Road shape estimating device, road shape estimating method and program

摘要

A road shape estimating device has a data obtaining processing unit (31) that is adapted to obtain interpolation point data of a plurality of shape interpolation points (mi) which represent a shape of a road (r1-r10), a radius calculation processing unit (31) that is adapted to calculate a radius (R) of curvature at each of shape interpolation points (mi) based on the interpolation point data, a corner detection processing unit (31) that is adapted to detect a corner (cn1) based on the radius (R) of curvature, and a corner dividing processing unit (31) that is adapted to obtain segment lengths (Lc11) of segments between respective shape interpolation points (m5, m6) in the corner (cn1) and performing dividing of the corner (cn1) by a segment having a segment length (Lc11) equal to or larger than a threshold which is set corresponding to an average value of the respective segment lengths (Lc11). Since dividing of a corner (cn1) is performed by a segment having a segment length (Lc11) equal to or larger than the threshold, dividing of the corner (cn1) can be performed appropriately.