| 摘要 |
When determining that a subject vehicle traveled a curve, a road shape learning apparatus amends an entrance coordinate, a middle coordinate, and an exit coordinate of the curve based on predetermined amendment values to thereby obtain a post-amendment entrance coordinate, a post-amendment middle coordinate, and a post-amendment exit coordinate. The road shape learning apparatus computes a radius of a circular arc which passes through the post-amendment entrance coordinate, the post-amendment middle coordinate, and the post-amendment exit coordinate and designates the computed radius as a curvature radius of the curve. |
