초록 ▼

An error in road data is compensated for to correctly determine an actual road shape and to carry out a precise vehicle control on the basis of the determined road shape. A deviation .DELTA..theta.V between an azimuth angle .theta.V of movement of a vehicle and an azimuth angle .theta.1 of a road co

An error in road data is compensated for to correctly determine an actual road shape and to carry out a precise vehicle control on the basis of the determined road shape. A deviation .DELTA..theta.V between an azimuth angle .theta.V of movement of a vehicle and an azimuth angle .theta.1 of a road connecting a node N.sub.0 behind the position of the vehicle and a node N.sub.1 ahead of the position of the vehicle, or a deviation .DELTA..theta.V between the azimuth angle .theta.V of movement of a vehicle and an azimuth angle .theta.1 of a road connecting the position of the vehicle and the node N.sub.1 ahead of the position of the vehicle, is calculated. When the deviation .DELTA..theta.V is equal to or greater than a reference value it is determined that there is an error in the position of the node N.sub.1, and the road shape presumed from the road data is corrected to the actual road shape. Then, a warning operation for advising a driver of a decelerating operation or an automatic braking operation is carried out on the basis of the corrected road shape so that the vehicle can pass through the curve ahead of the vehicle.

대표청구항 ▼

[ I claim:] [1.] A road shape determining device for determining the shape of a road ahead of the position of a vehicle on the basis of road data, comprisinga road azimuth angle calculating means for calculating an azimuth angle (.theta.1, .theta.2) of the road ahead of the vehicle on the basis of t

[ I claim:] [1.] A road shape determining device for determining the shape of a road ahead of the position of a vehicle on the basis of road data, comprisinga road azimuth angle calculating means for calculating an azimuth angle (.theta.1, .theta.2) of the road ahead of the vehicle on the basis of the road data;a movement azimuth angle calculating means for calculating an azimuth angle (.theta.V) of movement of the vehicle; anda road shape determining means coupled to said road azimuth angle calculating means and said movement angle calculating means, for determining the shape of the road ahead of the position of the vehicle by comparing the road azimuth angle (.theta.1, .theta.2) calculated by said road azimuth angle calculating means with the azimuth angle (.theta.V) of movement of the vehicle calculated by said movement azimuth angle calculating means.