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Movement route generating apparatus and movement route generating method

  • US 10,222,801 B2
  • Filed: 06/09/2017
  • Issued: 03/05/2019
  • Est. Priority Date: 07/07/2016
  • Status: Active Grant
First Claim
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1. A movement route generating apparatus comprising:

  • an angle calculating unit that calculates an angle formed by a direction in which a vehicle at a target position travels compared with a direction in which the vehicle at a current position travels;

    a graph generating unit that generates a graph that has most gentle inclinations, each inclination indicating a degree of change in curvature per unit distance traveled, by plotting a curvature of a travel trajectory matching a steering angle of the vehicle and a distance traveled by the vehicle on two axes, under conditions that an area of a graph generated in correspondence to a travel trajectory from the current position to the target position is equal to the angle calculated by the angle calculating unit, and a maximum curvature of a travel trajectory due to a maximum steering angle that the vehicle is capable of controlling is an upper limit; and

    a route setting unit that sets, as a movement route of the vehicle, a travel trajectory represented by the graph generated by the graph generating unit.

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