Patent ID: 9499156
Filing Date: 2016-11-22
CPC Classification: B60W,H03H,Y02T

Claim Text:
1. An on-board apparatus comprising: at least one of a yaw rate sensor and a steering angle sensor; a control unit, including a computer processor, configured to: periodically measure, as a state of an own vehicle, at least one of a yaw rate and a steering angle of the own vehicle; perform a low-pass filter process on the measurement results; predict a course of the own vehicle based on the measurement results on which the low-pass filter process has been performed; perform processes based on the predicted course of the own vehicle; detect, as a traveling environment of the own vehicle, a degree of curving of an expected traveling road on which the own vehicle is predicted to travel; and adjust a time constant for the low-pass filter process based on the degree of curving of the expected traveling road detected as the traveling environment of the own vehicle.