公开(公告)号：US10222801B2

公开(公告)日：2019-03-05

申请号：US15618528

申请日：2017-06-09

Applicant: ALPINE ELECTRONICS, INC.

Inventor： Hiroki Oba ,  Kosuke Munakata ,  Tetsuro Yabe

IPC: G05D1/00 ,  G05D1/02 ,  B60W30/10 ,  B62D15/02

Abstract: A movement route generating apparatus includes an angle calculating unit calculating an angle formed by a vehicle travel direction at a target position compared with that at the current position, a graph generating unit generating a graph that has most gentle inclinations by plotting the curvature of a travel trajectory matching the steering angle of the vehicle and a distance traveled on two axes, under the condition that the area of a graph generated in correspondence to a travel trajectory from the current position to the target position is equal to the angle and other conditions, and a route setting unit setting a travel trajectory represented by the graph as the movement route of the vehicle. Accordingly, a travel trajectory with the smallest degree of change in curvature per unit distance traveled, that is, a low horizontal angular velocity caused by vehicle steering, can be set as a movement route.

公开(公告)号：US20180011489A1

公开(公告)日：2018-01-11

申请号：US15618528

申请日：2017-06-09

Applicant: ALPINE ELECTRONICS, INC.

Inventor： Hiroki Oba ,  Kosuke Munakata ,  Tetsuro Yabe

IPC: G05D1/00 ,  G05D1/02

CPC classification number: G05D1/0088 ,  B60W30/10 ,  B60W2550/146 ,  B60W2710/207 ,  B62D15/025 ,  B62D15/0285 ,  G05D1/0212 ,  G05D2201/0213

Abstract: A movement route generating apparatus includes an angle calculating unit calculating an angle formed by a vehicle travel direction at a target position compared with that at the current position, a graph generating unit generating a graph that has most gentle inclinations by plotting the curvature of a travel trajectory matching the steering angle of the vehicle and a distance traveled on two axes, under the condition that the area of a graph generated in correspondence to a travel trajectory from the current position to the target position is equal to the angle and other conditions, and a route setting unit setting a travel trajectory represented by the graph as the movement route of the vehicle. Accordingly, a travel trajectory with the smallest degree of change in curvature per unit distance traveled, that is, a low horizontal angular velocity caused by vehicle steering, can be set as a movement route.