Apparatus for generating road information from stored digital map database

• US 6,381,536 B1
• Filed: 06/21/2000
• Issued: 04/30/2002
• Est. Priority Date: 06/21/1999
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Saito, Hiroshi, Satoh, Yoshihiro
• Primary Examiner(s): Louis-Jacques, Jacques H.
• Assistant Examiner(s): To, Tuan C
• Application Number:
  US09/598,407
• Time in Patent Office: 678 Days
• Field of Search: 701/208, 701/207, 701/93, 701/211, 701/205, 701/209, 701/1, 701/36, 340/995, 340/990, 342/450, 342/451, 342/457
• US Class Current: 701/208
• CPC Class Codes: G08G 1/09 Arrangements for giving variable traffic instructions railroad crossing signals B61L; reflectors E01F, G08B; indicating arrangements for variable information by selection or combination of individual elements G09F9/00

Abstract

A road information generating apparatus has a stored digitized map database having data identifying roads on a route. The roads of the map database are stored as road segments each having endpoints. The apparatus cancels data defining selected road segments that fall outside of a predetermined window about a predetermined circle approximating a predetermined road curve. The apparatus determines circles each approximating a portion of unselected road segments. The apparatus compares a radius of each of the circles with a predetermined radius value. The apparatus produces road information on acute curve in response to result of comparing the radius of each curve with the predetermined radius value.

Claims

1. An apparatus for generating road information on a route over which a vehicle may move, the apparatus comprising:

a stored map database having data identifying roads on the route, said roads of said stored map database being stored as road segments each having endpoints; and

an application unit to implement a circular arc approximation type logic, which, when rendered operable, canels data defining selected road segments that fall outside of a predetermined window about a predetermined circle approximating a predetermined road curve, determines circles, each approximating a portion of non-selected road segments, compares a radius of each of said circles with a predetermined radius value, and produces road information on acute curve in response to result of said comparing the radius of each of said curves with said predetermined radius value.

2. The apparatus as claimed in claim 1, wherein said application unit is operative to generate a train of data sets for said road segments, respectively, each set including a trailing one of said endpoints defining one of said road segments, and a length of a link interconnecting said trailing one endpoint and a leading one of said endpoints defining said one road segment, wherein said application unit is operative to compare the length of each of said links with a predetermined value, and wherein said application unit is operative to consider whether or not each of said road segments follows a course that falls in said predetermined narrow window in response to the corresponding one of results of said comparison of the length of each of said links with said predetermined value.

3. The apparatus as claimed in claim 1, wherein said application unit is operative to generate a train of data sets for said road segments, respectively, each set including a trailing one of said endpoints defining one of said road segments, and an azimuth angle defined between a first link interconnecting said trailing one endpoint and a leading one of said endpoints defining said one road segment and a second link interconnecting said trailing one endpoint and a trailing one of endpoints defining the adjacent road segment succeeding said one road segment, wherein said application unit is operative to compare each of said azimuth angles with a predetermined value, and wherein said application unit is operative to consider whether or not each of said road segments follows a course that falls in said predetermined narrow window in response to the corresponding one of results of said comparison of each of said azimuth angles with said predetermined value.

4. The apparatus as claimed in claim 1, wherein said application unit is operative to generate a train of data sets for said road segments, respectively, each set including a trailing one of said endpoints defining one of said road segments, a length of a first link interconnecting said trailing one endpoint and a leading one of said endpoints defining said one road segment, and an azimuth angle defined between said first link and a second link interconnecting said trailing one endpoint and a trailing one of endpoints defining the adjacent road segment succeeding said one road segment, wherein said application unit is operative to compare the length of each of said links with a predetermined length value, wherein said application unit is operative to compare each of said azimuth angles with a predetermined angle value, and wherein said application unit is operative to consider whether or not each of said road segments follows a course that falls in said predetermined narrow window in response to a predetermined logic including the corresponding one of results of said comparison of the length of each of said links with said predetermined length value and the corresponding one of results of said comparison of each of the azimuth angles with said predetermined angle value.

5. The apparatus as claimed in claim 1,

wherein said application unit is operative to generate a train of data sets for said road segments, respectively, each set including a trailing one of said endpoints defining one of said road segments, a length of a first link interconnecting said trailing one endpoint and a leading one of said endpoints defining said one road segment, and an azimuth angle defined between said first link and a second link interconnecting said trailing one endpoint and a trailing one of endpoints defining the adjacent road segment succeeding said one road segment,

wherein said application unit is operative to implement an azimuth angle type logic, which, when rendered operable, calculates a sum of a plurality of said azimuth angles of a desired one of said endpoints and some of the other of said endpoints located within a predetermined distance from said desired one endpoint along the route, compares said calculated sum with a predetermined sum of angles, and produces information indicative of existence of a curved road in response to result of said comparing said calculated sum with said predetermined sum of angles, and

wherein said application unit is operative to render one of said circular arc approximation type logic and said azimuth angle type logic operable and the other inoperable in response to at least road information stored in said stored map database and operator manipulated parameter information.

6. The apparatus as claimed in claim 5, wherein said application unit is operative to compare the corresponding one of said azimuth angles to said desired one of said endpoints, and to produce information indicative of existence of a straight road when the corresponding one azimuth angle is less than a predetermined minimum angle value.

7. The apparatus as claimed in claim 5, wherein said application unit is operative to compare the corresponding one of said azimuth angles to said desired one of said endpoints, and to produce information indicative of existence of a curved road when the corresponding one azimuth angle is greater than a predetermined maximum angle value.

8. The apparatus as claimed in claim 5, including a vehicle speed sensor to generate a vehicle speed signal indicative of traveling speed of the vehicle,

wherein said predetermined distance is determined as a function of said vehicle speed signal, and said predetermined sum of angles is determined as a function of said predetermined distance.

9. The apparatus as claimed in claim 5, wherein said operator manipulated parameter information include operator manipulation to adjust the traveling speed of the vehicle.

10. The apparatus as claimed in claim 9, wherein said operator manipulation to adjust the traveling speed of the vehicle includes manipulation of one of an accelerator pedal and a brake pedal.

11. The apparatus as claimed in claim 9, wherein said operator manipulation t o adjust the traveling speed of the vehicle includes at least one of depression of an accelerator pedal immediately after release of said accelerator pedal and depression of a brake pedal.

12. An apparatus for generating road information on a route over which a vehicle may move, the apparatus comprising:

a stored map database having data identifying roads on the route, said roads of said stored map database being stored as road segments each having endpoints; and

means operable to input data from said stored map database, said means being operative to cancel data defining selected road segments that fall outside of a predetermined window about a predetermined circle that approximates a predetermined road curve, to determine circles, each approximating a portion of unselected road segments, to compare a radius of each of said circles with a predetermined radius value, and to produce road information on acute curve in response to result of said comparing the radius of each of said curves with said predetermined radius value.

13. A method of generating road information on a route over which a vehicle may move, the method comprising:

preparing a digitized map database having data identifying roads on the route, said roads of said map database being stored as road segments each having endpoints;

canceling data defining selected road segments that fall outside of a predetermined window about a predetermined circle that approximates a predetermined road curve;

determining circles, each approximating unselected road segments;

comparing a radius of each said circles with a predetermined radius value; and

producing road information on acute curve in response to result of said comparing the radius of each of said curves with said predetermined radius value.

14. An apparatus for generating road information on a route over which a vehicle may move, the method comprising:

means for storing a digitized map database having data identifying roads on the route, said roads of said map database being stored as road segments each having endpoints;

means for canceling data defining selected road segments that fall outside of a predetermined window about a predetermined circle that approximates a predetermined road curve;

means for determining circles, each approximating a portion of unselected road segments;

means for comparing a radius of each of said circles with a predetermined radius value; and

means for producing road information on acute curve in response to result of said comparing the radius of each of said curves with said predetermined radius value.