Predicted course estimating apparatus and predicted course estimating method

A predicted course estimating method for estimating a predicted course of an own vehicle, comprising:

• a step of acquiring turning data that indicates a turning direction of the own vehicle;
• a step of executing filtering for removing a high-frequency component included in the turning data;
• a step of calculating an estimated value for course prediction of the own vehicle, based on the turning data that has been filtered, and a speed of the own vehicle;
• a step of determining whether the own vehicle is traveling a part of the road where the shape changes;
• and
• a step of changing an extent of removing of the high-frequency component by the filtering when it is determined that the own vehicle is traveling a part of the road where the shape changes.

A predicted course estimating apparatus for estimating a predicted course of an own vehicle, comprising:

• a memory;
• a processor communicable to the memory;
• and
• a set of computer-executable instructions stored on the memory that cause the processor to implement:
• acquiring turning data that indicates a turning direction of the own vehicle, removing a high-frequency component that is included in the turning data, calculating an estimated value for course prediction of the own vehicle, based on the turning data that has been filtered, and a speed of the own vehicle,
• determining whether the own vehicle is traveling a part of the road where the shape changes, and
• changing an extent of removing of the high-frequency component by a filter when it is determined that the own vehicle is traveling a part of the road where the shape cha