The road curvature estimator for a vehicle includes a vehicle attitude detector for detecting a vehicle attitude on a road, a front wheel and rear wheel steering angle detector, a vehicle speed detector, and a road curvature calculator. The road curvature calculator calculates the curvature of the road ahead of the vehicle by state estimation of modern control theory based on the measured vehicle attitude, measured vehicle speed, and measured steering angles of the front and rear wheels. The controller executes the control of the automatic steering mechanism based on the road curvature calculated by the road curvature.
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