| US 7,447,577 B2 | ||
| Curve's radius estimation device | ||
| Akira Hattori, Sunto-gun (Japan); and Minoru Saeki, Seto (Japan) | ||
| Assigned to Toyota Jidosha Kabushiki Kaisha, Toyota (Japan) | ||
| Filed on Dec. 12, 2003, as Appl. No. 10/733,464. | ||
| Claims priority of application No. 2003-009987 (JP), filed on Jan. 17, 2003. | ||
| Prior Publication US 2004/0143416 A1, Jul. 22, 2004 | ||
| Int. Cl. G06F 17/00 (2006.01) | ||
| U.S. Cl. 701—41 [701/72] | 7 Claims |
| 1. A curve's radius estimation device for estimating a curve's radius of a road on which a vehicle shall run, comprising:
a vehicle speed sensor that detects an actual speed of the vehicle;
a yaw rate sensor that detects an actual yaw rate of the vehicle;
a steering angle sensor that detects an angle of a steering wheel handled by a driver of the vehicle as an actual steering
angle; and
an estimator that estimates the curve's radius on the basis of the actual vehicle speed detected by the vehicle speed sensor,
the actual yaw rate detected by the yaw rate sensor, and the actual steering angle detected by the steering angle sensor,
wherein the estimator comprises:
a base value estimation part that estimates the curve's radius as a base value on the basis of the actual vehicle speed and
the actual yaw rate but not of the steering angle; and
an estimation part that determines an amount of correction for the base value on the basis of physical quantity regarding
the steering angle, and estimates the curve's radius by correcting the base value with the amount of correction.
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