| 摘要 |
PURPOSE:To estimate the travel path of the automobile from even a 2nd travel path of a precedent moving body and to improve the reliability of the travel path estimation by providing a travel area estimating means which estimates a travel area by holding the 2nd travel path by a 2nd travel path estimating means. CONSTITUTION:The 2nd travel path estimating means 27 estimates the travel path of its automobile on the basis of the moving body which is precedent to its automobile. A direction change detecting means 28 which receives the signal obtained by a blinker switch 14 detects a direction change of the vehicle. Then a travel area estimating means 29 receives the outputs of 1st and 2nd travel path estimating means 6B and 27, a travel path estimating means 6C, and the direction change detecting means 28 and sets a travel area. For the travel path estimation, the 2nd travel path obtained by the 2nd travel path estimating means 27 is held at direction change time until the 1st travel path obtained by a 1st travel path estimating means 6B match the 2nd travel path obtained by the 2nd travel path estimating means 27, and the travel area is estimated in consideration of not only the 1st travel path, but also the 2nd travel path. |
