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

• Current Assignee: Alpine Electronics Incorporated (Alps Alpine Co., Ltd.)
• Original Assignee: Alpine Electronics Incorporated (Alps Alpine Co., Ltd.)
• Inventors: Oba, Hiroki, Munakata, Kosuke, Yabe, Tetsuro
• Primary Examiner(s): Badii, Behrang
• Assistant Examiner(s): Greene, Daniel L
• Application Number:
  US15/618,528
• Publication Number:
  US 20180011489A1
• Time in Patent Office: 634 Days
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2710/207 Steering angle of wheels
• CPC Class Codes: B60W 30/10 Path keeping cruise control for automatically following a preceding vehicle B60W30/165
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287

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.

Claims

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.

2. The movement route generating apparatus according to claim 1, further comprising:

a pattern determining unit that determines whether to use a first pattern to move the vehicle from the current position to the target position by steering in one direction or a second pattern to move the vehicle from the current position to the target position by steering in two directions, depending on whether an intersection of an axial line of the vehicle at the current position and an axial line of the vehicle at the target position is present between the current position and the target position and whether a distance between the intersection and the target position is shorter than or equal to a predetermined value; and

a pass-through point setting unit that, if the pattern determining unit determines that the second pattern is to be used, sets a pass-through point between the current position and the target position;

wherein

if the pattern determining unit determines that the second pattern is to be used, the angle calculating unit calculates a first angle, which is formed by a direction in which the vehicle at the pass-through point travels compared with the direction in which the vehicle at the current position travels, and also calculates a second angle, which is formed by the direction in which the vehicle at the target position travels compared with the direction in which the vehicle at the pass-through point travels,

if the pattern determining unit determines that the second pattern is to be used, the graph generating unit generates a first graph in correspondence to a travel trajectory formed by steering in one direction from the current position to the pass-through point and also generates a second graph in correspondence to a travel trajectory formed by steering in an opposite direction from the pass-through point to the target position, so that the inclinations become most gentle, under conditions that an area of the first graph is equal to the first angle calculated by the angle calculating unit, an area of the second graph equal to the second angle calculated by the angle calculating unit, and the maximum curvature is an upper limit, and

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

3. The movement route generating apparatus according to claim 2, wherein if the pattern determining unit determines that the first pattern is to be used, by taking, as a minimum distance, a slant distance from the current position to the target position and also taking, as a maximum distance, a distance over which the vehicle moves so as to draw a polygonal line from the current position to the target position through an intersection that is formed by a front half line along the axial line of the vehicle at the current position and a back half line along the axial line of the vehicle at the target position, the graph generating unit generates the graph so that a distance traveled from the current position to the target position falls into a range from the minimum distance to the maximum distance.

4. The movement route generating apparatus according to claim 3, wherein the graph generating unit includes

a virtual area calculating unit that calculates a virtual area, which is an area of a virtual graph formed in a triangular shape in which a midpoint is virtually set, on an axis of the distance traveled, between the current position and the target position or an end point of the maximum distance, and the curvature is linearly raised up to the maximum curvature in a range from the current position to the midpoint, after which the curvature is linearly lowered down to zero in a range from the midpoint to the target position or the end of the maximum distance,

an area comparing unit that makes a comparison in size between the virtual area calculated by the virtual area calculating unit and an actual area equal to the angle calculated by the angle calculating unit, and

a graph calculating unit that, if the area comparing unit determines that the virtual area is larger than the actual area, calculates a graph that is analogous to a triangle represented by the virtual graph and has the same area as the actual area, and that, if the area comparing unit determines that the virtual area is smaller than the actual area, calculates a graph formed in a trapezoidal shape having a distance segment that extends while the maximum curvature is maintained and having the same area as the actual area.

5. The movement route generating apparatus according to claim 4, wherein the graph generating unit further includes a message output unit that, if even the trapezoidal graph calculated by the graph calculating unit fails to have the same area as the actual area, outputs an error message indicating that the graph calculating unit could not calculate a trapezoidal graph having the same area as the actual area.

6. The movement route generating apparatus according to claim 2, wherein if the pattern determining unit determines that the second pattern is to be used,

by taking, as a minimum distance, a slant distance from the current position to the pass-through point and also taking, as a maximum distance, a distance over which the vehicle moves so as to draw a polygonal line from the current position to the pass-through point through an intersection that is formed by a front half line along the axial line of the vehicle at the current position and a back half line along the axial line of the vehicle at the pass-through point, the graph generating unit generates the first graph so that a distance traveled from the current position to the pass-through point falls into a range from the minimum distance to the maximum distance, and

by taking, as a minimum distance, a slant distance from the pass-through point to the target position and also taking, as a maximum distance, a distance over which the vehicle moves so as to draw a polygonal line from the pass-through point to the target position through an intersection that is formed by a front half line along the axial line of the vehicle at the pass-through point and a back half line along the axial line of the vehicle at the target position, the graph generating unit generates the second graph so that a distance traveled from the pass-through point to the target position falls into a range from the minimum distance to the maximum distance.

7. The movement route generating apparatus according to claim 6, wherein the graph generating unit includes

a first virtual area calculating unit that calculates a first virtual area, which is an area of a first virtual graph formed in a triangular shape in which a first midpoint is virtually set, on an axis of the distance traveled, between the current position and the pass-through point, and the curvature is linearly raised up to the maximum curvature in a range from the current position to the first midpoint, after which the curvature is linearly lowered down to zero in a range from the first midpoint to the pass-through point,

a first area comparing unit that makes a comparison in size between the first virtual area calculated by the first virtual area calculating unit and a first actual area equal to the first angle calculated by the angle calculating unit, and

a first graph calculating unit that, if the first area comparing unit determines that the first virtual area is larger than the first actual area, calculates a first graph that is analogous to a triangle represented by the first virtual graph and has the same area as the first actual area, and that, if the first area comparing unit determines that the first virtual area is smaller than the first actual area, calculates a first graph formed in a trapezoidal shape having a distance segment that extends while the maximum curvature is maintained and having the same area as the first actual area.

8. The movement route generating apparatus according to claim 7, wherein the graph generating unit further includes

a second virtual area calculating unit that calculates a second virtual area, which is an area of a second virtual graph formed in a triangular shape in which a second midpoint is virtually set, on an axis of the distance traveled, between the pass-through point and the target position or an end of the maximum distance, and the curvature is linearly raised up to the maximum curvature in a range from the pass-through point to the second midpoint, after which the curvature is linearly lowered down to zero in a range from the second midpoint to the target position or the end of the maximum distance,

a second area comparing unit that makes a comparison in size between the second virtual area calculated by the second virtual area calculating unit and a second actual area equal to the second angle calculated by the angle calculating unit, and

a second graph calculating unit that, if the second area comparing unit determines that the second virtual area is larger than the second actual area, calculates a second graph that is analogous to a triangle represented by the second virtual graph and has the same area as the second actual area, and that, if the second area comparing unit determines that the second virtual area is smaller than the second actual area, calculates a second graph formed in a trapezoidal shape having a distance segment that extends while the maximum curvature is maintained and having the same area as the second actual area.

9. The movement route generating apparatus according to claim 1, wherein when an operation to command a setting of the movement route is performed, processing by the angle calculating unit, graph generating unit, and route setting unit is executed.

10. The movement route generating apparatus according to claim 9, further comprising a deviation detecting unit that, after the movement route has been set, detects a deviation of a position of the vehicle from the movement route, wherein

when the deviation is detected by the deviation detecting unit, processing of the angle calculating unit, graph generating unit, and route setting unit is executed again.

11. A movement route generating method comprising:

a first step in which an angle calculating unit in a movement route generating apparatus 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 second step in which a graph generating unit in the movement route generating apparatus 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 third step in which a route setting unit in the movement route generating apparatus sets, as a movement route of the vehicle, a travel trajectory represented by the graph generated by the graph generating unit.

12. The movement route generating method according to claim 11, further comprising:

determining with a pattern determining unit whether to use a first pattern to move the vehicle from the current position to the target position by steering in one direction or a second pattern to move the vehicle from the current position to the target position by steering in two directions, depending on whether an intersection of an axial line of the vehicle at the current position and an axial line of the vehicle at the target position is present between the current position and the target position and whether a distance between the intersection and the target position is shorter than or equal to a predetermined value; and

if the pattern determining unit determines that the second pattern is to be used, setting with a pass-through point setting unit a pass-through point between the current position and the target position;

wherein

if the pattern determining unit determines that the second pattern is to be used, calculating with the angle calculating unit a first angle, which is formed by a direction in which the vehicle at the pass-through point travels compared with the direction in which the vehicle at the current position travels, and also calculating a second angle, which is formed by the direction in which the vehicle at the target position travels compared with the direction in which the vehicle at the pass-through point travels,

if the pattern determining unit determines that the second pattern is to be used, generating with the graph generating unit a first graph in correspondence to a travel trajectory formed by steering in one direction from the current position to the pass-through point and also generating a second graph in correspondence to a travel trajectory formed by steering in an opposite direction from the pass-through point to the target position, so that the inclinations become most gentle, under conditions that an area of the first graph is equal to the first angle calculated by the angle calculating unit, an area of the second graph equal to the second angle calculated by the angle calculating unit, and the maximum curvature is an upper limit, and

setting with the route setting unit, as the movement route of the vehicle, a travel trajectory represented by the first graph and second graph generated by the graph generating unit.

13. The movement route generating method according to claim 12, wherein if the pattern determining unit determines that the first pattern is to be used, by taking, as a minimum distance, a slant distance from the current position to the target position and also taking, as a maximum distance, a distance over which the vehicle moves so as to draw a polygonal line from the current position to the target position through an intersection that is formed by a front half line along the axial line of the vehicle at the current position and a back half line along the axial line of the vehicle at the target position, the graph generating unit generates the graph so that a distance traveled from the current position to the target position falls into a range from the minimum distance to the maximum distance.

14. The movement route generating method according to claim 13, wherein the step of generating with the graph generating unit includes

calculating with a virtual area calculating unit a virtual area, which is an area of a virtual graph formed in a triangular shape in which a midpoint is virtually set, on an axis of the distance traveled, between the current position and the target position or an end point of the maximum distance, and the curvature is linearly raised up to the maximum curvature in a range from the current position to the midpoint, after which the curvature is linearly lowered down to zero in a range from the midpoint to the target position or the end of the maximum distance,

making with an area comparing unit a comparison in size between the virtual area calculated by the virtual area calculating unit and an actual area equal to the angle calculated by the angle calculating unit, and

calculating with a graph calculating unit, if the area comparing unit determines that the virtual area is larger than the actual area, a graph that is analogous to a triangle represented by the virtual graph and has the same area as the actual area, and, if the area comparing unit determines that the virtual area is smaller than the actual area, calculating a graph formed in a trapezoidal shape having a distance segment that extends while the maximum curvature is maintained and having the same area as the actual area.

15. The movement route generating method according to claim 14, wherein the step of generating with the graph generating unit further includes outputting with a message output unit, if even the trapezoidal graph calculated by the graph calculating unit fails to have the same area as the actual area, an error message indicating that the graph calculating unit could not calculate a trapezoidal graph having the same area as the actual area.

16. The movement route generating method according to claim 12, wherein if the pattern determining unit determines that the second pattern is to be used,

by taking, as a minimum distance, a slant distance from the current position to the pass-through point and also taking, as a maximum distance, a distance over which the vehicle moves so as to draw a polygonal line from the current position to the pass-through point through an intersection that is formed by a front half line along the axial line of the vehicle at the current position and a back half line along the axial line of the vehicle at the pass-through point, generating with the graph generating unit the first graph so that a distance traveled from the current position to the pass-through point falls into a range from the minimum distance to the maximum distance, and

by taking, as a minimum distance, a slant distance from the pass-through point to the target position and also taking, as a maximum distance, a distance over which the vehicle moves so as to draw a polygonal line from the pass-through point to the target position through an intersection that is formed by a front half line along the axial line of the vehicle at the pass-through point and a back half line along the axial line of the vehicle at the target position, generating with the graph generating unit the second graph so that a distance traveled from the pass-through point to the target position falls into a range from the minimum distance to the maximum distance.

17. The movement route generating method according to claim 16, wherein the step of generating with the graph generating unit includes

calculating with a first virtual area calculating unit a first virtual area, which is an area of a first virtual graph formed in a triangular shape in which a first midpoint is virtually set, on an axis of the distance traveled, between the current position and the pass-through point, and the curvature is linearly raised up to the maximum curvature in a range from the current position to the first midpoint, after which the curvature is linearly lowered down to zero in a range from the first midpoint to the pass-through point,

making with a first area comparing unit a comparison in size between the first virtual area calculated by the first virtual area calculating unit and a first actual area equal to the first angle calculated by the angle calculating unit, and

calculating with a first graph calculating unit, if the first area comparing unit determines that the first virtual area is larger than the first actual area, a first graph that is analogous to a triangle represented by the first virtual graph and has the same area as the first actual area, and, if the first area comparing unit determines that the first virtual area is smaller than the first actual area, calculating a first graph formed in a trapezoidal shape having a distance segment that extends while the maximum curvature is maintained and having the same area as the first actual area.

18. The movement route generating method according to claim 17, wherein the step of generating with the graph generating unit further includes

calculating with a second virtual area calculating unit a second virtual area, which is an area of a second virtual graph formed in a triangular shape in which a second midpoint is virtually set, on an axis of the distance traveled, between the pass-through point and the target position or an end of the maximum distance, and the curvature is linearly raised up to the maximum curvature in a range from the pass-through point to the second midpoint, after which the curvature is linearly lowered down to zero in a range from the second midpoint to the target position or the end of the maximum distance,

making with a second area comparing unit a comparison in size between the second virtual area calculated by the second virtual area calculating unit and a second actual area equal to the second angle calculated by the angle calculating unit, and

calculating with a second graph calculating unit, if the second area comparing unit determines that the second virtual area is larger than the second actual area, a second graph that is analogous to a triangle represented by the second virtual graph and has the same area as the second actual area, and, if the second area comparing unit determines that the second virtual area is smaller than the second actual area, calculating a second graph formed in a trapezoidal shape having a distance segment that extends while the maximum curvature is maintained and having the same area as the second actual area.

19. The movement route generating method according to claim 11, wherein when an operation to command a setting of the movement route is performed, processing by the angle calculating unit, graph generating unit, and route setting unit is executed.

20. The movement route generating method according to claim 19, further comprising detecting with a deviation detecting unit, after the movement route has been set, a deviation of a position of the vehicle from the movement route, wherein

when the deviation is detected by the deviation detecting unit, processing of the angle calculating unit, graph generating unit, and route setting unit is executed again.