| 摘要 |
PROBLEM TO BE SOLVED: To set a proper allowable curve approach speed by calculating a curve curvature radius approximating to an actual curve even when a node interval is extermly short. SOLUTION: A node c whose positional variance is relatively large on a curve does not deviate from the actual road width, nevertheless the road shape indicated by a node string is locally bent so as to be recessed before and after the node c, and an actually impossible curve shape is shown. Also, an interval between nodes b and c is short, and when the arithmetic operation of the curve curvature radius in the nodes b and c is executed, there is possibility that a curve curvature radius which is sharply smaller than the actual curve shape is calculated. Then, at least one node is defined as a point excluded from the curve curvature radius calculation, and the node is not used for the calculation of the curve curvature radius. |
