Vehicle estimate navigation apparatus, vehicle estimate navigation, and vehicle estimate navigation program

A vehicle estimate navigation comprising:

• a speed vector calculation step of calculating, based on GPS information by a GPS receiver mounted in a running vehicle, a speed vector of a running speed of the vehicle;
• a tire rotation speed calculation step of calculating rotation speeds of the tires based on tire rotation information obtained by the tire rotation information detection means for detecting rotation information of tires attached to the vehicle;
• a speed calculation step of calculating a vehicle speed based on the speed vector information;
• a yaw rate calculation step of calculating a vehicle yaw rate based on the speed vector information;
• a first parameter calculation step of calculating a first parameter of a first relational expression between the vehicle speed calculated in the speed calculation step and the tire rotation speed, the vehicle speed being obtained based on a formula model for calculating a tire ground speed based on the tire rotation rates obtained in the tire rotation speed calculation step;
• and
• a second parameter calculation step of calculating a second parameter of a second relational expression between the yaw rate calculated in the yaw rate calculation step and the tire rotation speed, the yaw rate being obtained based on a formula model for calculating a tire ground speed based on the tire rotation speeds obtained in the tire rotation speed calculation step.

A vehicle estimate navigation program causing, in order to carry out an estimate navigation, a computer to function as:

• a speed vector calculation means for calculating, based on GPS information by a GPS receiver mounted in a running vehicle, a speed vector of a running speed of the vehicle,
• a tire rotation speed calculation means for calculating rotation speeds of tires based on tire rotation information obtained by the tire rotation information detection means for detecting rotation information of the tires attached to the vehicle;
• a speed calculation means for calculating a vehicle speed based on the speed vector information;
• a yaw rate calculation means for calculating a vehicle yaw rate based on the speed vector information;
• a first parameter calculation means for calculating a first parameter of a first relational expression between the vehicle speed calculated by the speed calculation means and the tire rotation speed, the vehicle speed being obtained based on a formula model for calculating a tire ground speed based on the tire rotation speeds obtained by the tire rotation speed calculation means;
• and
• a second parameter calculation means for calculating a second parameter of a second relational expression between the yaw rate calculated by the yaw rate calculation means and the tire rotation rate, the yaw rate being obtained based on a formula model for calculating a tire ground speed based on the tire rotation rates obtained by the tire rotation speed calculation means.