| 摘要 |
<p>A road shape estimating device has a data obtaining processing unit (31) that is adapted to obtain interpolation point data, 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, cn2, cn3) in the section based on the radius (R) of curvature at each of the shape interpolation points (mi) and that is adapted to set a candidate start point (s1, s2, s3) and a candidate end point (e1, e2, e3) of the detected corner (cn1, cn2, cn3), and a corner connection processing unit (31) that is adapted to determine whether a predetermined connecting condition is met or not based on candidate start points (s2, s2') and candidate end points (e1, e1', e2, e2') of detected corners (cn1, cn2, cn1', cn2'), and connecting, when the predetermined connecting condition is met, a predetermined corner (cn1, cn1') among the plurality of corners (cn1, cn2, cn1', cn2') and a corner (cn2, cn2') adjacent to the predetermined corner (cn1, cn1'). Since whether a predetermined condition is met or not is determined based on candidate start points (s2, s2') and candidate end points (el, e1', e2, e2'), the road shape can be estimated precisely.</p> |
