ROAD SHAPE ESTIMATING DEVICE, ROAD SHAPE ESTIMATING METHOD AND PROGRAM
First Claim
1. A road shape estimating device, comprising:
- a data obtaining processing unit for obtaining interpolation point data for a plurality of shape interpolation points which are set along a road and represent a shape of the road;
a radius calculation processing unit for calculating a radius of curvature at each of the shape interpolation points based on the interpolation point data for a predetermined section of the road;
a corner detection processing unit for detecting a corner in the predetermined section based on the radius of curvature at each of the shape interpolation points; and
a corner dividing processing unit for setting a threshold corresponding to an average value of radii of curvature at respective shape interpolation points in the detected corner and for dividing the corner at a shape interpolation point having a radius of curvature equal to or larger than the threshold in the detected corner.
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Abstract
A road shape estimating device has a data obtaining processing unit for obtaining interpolation point data for a plurality of shape interpolation points which are set along a road and represent a shape of the road, a radius calculation processing unit for calculating a radius of curvature at each of the shape interpolation points based on the interpolation point data for a predetermined section of the road, a corner detection processing unit for detecting a corner in the predetermined section based on the radii of curvature, and a corner dividing processing unit for dividing the corner at a shape interpolation point having a radius of curvature equal to or larger than a threshold in the detected corner. The threshold is set corresponding to an average value of radii of curvature at respective shape interpolation points in the detected corner.
16 Citations
4 Claims
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1. A road shape estimating device, comprising:
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a data obtaining processing unit for obtaining interpolation point data for a plurality of shape interpolation points which are set along a road and represent a shape of the road; a radius calculation processing unit for calculating a radius of curvature at each of the shape interpolation points based on the interpolation point data for a predetermined section of the road; a corner detection processing unit for detecting a corner in the predetermined section based on the radius of curvature at each of the shape interpolation points; and a corner dividing processing unit for setting a threshold corresponding to an average value of radii of curvature at respective shape interpolation points in the detected corner and for dividing the corner at a shape interpolation point having a radius of curvature equal to or larger than the threshold in the detected corner. - View Dependent Claims (2)
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3. A road shape estimating method, comprising the steps of:
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obtaining interpolation point data for a plurality of shape interpolation points which are set along a road and represent a shape of the road; calculating a radius of curvature at each of the shape interpolation points based on the interpolation point data for a predetermined section of the road; detecting a corner in the predetermined section based on the radius of curvature at each of the shape interpolation points; setting a threshold corresponding to an average value of radii of curvature at respective shape interpolation points in the detected corner; and dividing the corner at a shape interpolation point having a radius of curvature equal to or larger than the threshold in the detected corner.
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4. A computer-readable medium having, encoded thereon, a program that causes a computer to perform the steps of:
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obtaining interpolation point data for a plurality of shape interpolation points which are set along a road and represent a shape of the road; calculating a radius of curvature at each of the shape interpolation points based on the interpolation point data for a predetermined section of the road; detecting a corner in the predetermined section based on the radius of curvature at each of the shape interpolation points; and setting a threshold corresponding to an average value of radii of curvature at respective shape interpolation points in the detected corner and dividing the corner at a shape interpolation point having a radius of curvature equal to or larger than the threshold in the detected corner.
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Specification