System for determining passability of vehicle
First Claim
1. A system for determining the passability of a vehicle, comprising:
- map information outputting means for outputting a map information as an aggregation of a plurality of nodes constituting a road section;
subject-vehicle position detecting means for detecting a position of the subject vehicle on a map;
curve section determining means for determining whether a node ahead of said subject vehicle position exists on a curve section;
passing-state determination amount calculating means for calculating a passing-state determination amount of a node existing on said curve section as a value resulting from division of an amount of variation in azimuth angle of the vehicle by a distance of movement of the vehicle; and
passability determining means for determining whether the vehicle can pass through said node existing on said curve section, based on the passing-state determination amount.
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Accused Products
Abstract
A system for determining the passability of a vehicle through a section of road ahead of the vehicle is controlled based on coordinates of a plurality of nodes NN (N1, N2, N3, N4 . . . ) constituting the road section ahead of a subject vehicle. The system calculates a passing-state determination amount θN/LN for each of the nodes NN, and based on the passing-state determination amount θN/LN, the system then determines whether the vehicle can positively or safely pass through the road section. The passing-state determination amount θN/LN serves as an indicator which represents a degree of difficulty in the passage of the vehicle through the nodes NN and which is obtained, for example, by dividing an angle θN formed by a line segment connecting the adjacent nodes NN by a distance LN between the adjacent nodes NN. Even if only one or two nodes NN exist on a curve, it is possible to accurately determine whether the vehicle can pass the curve by using the passing-state determination amount θN/LN.
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Citations
10 Claims
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1. A system for determining the passability of a vehicle, comprising:
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map information outputting means for outputting a map information as an aggregation of a plurality of nodes constituting a road section;
subject-vehicle position detecting means for detecting a position of the subject vehicle on a map;
curve section determining means for determining whether a node ahead of said subject vehicle position exists on a curve section;
passing-state determination amount calculating means for calculating a passing-state determination amount of a node existing on said curve section as a value resulting from division of an amount of variation in azimuth angle of the vehicle by a distance of movement of the vehicle; and
passability determining means for determining whether the vehicle can pass through said node existing on said curve section, based on the passing-state determination amount. - View Dependent Claims (2, 3, 4)
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4. A system for determining the passability of a vehicle according to claim 1, further including passable speed calculating means for calculating a passable speed enabling the vehicle to pass through said node existing on the curve section, based on the passing-state determination amount, said passable speed calculating means being adapted to calculate said passable speed based on a preset yaw rate limit permissible in passage of the vehicle through said node and said passing-state determination amount according to the following equation:
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5. A system for determining the passability of a vehicle, comprising:
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map information means for outputting map data as an aggregation of a plurality of nodes constituting a road section;
subject vehicle position detecting means for detecting a position of a vehicle on a map;
road section determining means for determining whether a node ahead of said vehicle exists on a curve section of road;
passable speed calculating means for calculating a passable speed enabling said vehicle to pass through said node ahead of said vehicle;
passage predicting speed calculating means for calculating a speed of said vehicle;
passability determining means for determining whether said vehicle can pass through said node ahead of said vehicle;
means for warning a driver of said vehicle to decelerate said vehicle, based upon said determination of said passability determining means;
means for automatically decelerating said vehicle following activation of said warning means, based upon said determination of said passability determining means;
wherein said passage predicting speed calculating means includes reference deceleration means for assigning one of a plurality of deceleration values for calculation of said passable speed. - View Dependent Claims (6, 7, 8, 9, 10)
said passability determining means compares said predicted temporary speed with said passable speed.
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8. A system according to claim 6, wherein:
said warning means is activated based upon said comparison of said predicted temporary speed with said passable speed.
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9. A system according to claim 6, wherein:
said automatic decelerating means is activated based upon said comparison of said predicted temporary speed with said passable speed.
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10. A system according to claim 6, wherein:
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said passage predicting speed calculating means calculates a predicted speed of said vehicle based upon data from said map information means and subject vehicle position detecting means; and
said automatic decelerating means is activated based upon a comparison of said passable speed with said predicted speed of said vehicle.
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Specification