Gradient information calculating system, vehicle running control system, navigation system, and gradient information calculating method
First Claim
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.
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Accused Products
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.
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Citations
16 Claims
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1. A gradient information calculating system, comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A gradient information calculating method, comprising:
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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, using a processor, 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. - View Dependent Claims (14, 15, 16)
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Specification