| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a lane deviation estimation device capable of rapidly and accurately estimating a deviation quantity while adapting a simple structure. <P>SOLUTION: When all determinations in steps S21-S24 are Yes, a lane deviation quantity estimation part 38 calculates a yaw rate differenceΔγby subtracting an actual yaw rateγfrom a normal yaw rateγN in a step S27. The yaw rate differenceΔγis integrated to determine a deviation angle estimated valueθd(n) of vehicle at a current time in a step S28. When the current valueθd(n) of the deviation angle estimation value is obtained in the step S28, the lane deviation quantity estimation part 38 calculates an estimated deviation quantity D at the current time according to the equation D=V×t×θd(n) by use of the current valueθd(n) of the deviation angle estimated value, a vehicle body speed V and an integration time t in a step S29, and outputs the operation result to a control signal output part 40. <P>COPYRIGHT: (C)2006,JPO&NCIPI</p> |
