To provide a curvature estimation device, a vehicle control device and a curvature estimation program which can accurately acquire a curvature of a travel trajectory of a vehicle.SOLUTION: A curvature estimation device 100 comprises an actual curvature acquisition section 102 that acquires an actual curvature which is a curvature of a travel trajectory of a vehicle 10. The actual curvature acquisition section 102 acquires a first curvature calculation value which is a calculation value of the curvature of the travel trajectory based on a yaw rate as the actual curvature when a vehicle speed is equal to or greater than a first speed determination value. The actual curvature acquisition section 102 also acquires a second curvature calculation value which is a calculation value of the curvature of the travel trajectory based on a speed difference between rear wheels 23 and 24 when the vehicle speed is less than the first speed determination value as the actual curvature.SELECTED DRAWING: Figure 1

    【課題】車両の走行軌道の曲率を精度良く取得できる曲率推定装置、車両制御装置及び曲率推定プログラムを提供する。【解決手段】曲率推定装置100は、車両10の走行軌道の曲率である実曲率を取得する実曲率取得部102を備える。実曲率取得部102は、車体速度が第1速度判定値以上の場合には、ヨーレートに基づく走行軌道の曲率の演算値である第1曲率演算値を実曲率として取得する。一方、実曲率取得部102は、車体速度が第1速度判定値未満の場合には、後輪23,24の速度差に基づく走行軌道の曲率の演算値である第2曲率演算値を実曲率として取得する。【選択図】図1


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    Title :

    CURVATURE ESTIMATION DEVICE, VEHICLE CONTROL DEVICE AND CURVATURE ESTIMATION PROGRAM


    Additional title:

    曲率推定装置、車両制御装置及び曲率推定プログラム


    Contributors:

    Publication date :

    2025-01-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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