GRADIENT INFORMATION CALCULATING SYSTEM, VEHICLE RUNNING CONTROL SYSTEM, NAVIGATION SYSTEM, AND GRADIENT INFORMATION CALCULATING METHOD

• US 20100324752A1
• Filed: 03/26/2009
• Published: 12/23/2010
• Est. Priority Date: 03/27/2008
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Kuraishi, Mamoru, Suganuma, Hideaki
• Granted Patent: US 8,332,151 B2
• Time in Patent Office: Days
• US Class Current: 701/1
• CPC Class Codes: B60G 2400/824 Travel path sensing; Track monitoring
• CPC Class Codes: B60G 2401/16 GPS track data
• CPC Class Codes: B60G 2600/0422 involving data transmission, e.g. via satellite or GPS; for data monitoring, telemetry or platooning purposes
• CPC Class Codes: B60G 2800/019 Inclination due to load distribution or road gradient
• CPC Class Codes: B60G 2800/702 Improving accuracy of a sensor signal
• CPC Class Codes: B60W 2552/05 Type of road, e.g. motorways, local streets, paved or unpaved roads
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 40/076 Slope angle of the road
• CPC Class Codes: B60W 50/0097 Predicting future conditions

Abstract

A gradient information calculating system includes a first calculating unit (14) that detects three-dimensional location information through autonomous navigation, and calculates a first gradient value (θb, B), based on a distance (m) traveled, and an on-plane distance (L1) obtained by projecting the distance (m) traveled on a horizontal plane, a road map information storing unit (17) that stores road map information that represents each road by nodes of which the location information is known, and a link that connects the nodes, a second calculating unit (16) that estimates elevations of the nodes from previously measured elevation data, and calculates a second gradient value (A), based on a difference in elevation between the nodes and the length of the link, and a gradient data selecting unit (19) that selects one of the first and second gradient values to be adopted as a gradient value of the link, according to a difference between the first and the second gradient values.

Claims

1. A gradient information calculating system, comprising:

a first calculating unit that detects three-dimensional location information through autonomous navigation, and calculates a first gradient value of a given point on a road, based on a distance traveled in a given period of time, and an on-plane distance obtained by projecting the distance traveled on a horizontal plane;

a road map information storing unit that stores road map information that represents each road by a first node and a second node of which the location information is known, and a link that connects the first node with the second node;

a second calculating unit that estimates an elevation of each of the nodes from previously measured elevation data, and calculates a second gradient value for the link, based on a difference in elevation between the first node and the second node, and the length of the link; and

a gradient data selecting unit that compares the first gradient value with the second gradient value, and selects one of the first and second gradient values to be adopted as a gradient value of the given point or link, according to a difference between the first gradient value and the second gradient value.

2. The gradient information calculating system according to claim 1, wherein the gradient data selecting unit selects the second gradient value when the difference between the first gradient value and the second gradient value is large.

3. The gradient information calculating system according to claim 2, wherein the gradient data selecting unit selects the second gradient value when the first gradient value is larger by a predetermined value or more than the second gradient value.

4. The gradient information calculating system according to claim 3, wherein the predetermined value is 50% of the second gradient value.

5. The gradient information calculating system according to claim 1, wherein the second calculating unit selects the elevation data within a given distance from the node in question, from the elevation data measured for each of meshes defined by latitudes and longitudes arranged with a specified grid spacing, and weights the elevation data within the given distance, according to a distance between a measurement position of the elevation data and the node, so as to estimate the average of the weighted elevation data as an elevation of the node.

6. The gradient information calculating system according to claim 1, wherein the second calculating unit selects the elevation data of a mesh to which the node in question belongs, and the elevation data of eight meshes surrounding said mesh, from the elevation data measured for each of meshes defined by latitudes and longitudes arranged with a specified grid spacing, and weights the elevation data of the mesh and the surrounding eight meshes, according to a distance between a measurement position of the elevation data and the node, so as to estimate the average of the weighted elevation data as an elevation of the node.

7. The gradient information calculating system according to claim 1, wherein

when the road map information includes a link comprising an artificial structure whose elevation data is registered, the second calculating unit adopts a gradient value calculated from elevation data of end points of the artificial structure and the length of the link, as the second gradient value.

8. The gradient information calculating system according to claim 1, further comprising:

a guideline information storing unit that stores guideline information that specifies a gradient upper limit of gradients for each road category; and

a gradient upper-limit determining unit that reads the gradient upper limit based on the road category, and adopts the gradient upper limit as a gradient value for the given point or link, when the second gradient value obtained by calculation is larger than the gradient upper limit.

9. The gradient information calculating system according to claim 1, further comprising:

a guideline information storing unit that stores guideline information that specifies a gradient upper limit of gradients for each road category; and

a gradient upper-limit determining unit that reads the gradient upper limit based on the road category, and adopts the gradient upper limit as the second gradient value when the second gradient value obtained by calculation is larger than the gradient upper limit.

10. The gradient information calculating system according to claim 1, further comprising:

a transmitter that transmits the first gradient value calculated by the first calculating unit, to a server; and

a receiver that receives the first gradient value calculated by another vehicle, from the server.

11. A vehicle running control system, comprising:

the gradient information calculating system according to claim 1; and

a vehicle controller that performs vehicle control, using the gradient value selected by the gradient data selecting unit.

12. A navigation system, comprising:

the gradient information calculating system according to claim 1;

a GPS receiver; and

a display unit that displays a road map including a location detected through autonomous navigation.

13. A gradient information calculating method, comprising:

detecting three-dimensional location information through autonomous navigation;

calculating a first gradient value of a given point on a road, based on a distance traveled in a given period of time, and an on-plane distance obtained by projecting the distance traveled on a horizontal plane;

estimating elevations of a first node and a second node on the road, from previously measured elevation data;

calculating a second gradient value for a link that connects the first node with the second node, based on a difference in elevation between the first node and the second node, and the length of the link;

comparing the first gradient value with the second gradient value and calculating a difference between the first gradient value and the second gradient value; and

selecting one of the first and second gradient values to be adopted as a gradient value of the given point or link, according to the calculated difference.

14. The gradient information calculating method according to claim 13, wherein

when the link comprises an artificial structure whose elevation data is registered, a gradient value calculated from elevation data of end points of the artificial structure and the length of the link is adopted as the second gradient value.

15. The gradient information calculating method according to claim 13, further comprising:

storing guideline information that specifies a gradient upper limit of gradients for each road category; and

reading the gradient upper limit based on the road category, and adopting the gradient upper limit as a gradient value for the given point or link when the second gradient value obtained by calculation is larger than the gradient upper limit.

16. The gradient information calculating method according to claim 13, further comprising:

transmitting the calculated first gradient value to a server; and

receiving the first gradient value calculated by another vehicle, from the server.