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 shape interpolation points (mi), 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 at each of the shape interpolation points (mi) and setting a candidate start point (s1) and a candidate end point (e1), and a minimum radius calculation processing unit (31) that is adapted to set a center set point (Pvc) based on the candidate start point (sl) and the candidate end point (e1) of the corner (cn1), a front set point (Pvf) on the candidate start point side with respect to the center set point (Pvc), and a rear set point (Pvb) on the candidate end point side with respect to the center set point (Pvc), and calculating a set radius of curvature of the corner (cn1) as a minimum radius. Since the set radius of curvature is calculated based on the center set point (Pvc), the front set point (Pvf) and the rear set point (Pvb), the road shape can be estimated precisely.