ROAD CURVATURE INFORMATION DETECTION DEVICE AND VEHICLE RUNNING CONTROL METHOD USING THE SAME

摘要

PROBLEM TO BE SOLVED: To provide a road curvature information detection device for accurately obtaining the curvature radius or curvature of a road. SOLUTION: A deviation dkbetween a present position and an actual node Pkcorresponding to the present position is obtained. A virtual node Qishifted from an actual node Piin a future position by the deviation dkis obtained. Three virtual nodes Qilike this are obtained which correspond to three points of the actual node Picorresponding to the future position and actual nodes preceding and following this actual node Piin a direction of vehicle running. Selected nodes Si-1to Si+1at three points in total are determined from three points of the node Picorresponding to the future position and nodes Pi-1and Pi+1preceding and succeeding it in the direction of vehicle running and three points of virtual nodes Qi-1to Qi+1, by selecting actual nodes or virtual nodes, and a curvature radius is obtained in accordance with selection of three determined points. Thus a curvature radius Rihaving a value more approximating that of an actual running course can be obtained. COPYRIGHT: (C)2005,JPO&NCIPI