| 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 a plurality of shape interpolation points which are set along a road and represent a shape of the road, a radius calculation processing means for calculating a radius of curvature at each of the shape interpolation points based on the interpolation point data for a predetermined section of the road, a corner detection processing means for detecting a corner in the section based on each radius of curvature, and a corner dividing processing means for dividing the corner at a shape interpolation point having a radius of curvature equal to or larger than a threshold in the detected corner. The threshold is set corresponding to an average value of radii of curvature at respective shape interpolation points in the detected corner. Since division of the corner is performed at the shape interpolation point having a radius of curvature equal to or larger than the threshold, the road shape can be estimated accurately. COPYRIGHT: (C)2010,JPO&INPIT |
