CURVE RADIUS ESTIMATING APPARATUS AND AUTOMATICALLY STEERING CONTROL SYSTEM WITH THE SAME

摘要

PROBLEM TO BE SOLVED: To properly set a running target line, for example, a vehicle by enabling accurately recognizing of the radius of a curve in a bank path too in a curve radius estimating apparatus and an automatically steering control system with the curve radius estimating apparatus ideal for running by the vehicle on the curve having a bank. SOLUTION: A curve radius estimating apparatus 4 is arranged with an image pickup means 2 mounted on a vehicle to photograph an image of a running course ahead thereof and a radius estimating means 3 to estimate the radius of a curve on a running course ahead of the vehicle based on image information from the image pickup means 2. Also arranged are an angle of bank estimating means 9 to estimate an angle of bank of the surface of a road where the vehicle runs at a photographing point by the image pickup means 2 and a curve radius correction means 8 to correct the radius of the curve on the running course ahead of the vehicle as estimated by the radius estimating means 3 based on the angle of bank estimated by the angle of bank estimating means 9.