A curve-shape modeling device which sorts a plurality of sampling points along a path into straight intervals, transition curve intervals, and steady intervals in order to model the curve shape for the path, said curve-shape modeling device comprising: a curve extraction unit which extracts a curve from the plurality of sampling points on the basis of curvature at the plurality of sampling points; a steady interval curvature determination unit which determines the curvature of the steady interval on the basis of curvature at the sampling points included in the extracted curve; and a curve entrance/exit determination unit which sets a prescribed curvature range which includes the curvature of the steady interval and determines a start point and an end point of the steady interval on the basis of the curvature range.
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