Vehicle steering controller

A vehicle steering controlling method comprising:

• acquiring an image of a view in a direction in which a vehicle is driving;
• recognizing, by using a computer, a shape of a road along which the vehicle is driving by performing a first approximation that is an approximation using a monomial or a polynomial having a degree of one or two, using the captured image;
• making a determination, by using a computer, whether or not the shape of the road recognized by the shape recognizer is that of a transitional section between a curved road and a linear road,
• in a case where the determination is affirmative, recognizing, by using a computer, the shape of the road by performing a second approximation that is an approximation using a monomial or a polynomial having a degree of three or higher;
• and
• controlling steering of the vehicle on the basis of the shape of the recognized road.

A non-transitory computer-readable storage medium with an executable program stored thereon, wherein the program instructs a computer to perform steps comprising:

• acquiring an image of a view in a direction in which a vehicle is driving;
• recognizing a shape of a road along which the vehicle is driving by performing a first approximation that is an approximation using a monomial or a polynomial having a degree of one or two, using the captured image;
• making a determination whether or not the shape of the road recognized by the shape recognizer is that of a transitional section between a curved road and a linear road,
• in a case where the determination is affirmative, recognizing the shape of the road by performing a second approximation that is an approximation using a monomial or a polynomial having a degree of three or higher;
• and
• controlling steering of the vehicle on the basis of the shape of the recognized road.