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1.发明申请公开(公告)号：US20090248768A1
公开(公告)日：2009-10-01
申请号：US12411988
申请日：2009-03-26
CPC分类号： G01C21/32 , B60W10/06 , B60W10/11 , B60W40/072 , B60W40/076 , B60W2550/143 , B60W2550/402
摘要： A road shape estimating device has a data obtaining processing unit for obtaining interpolation point data for shape interpolation points, a radius calculation processing unit for calculating a radius of curvature at each of the shape interpolation points based on the interpolation point data, a corner detection processing unit for detecting a corner based on the radius of curvature at each of the shape interpolation points and for setting a candidate start point and a candidate end point, and a minimum radius calculation processing unit for setting a center ideal point based on the candidate start point and the candidate end point of the corner, a front ideal point on the candidate start point side of the center ideal point, and a rear ideal point on the candidate end point side of the center ideal point, and for calculating an ideal radius of curvature of the corner as a minimum radius.
摘要翻译： 道路形状估计装置具有用于获得形状插补点的插值点数据的数据获取处理单元，用于根据插值点数据计算每个形状插补点处的曲率半径的半径计算处理单元，拐角检测处理 用于根据每个形状插补点处的曲率半径检测拐角的单元，以及用于设置候选起始点和候选终点的单元，以及用于基于候选起始点设置中心理想点的最小半径计算处理单元 角点的候选终点，中心理想点的候选起始点侧的前方理想点，中心理想点的候选终点侧的后方理想点，以及用于计算理想曲率半径 的角落作为最小半径。
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2.发明授权公开(公告)号：US08583355B2
公开(公告)日：2013-11-12
申请号：US12411907
申请日：2009-03-26
IPC分类号： G01C21/00
摘要： A road shape estimating device has a data obtaining processing unit for obtaining interpolation point data for a plurality of shape interpolation points which are set along a road and represent a shape of the road, a radius calculation processing unit for calculating a radius of curvature at each of the shape interpolation points based on the interpolation point data for a predetermined section of the road, a corner detection processing unit for detecting a corner in the predetermined section based on the radii of curvature, and a corner dividing processing unit for dividing the corner at a shape interpolation point having a radius of curvature equal to or larger than a threshold in the detected corner. The threshold is set corresponding to an average value of radii of curvature at respective shape interpolation points in the detected corner.
摘要翻译： 道路形状估计装置具有数据获取处理单元，用于获得沿着道路设置并表示道路形状的多个形状插补点的插值点数据，半径计算处理单元，用于计算每一个的曲率半径 基于用于道路的预定部分的内插点数据的形状插补点的角度检测处理单元，用于基于曲率半径来检测预定部分中的角部的角部检测处理单元，以及角部分割处理单元， 在检测到的拐角中具有等于或大于阈值的曲率半径的形状插补点。 该阈值对应于检测到的拐角中各形状插补点处的曲率半径的平均值。
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3.发明申请公开(公告)号：US20090245583A1
公开(公告)日：2009-10-01
申请号：US12411831
申请日：2009-03-26
IPC分类号： G06K9/00
CPC分类号： G01C21/26
摘要： A road shape estimating device has a data obtaining processing unit for obtaining interpolation point data for a plurality of shape interpolation points which represent a shape of a road, a radius calculation processing unit for calculating a radius of curvature at each of shape interpolation points based on the interpolation point data, a corner detection processing unit detecting a corner based on the calculated radius of curvature, and a corner dividing processing unit for obtaining segment lengths of segments between respective shape interpolation points in the corner and dividing the corner by a segment length equal to or larger than a threshold which is set corresponding to an average value of the respective segment lengths.
摘要翻译： 道路形状估计装置具有数据获取处理单元，用于获得表示道路形状的多个形状插补点的插值点数据，半径计算处理单元，用于基于以下方式计算每个形状插补点处的曲率半径 内插点数据，基于计算出的曲率半径来检测拐角的角部检测处理单元，以及角部分割处理单元，用于获得角部各个形状插补点之间的段的段长度，并将角度除以段长度相等 达到或大于对应于各个段长度的平均值设置的阈值。
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4.发明申请公开(公告)号：US20090248290A1
公开(公告)日：2009-10-01
申请号：US12411907
申请日：2009-03-26
IPC分类号： G01C21/26
摘要： A road shape estimating device has a data obtaining processing unit for obtaining interpolation point data for a plurality of shape interpolation points which are set along a road and represent a shape of the road, a radius calculation processing unit for calculating a radius of curvature at each of the shape interpolation points based on the interpolation point data for a predetermined section of the road, a corner detection processing unit for detecting a corner in the predetermined section based on the radii of curvature, and a corner dividing processing unit for dividing the corner at a shape interpolation point having a radius of curvature equal to or larger than a threshold in the detected corner. The threshold is set corresponding to an average value of radii of curvature at respective shape interpolation points in the detected corner.
摘要翻译： 道路形状估计装置具有数据获取处理单元，用于获得沿着道路设置并表示道路形状的多个形状插补点的插值点数据，半径计算处理单元，用于计算每一个的曲率半径 基于用于道路的预定部分的内插点数据的形状插补点的角度检测处理单元，用于基于曲率半径来检测预定部分中的角部的角部检测处理单元，以及角部分割处理单元， 在检测到的拐角中具有等于或大于阈值的曲率半径的形状插补点。 该阈值对应于检测到的拐角中各形状插补点处的曲率半径的平均值。
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