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ROAD SHAPE ESTIMATING DEVICE, ROAD SHAPE ESTIMATING METHOD AND PROGRAM

  • US 20090248290A1
  • Filed: 03/26/2009
  • Published: 10/01/2009
  • Est. Priority Date: 03/28/2008
  • Status: Active Grant
First Claim
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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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