| 摘要 |
PURPOSE: To estimate a suitable traveling route by selecting either of first and second traveling routes to be estimated according to the steering angle and speed of a vehicle and a yaw rate and vehicle speed corresponding to the amplitude of the rate. CONSTITUTION: The steering angle of a steering angle sensor 9, the yaw rate of a yaw rate sensor 10 and the vehicle speed of a vehicle speed sensor 8 are read in, a traveling route (having a turning radius R1) is calculated according to the steering angle and the vehicle speed by first traveling route estimating means 16A and a turning radius R2 is calculated according to the yaw rate and the vehicle speed by second traveling route estimating means 16B. Then, the amplitudes of the absolute value of the yaw rate and its threshold are decided by selecting means 17. When the value is decided to be small, the R2 is set as the radius of curvature, while when it is large, the R2 is set as the radius. Thus, when the vehicle travels to turn at the vent road of a cant (road surface inclination), the steering is not required to be large, the absolute value of the yaw rate is reduced. If the abrupt turning of the vehicle is required for the R2, the radius R1 is employed. The suitable advancing route can be selected in response to the road state. |
