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.

公开(公告)号：US09109919B2

公开(公告)日：2015-08-18

申请号：US14314504

申请日：2014-06-25

Applicant: ALPINE ELECTRONICS, INC.

Inventor： Tetsuro Yabe

IPC: G01S13/88 ,  G01C21/30 ,  G01C21/32 ,  G01C21/36 ,  G09B29/10 ,  G01C23/00

CPC classification number: G01C21/3658 ,  G01C21/30 ,  G01C21/32 ,  G01C21/3626 ,  G01C23/00 ,  G09B29/106

Abstract: A curved-section-information supplying apparatus includes: a clothoid-section identifying unit that identifies a clothoid section included in a curved section of a road; a clothoid-coefficient obtaining unit that obtains a clothoid coefficient for a clothoid curve representing a shape of the clothoid section identified by the clothoid-section identifying unit; and a radius-of-curvature calculating unit that calculates a radius of curvature at a position at a travel distance in the clothoid section, based on the clothoid coefficient and a curve length from a start point of the clothoid curve, the curve length corresponding to the travel distance from a start point of the clothoid section, to supply curved-section information based on the radius of curvature at the position at the travel distance in the clothoid section.

Abstract translation: 曲面信息提供装置包括：回旋部分识别单元，其识别包括在道路的弯曲部分中的回旋部分; 回旋曲线系数获取单元，其获得表示由回旋部分识别单元识别的回旋部分的形状的回旋曲线的回旋系数; 以及曲率半径计算单元，其基于所述回旋系数和从所述回旋曲线的起始点起的曲线长度，计算所述回旋曲线段中的行进距离处的位置处的曲率半径，所述曲线长度对应于 从回旋部分的起始点起的行进距离，以根据回旋部分中行进距离处的位置处的曲率半径提供弯曲部分信息。

公开(公告)号：US20150057922A1

公开(公告)日：2015-02-26

申请号：US14314504

申请日：2014-06-25

Applicant: ALPINE ELECTRONICS, INC.

Inventor： Tetsuro Yabe

IPC: G01C21/36

CPC classification number: G01C21/3658 ,  G01C21/30 ,  G01C21/32 ,  G01C21/3626 ,  G01C23/00 ,  G09B29/106

Abstract: A curved-section-information supplying apparatus includes: a clothoid-section identifying unit that identifies a clothoid section included in a curved section of a road; a clothoid-coefficient obtaining unit that obtains a clothoid coefficient for a clothoid curve representing a shape of the clothoid section identified by the clothoid-section identifying unit; and a radius-of-curvature calculating unit that calculates a radius of curvature at a position at a travel distance in the clothoid section, based on the clothoid coefficient and a curve length from a start point of the clothoid curve, the curve length corresponding to the travel distance from a start point of the clothoid section, to supply curved-section information based on the radius of curvature at the position at the travel distance in the clothoid section.

Abstract translation: 曲面信息提供装置包括：回旋部分识别单元，其识别包括在道路的弯曲部分中的回旋部分; 回旋曲线系数获取单元，其获得表示由回旋部分识别单元识别的回旋部分的形状的回旋曲线的回旋系数; 以及曲率半径计算单元，其基于所述回旋系数和从所述回旋曲线的起始点起的曲线长度，计算所述回旋曲线段中的行进距离处的位置处的曲率半径，所述曲线长度对应于 从回旋部分的起始点起的行进距离，以根据回旋部分中行进距离处的位置处的曲率半径提供弯曲部分信息。