Vehicle-mounted road form estimation apparatus uses vehicle parameter estimation data or steering angle data, and fixed article data related to e.g. relative velocity between vehicle and article, to calculate for final road form

摘要

The apparatus (100) initially acquires article data e.g. relative velocity between vehicle and article, determines whether the article data is constant or fixed, and estimates the road form (D2) based on the determination result. The apparatus also acquires vehicle parameter estimation data (E) and steering angle data (F) and estimates another road form (D1) based on both data. The final road form (D3) is then calculated using the two previous road forms (D1,D2) in agreement with the data spacing within acquisition range.