| 摘要 |
<p>PROBLEM TO BE SOLVED: To obtain an estimation apparatus by which a road curvature can be estimated without a delay in a computing operation. SOLUTION: This apparatus is provided with transverse-displacement measuring means 17, 19 which measure the transverse displacement of a vehicle with reference to a road, front-and-rear-wheel meandering-angle measuring means 9, 11 which measure the meandering angle of front wheels 21 of the vehicle and that of its rear wheels 23, a vehicle-speed meansuring means 13 which measures the vehicle speed of the vehicle and a road-curvature computing means 15 which computes a road curvature on the basis of the measured transverse displacement, on the basis of the measured meandering angles of the front and rear wheels and on the basis of the measured vehicle speed by means of the state estimation of a modern control theory.</p> |
