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.

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 represent a shape of a road, a radius calculation processing unit for calculating a radius of curvature at each of shape interpolation points based on the interpolation point data, a corner detection processing unit detecting a corner based on the calculated radius of curvature, and a corner dividing processing unit for obtaining segment lengths of segments between respective shape interpolation points in the corner and dividing the corner by a segment length equal to or larger than a threshold which is set corresponding to an average value of the respective segment lengths.

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.

Abstract: A road shape estimating device has a data obtaining processing unit for obtaining interpolation point data, a radius calculation processing unit for calculating a radius of curvature at each of shape interpolation points based on the interpolation point data, a corner detection processing unit for detecting a corner in a predetermined section, based on the radius of curvature at each of the shape interpolation points, and for setting a candidate start point and a candidate end point for the detected corner, and a corner connection processing unit for determining whether or not a predetermined connecting condition is met based on candidate start points and candidate end points of detected corners, and connecting, when the predetermined connecting condition is met, a predetermined corner among the plurality of corners and a corner adjacent the predetermined corner.

Abstract: A road shape estimating device has a data obtaining processing unit for obtaining interpolation point data for shape interpolation points, a radius calculation processing unit for calculating a radius of curvature at each of the shape interpolation points based on the interpolation point data, a corner detection processing unit for detecting a corner based on the radius of curvature at each of the shape interpolation points and for setting a candidate start point and a candidate end point, and a minimum radius calculation processing unit for setting a center ideal point based on the candidate start point and the candidate end point of the corner, a front ideal point on the candidate start point side of the center ideal point, and a rear ideal point on the candidate end point side of the center ideal point, and for calculating an ideal radius of curvature of the corner as a minimum radius.