This disclosure provides as an aspect a course estimator having a curvature radius estimator, a calculator and a determination section. The curvature radius estimator obtains first information on a forward traveling path ahead of a vehicle in a traveling direction of the vehicle at different time points and estimating, on the basis of the first information obtained repeatedly, each curvature radius of the forward traveling path at a respective time. The calculator calculates change information indicating magnitude of time change in curvature radius of the forward traveling path on the basis of the estimated curvature radiuses of the forward traveling paths. The determination section determines whether or not there is a changing point where a road shape of the forward traveling paths changes on the basis of the calculated change information.
COURSE ESTIMATOR
2015-06-25
Patent
Electronic Resource
English
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 / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen |