Honda Motor Co., Ltd.
YAW RATE ESTIMATING DEVICE

Abstract:

Yaw rate estimating device includes: information acquirer that acquires information on front image and information on vehicle speed; lane recognizer that recognizes traveling lane drawn on traveling route of own vehicle and curvature thereof based on information on front image; direction change rate calculator that calculates change rate of direction of traveling lane based on information on curvature of traveling lane and vehicle speed; yaw angle change rate calculator that calculates change rate of yaw angle of own vehicle with respect to direction of traveling lane based on information on curvature of traveling lane and vehicle speed; and lane yaw rate estimator that estimates lane yaw rate based on change rate of direction of traveling lane and change rate of yaw angle of own vehicle with respect to direction of traveling lane, wherein estimated lane yaw rate is used as yaw rate of own vehicle.