ROAD SHAPE ESTIMATING DEVICE, ROAD SHAPE ESTIMATING METHOD AND PROGRAM
First Claim
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1. A road shape estimating devices comprising:
- 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 radius of curvature at each of the shape interpolation points and for setting a candidate start point and a candidate end point for the detected corner; and
a corner connection processing unit for determining, when a plurality of corners are detected in the predetermined section, whether or not a predetermined connecting condition is met, based on the candidate start points and the candidate end points of the detected corners, and for connecting, when the predetermined connecting condition is met, a predetermined corner among the plurality of corners and a corner adjacent the predetermined corner.
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Abstract
A road shape estimating device has a data obtaining processing unit for obtaining interpolation point data, 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 for detecting a corner in a predetermined section, 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 for the detected corner, and a corner connection processing unit for determining whether or not a predetermined connecting condition is met based on candidate start points and candidate end points of detected corners, and connecting, when the predetermined connecting condition is met, a predetermined corner among the plurality of corners and a corner adjacent the predetermined corner.
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Citations
17 Claims
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1. A road shape estimating devices comprising:
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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 radius of curvature at each of the shape interpolation points and for setting a candidate start point and a candidate end point for the detected corner; and a corner connection processing unit for determining, when a plurality of corners are detected in the predetermined section, whether or not a predetermined connecting condition is met, based on the candidate start points and the candidate end points of the detected corners, and for connecting, when the predetermined connecting condition is met, a predetermined corner among the plurality of corners and a corner adjacent the predetermined corner. - View Dependent Claims (2, 3, 4, 5, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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6. A road shape estimating method, comprising the steps of:
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obtaining interpolation point data for a plurality of shape interpolation points which are set along a road and represent a shape of the road; 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; detecting a corner in the predetermined section based on the radius of curvature at each of the shape interpolation points and setting a candidate start point and a candidate end point for the detected corner; determining, when a plurality of corners are detected in the predetermined section, whether or not a predetermined connecting condition is met based on the candidate start points and the candidate end points of the detected corners; and connecting, when the predetermined connecting condition is met, a predetermined corner among the plurality of corners and a corner adjacent the predetermined corner.
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7. A computer-readable medium having, encoded thereon, a program that causes a computer to perform the steps of:
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obtaining interpolation point data for a plurality of shape interpolation points which are set along a road and represent a shape of the road; 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; detecting a corner in the predetermined section based on the radius of curvature at each of the shape interpolation points and setting a candidate start point and a candidate end point for the detected corner; determining, when a plurality of corners are detected in the predetermined section, whether or not a predetermined connecting condition is met based on the candidate start points and the candidate end points of the detected corners; and connecting, when the predetermined connecting condition is met, a predetermined corner among the plurality of corners and a corner adjacent the predetermined corner.
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Specification
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Current AssigneeAisin AW Company Limited (Aisin Corp.)
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Original AssigneeAisin AW Company Limited (Aisin Corp.)
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InventorsSUGIURA, Hiroaki, TOUJYOU, Takayuki, FUKUMOTO, Masataka
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Application NumberUS12/411,696Publication NumberTime in Patent OfficeDaysField of SearchUS Class Current701/208CPC Class CodesG01C 21/3626 Details of the output of ro...
