ROAD SHAPE ESTIMATION DEVICE, COMPUTER PROGRAM, AND ROAD SHAPE ESTIMATION METHOD

摘要

PROBLEM TO BE SOLVED: To estimate a road shape by eliminating influence from the erroneous detection of an object and erroneous determination in stationary determination.

SOLUTION: A radar 110 (a circumferential object observation device) repetitively observes the correlative position of an object with a mobile body as reference concerning the object existing in the circumference of the mobile body. A stop object identification part 130 (a stationary object determination part) determines whether the object whose correlative positions are observed by the radar 110 is stationary or not. A road approximate curve provisional calculation part 140 (an object correlation part) determines a plurality of correlative positions observed by the radar 110 concerning the same object among the plurality of correlative positions observed by the radar 110. A road approximate curve proper calculation part 160 (an approximate curve calculation part) calculates an approximate curve approximating the shape of the road with existence of the mobile body, based on the determination result of the stop object identification part 130 and the determination result of the road approximate curve provisional calculation part 140.

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