| 摘要 |
PROBLEM TO BE SOLVED: To enable estimation of curved shape of a traveling road in a wide range ahead of a vehicle even under adverse conditions such as rain and fog, by estimating condition of a road ahead to travel on the basis of specific information obtained from design conditions of a traveling road ahead of one's own vehicle. SOLUTION: A device for estimating condition of a traveling road is provided with a control device 10 to estimate the condition of the traveling road such as a radius of curvature at each location within a predetermined distance ahead of one's own vehicle on the basis of detection signals from a yaw rate sensor 11 and a wheel velocity sensor 12, image pickup signals of road white lines from a camera 13, map information from a navigation device 20. Then, for example, when a vehicle enters a curve from a straight-ahead zone, it is determined that the vehicle is traveling, for example, in an entrance transition zone on the basis of a measured radius of curvature at a present location of traveling and information on the condition of the travelling road from map data, etc., to obtain specific information of the traveling road such as the parameter of a clothoid curve. On the basis of the specific information, the condition of the road ahead is estimated and set in a register 14. |
