Road shape estimation apparatus and curve approach control apparatus

• US 6,343,253 B1
• Filed: 09/20/2000
• Issued: 01/29/2002
• Est. Priority Date: 09/21/1999
• Status: Expired due to Term

• Current Assignee: Subaru Corp.
• Original Assignee: Fuji Heavy Industries Limited (Subaru Corp.)
• Inventors: Takahashi, Akira, Matsuura, Munenori
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): MARC-COLEMAN, MARTHE Y
• Application Number:
  US09/665,673
• Time in Patent Office: 496 Days
• Field of Search: 701/200, 701/208, 701/70, 701/28, 701/23, 340/438, 340/441, 340/425.5
• US Class Current: 701/200
• CPC Class Codes: B60K 31/0066 responsive to vehicle path curvature
• CPC Class Codes: B60W 2552/20 Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
• CPC Class Codes: B60W 2552/30 Road curve radius

Abstract

A curve'"'"'s radius of curvature that approximates the actual curve is calculated, and an appropriate allowable curve approach speed even when the node interval is extremely short is set. Although the node c with a relatively large positional deviation on the curve is not out of the actual road width, the road geometry indicated by a series of nodes is locally bent like a concave at around the node c, constituting a curve that cannot exist in reality. The interval between nodes b and c is short, so that calculating the curve'"'"'s radius of curvature at nodes b and c may result in a very small curve'"'"'s radius of curvature which is far smaller than the actual curve geometry. Therefore, at least one of the nodes is taken as the curve'"'"'s radius of curvature calculation removal point and is not used for the calculation of the curve'"'"'s radius of curvature.

Claims

1. A road shape estimation apparatus for calculating a curve'"'"'s radius of curvature based on a plurality of node data, representing road information and stored in a navigation device, comprising:

a node interval calculation unit configured to calculate a node interval between adjacent nodes;

a node angle calculation unit configured to calculate node angles with respect to said adjacent nodes; and

a singularity decision unit configured to decide based on said node interval and said node angles whether at least one of said adjacent nodes is a removal point to be removed from the calculation of said curve'"'"'s radius of curvature.

2. The road shape estimation apparatus according to claim 1, wherein

said singularity decision unit is adapted to decide that at least one of said adjacent nodes is removed when said node interval is equal to or less than a preset node interval.

3. The road shape estimation apparatus according to claim 2, wherein

said preset node interval is set by multiplying a preset node interval calculation coefficient by a road width coefficient.

4. The road shape estimation apparatus according to claim 3, wherein

said preset node interval calculation coefficient is set for each road kind.

5. The road shape estimation apparatus according to claim 1, wherein

said singularity decision unit is adapted to prohibit an alarm or a deceleration control to be performed on a further node next to said removal point when an interval between said removal point and said further node is equal to or less than a preset node interval.

6. The road shape estimation apparatus according to claim 1, wherein

said singularity decision unit is adapted to prohibit an alarm or a deceleration control to be performed on a further node next to said removal point when a node angle with respect to said further node is equal to or less than a preset minimum threshold angle.

7. The road shape estimation apparatus according to claim 1, wherein

said singularity decision unit is adapted to decide that at least one of said adjacent nodes is removed when said node interval is equal to or less than a preset node interval and bending directions of said node angels are opposite each other.

8. The road shape estimation apparatus according to claim 7, wherein

said singularity decision unit is adapted to prohibit an alarm or a deceleration control to be performed on a further node next to said removal point when an interval between said removal point and said further node is equal to or less than a preset node interval.

9. The road shape estimation apparatus according to claim 7, wherein

said singularity decision unit is adapted to prohibit an alarm or a deceleration control to be performed on a further node next to said removal point when a node angle with respect to said further node is equal to or less than a preset minimum threshold angle.

10. The road shape estimation apparatus according to claim 1, wherein

said singularity decision unit is adapted to decide that at least one of said adjacent nodes is removed when said node interval is equal to or less than a preset node interval and a larger one of said node angles is equal to or more than a preset maximum threshold angle.

11. The road shape estimation apparatus according to claim 10, wherein

said preset maximum threshold angle is set by multiplying a preset reference angle by a ratio between said node interval and said preset node interval.

12. The road shape estimation apparatus according to claim 10, wherein

said singularity decision unit is adapted to prohibit an alarm or a deceleration control to be performed on a further node next to said removal point when an interval between said removal point and said further node is equal to or less than a preset node interval.

13. The road shape estimation apparatus according to claim 10, wherein

said singularity decision unit is adapted to prohibit an alarm or a deceleration control to be performed on a further node next to said removal point when a node angle with respect to said further node is equal to or less than a preset minimum threshold angle.

14. The road shape estimation apparatus according to claim 1, wherein

said singularity decision unit is adapted to decide that at least one of said adjacent nodes is removed when said node interval is equal to or less than a preset node interval and a smaller one of said node angles is equal to or less than a preset minimum threshold angle.

15. The road shape estimation apparatus according to claim 14, wherein

said preset minimum threshold angle is set by multiplying a preset reference angle by a ratio between said node interval and said preset node interval.

16. The road shape estimation apparatus according to claim 14, wherein

said singularity decision unit is adapted to prohibit an alarm or a deceleration control to be performed on a further node next to said removal point when an interval between said removal point and said further node is equal to or less than a preset node interval.

17. The road shape estimation apparatus according to claim 14, wherein

said singularity decision unit is adapted to prohibit an alarm or a deceleration control to be performed on a further node next to said removal point when a node angle with respect to said further node is equal to or less than a preset minimum threshold angle.

18. The road shape estimation apparatus according to claim 1, wherein

said singularity decision unit is adapted to decide that at least one of said adjacent nodes positioned at middle of four consecutive nodes is removed when said node interval is equal to or less than a preset node interval and an angle formed by a line connecting first two of said four consecutive nodes and a line connecting last two nodes of said four consecutive nodes is equal to or less than a preset minimum threshold angle.

19. The road shape estimation apparatus according to claim 18, wherein

said singularity decision unit is adapted to prohibit an alarm or a deceleration control to be performed on a further node next to said removal point when an interval between said removal point and said further node is equal to or less than a preset node interval.

20. The road shape estimation apparatus according to claim 18, wherein

said singularity decision unit is adapted to prohibit an alarm or a deceleration control to be performed on a further node next to said removal point when a node angle with respect to said further node is equal to or less than a preset minimum threshold angle.

21. A method for calculating a curve'"'"'s radius of curvature based on a plurality of node data, representing road information and stored in a navigation device, comprising:

calculating a node interval between adjacent nodes by a node interval calculation unit;

calculating a node angles with respect to said adjacent nodes by a node angle calculation unit; and

deciding based on said node interval and said node angles whether at least one of said adjacent nodes is a removal point to be removed from the calculation of said curve'"'"'s radius of curvature by a singularity decision unit.