| 摘要 |
PROBLEM TO BE SOLVED: To estimate accurately a road shape. SOLUTION: This road shape estimating device has a data obtaining processing means for obtaining interpolation point data for shape interpolation points, a radius calculation processing means for calculating a radius of curvature at each of the shape interpolation points based on the interpolation point data, a corner detection processing means for detecting a corner based on each radius of curvature and setting a candidate start point and a candidate end point, and a minimum radius calculation processing means for setting a center ideal point based on the candidate start point and the candidate end point of the corner, a front ideal point on the furthermore candidate start point side than the center ideal point, and a rear ideal point on the furthermore candidate end point side than the center ideal point, and for calculating an ideal radius of curvature of the corner as a minimum radius. Since the ideal radius of curvature is calculated based on the center ideal point, the front ideal point and the rear ideal point, the road shape can be estimated accurately. COPYRIGHT: (C)2010,JPO&INPIT |
