Device for determining a curvature of the road and for regulating the speed when approaching a curve

摘要

A curve's radius of curvature that approximates the actual curve is calculated, and an appropriate allowable curve approach speed even when the node interval is extremely short is set. Although the node c with a relatively large positional deviation on the curve is not out of the actual road width, the road geometry indicated by a series of nodes is locally bent like a concave at around the node c, constituting a curve that cannot exist in reality. The interval between nodes b and c is short, so that calculating the curve's radius of curvature at nodes b and c may result in a very small curve's radius of curvature which is far smaller than the actual curve geometry. Therefore, at least one of the nodes is taken as the curve's radius of curvature calculation removal point and is not used for the calculation of the curve's radius of curvature. IMAGE IMAGE IMAGE IMAGE