Abstract: A movement route generating apparatus includes an angle calculating unit calculating an angle formed by a vehicle travel direction at a target position compared with that at the current position, a graph generating unit generating a graph that has most gentle inclinations by plotting the curvature of a travel trajectory matching the steering angle of the vehicle and a distance traveled on two axes, under the condition that the area of a graph generated in correspondence to a travel trajectory from the current position to the target position is equal to the angle and other conditions, and a route setting unit setting a travel trajectory represented by the graph as the movement route of the vehicle. Accordingly, a travel trajectory with the smallest degree of change in curvature per unit distance traveled, that is, a low horizontal angular velocity caused by vehicle steering, can be set as a movement route.

Abstract: A movement route generating apparatus includes an angle calculating unit calculating an angle formed by a vehicle travel direction at a target position compared with that at the current position, a graph generating unit generating a graph that has most gentle inclinations by plotting the curvature of a travel trajectory matching the steering angle of the vehicle and a distance traveled on two axes, under the condition that the area of a graph generated in correspondence to a travel trajectory from the current position to the target position is equal to the angle and other conditions, and a route setting unit setting a travel trajectory represented by the graph as the movement route of the vehicle. Accordingly, a travel trajectory with the smallest degree of change in curvature per unit distance traveled, that is, a low horizontal angular velocity caused by vehicle steering, can be set as a movement route.

Abstract: A curved-section-information supplying apparatus includes: a clothoid-section identifying unit that identifies a clothoid section included in a curved section of a road; a clothoid-coefficient obtaining unit that obtains a clothoid coefficient for a clothoid curve representing a shape of the clothoid section identified by the clothoid-section identifying unit; and a radius-of-curvature calculating unit that calculates a radius of curvature at a position at a travel distance in the clothoid section, based on the clothoid coefficient and a curve length from a start point of the clothoid curve, the curve length corresponding to the travel distance from a start point of the clothoid section, to supply curved-section information based on the radius of curvature at the position at the travel distance in the clothoid section.

Abstract: A curved-section-information supplying apparatus includes: a clothoid-section identifying unit that identifies a clothoid section included in a curved section of a road; a clothoid-coefficient obtaining unit that obtains a clothoid coefficient for a clothoid curve representing a shape of the clothoid section identified by the clothoid-section identifying unit; and a radius-of-curvature calculating unit that calculates a radius of curvature at a position at a travel distance in the clothoid section, based on the clothoid coefficient and a curve length from a start point of the clothoid curve, the curve length corresponding to the travel distance from a start point of the clothoid section, to supply curved-section information based on the radius of curvature at the position at the travel distance in the clothoid section.