Apparatus for predicting road shape

0 0 2An apparatus for predicting road shape includes a map data reading unit, a clothoid curve calculating unit for calculating a clothoid curve corresponding to a corner area, and a fitting unit for adjusting the clothoid curve to the corner area. The clothoid curve calculating unit calculates a clothoid curve by using X-coordinates and Y-coordinates which are found by expressions: and wherein Xand Yare coordinates at a start point of a clothoid curve, L is distance from the start point of the clothoid curve, φ is computed by equation (3) φ=α+2kL, wherein α is an angle for the start point of the clothoid curve and "k" is computed by equation (4) k =28/A, wherein A is a clothoid coefficient.