information E or steering angle information F; a stationary object determination means 105 generating stationary object information C based on the object information B; a second road shape estimation means 102 estimating a second road shape D2 based on a plurality of pieces of stationary object information C; and a third road shape estimation means 103 calculating a third road shape D3 on which the vehicle will travel. The first and second road shapes D1 and D2 are switched in accordance with distance information to calculate the third road shape D3. COPYRIGHT: (C)2007,JPO&INPIT