| 摘要 |
PROBLEM TO BE SOLVED: To quickly attain interpolation control so that curvature can be made continuous by using a clothoid segment even when plural sequences of points are applied. SOLUTION: The coordinates of plural points to be interpolated are inputted (a first process), and the temporary tangent azimuth of each point is calculated (a second process). Then the block parameter (are length, curved angle, and reduced angle) of a clothoid segment connecting the above mentioned sequence of points is calculated (a third process). Moreover, the tangent azimuth is changed so that curvature before and after each point of a curve decided according to the obtained block parameter can be optimized so as to become continuous (a fourth process). Then the obtained block parameter is converted into a division parameter suited to a sum of product arithmetic operation, and interpolation positions are successively calculated, based on the converted division parameter.
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