Travel trace generation method and travel trace generation device

• US 8,364,394 B2
• Filed: 10/30/2008
• Issued: 01/29/2013
• Est. Priority Date: 11/01/2007
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Taguchi, Koji
• Primary Examiner(s): Elchanti, Hussein
• Assistant Examiner(s): Khatib, Rami
• Application Number:
  US12/525,201
• Publication Number:
  US 20100204911A1
• Time in Patent Office: 1,552 Days
• Field of Search: 701117-119, 701200-204, 701/223, 701/23, 701/26, 701/400, 701/410, 701/411, 701/414, 701/423, 701/465, 701/302
• US Class Current: 701/410
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• 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
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/10 Path keeping cruise control for automatically following a preceding vehicle B60W30/165
• CPC Class Codes: B60W 30/18172 Preventing, or responsive to skidding of wheels
• CPC Class Codes: B60W 40/072 Curvature of the road
• CPC Class Codes: B60W 40/076 Slope angle of the road
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: Y02T 10/40 Engine management systems
• CPC Class Codes: Y02T 10/84 Data processing systems or methods, management, administration

Abstract

A first convergent computation section 25 for deriving a running locus by a convergent computation such as to achieve a first constraint condition based on a target passing time t_s and a road boundary of a road D and a running locus deriving section 26 for deriving a running locus by a convergent computation of an evaluation function J3 for preferring a predetermined driving condition in a state achieving the first constraint condition are provided, a running locus is convergently computed such as to satisfy the first constraint condition set according to the target passing time t_s and the road boundary of the road D, and a running locus is derived by convergently computing an evaluation function J3 for preferring a predetermined driving condition in a state satisfying the first constraint condition.

Claims

1. A running locus generating method comprising:

deriving, by an electronic control unit, a running locus by a convergent computation according to an optimizing technique to achieve a first constraint condition based on a predetermined target passing time and a road boundary; and

deriving, by the electronic control unit, a running locus from derived running loci that run within a street boundary and pass within the predetermined target passing time for reaching a destination by a convergent computation of an evaluation function according to the optimizing technique that gives preference to a predetermined driving condition,

wherein the evaluation function evaluates predetermined driving conditions other than target passing time.

2. The running locus generating method according to claim 1, wherein, as the evaluation function, the running locus for reaching the destination by the convergent computation uses an evaluation function according to the optimizing technique that gives preference to high mileage running.

3. The running locus generating method according to claim 2, further comprising:

deriving, by the electronic control unit, a running locus by a convergent computation according to the optimizing technique to achieve a second constraint condition based on the road boundary;

deriving, the electronic control unit, a fastest running locus by a convergent computation of an evaluation function according to the optimizing technique that gives preference to a passing time of a predetermined segment in a state achieving the second constraint condition;

deriving, by the electronic control unit, a high mileage running locus by a convergent computation of an evaluation function according to the optimizing technique that gives preference to high mileage running in a state achieving the second constraint condition; and

calculating, by the electronic control unit, a target passing time by weighting a fastest passing time determined from the fastest running locus and a high mileage passing time determined from the high mileage running locus;

wherein the deriving of the running locus by the convergent computation according to the optimizing technique employs the target passing time calculated by the electronic control unit as the predetermined target passing time.

4. A running locus generating apparatus comprising:

a first convergent computation section for deriving a running locus by a convergent computation according to an optimizing technique to achieve a first constraint condition based on a predetermined target passing time and a road boundary; and

a running locus deriving section for deriving a running locus from derived running loci that run within a street boundary and pass within the predetermined target passing time for reaching a destination by a convergent computation of an evaluation function according to the optimizing technique that gives preference to a predetermined driving condition,

wherein the evaluation function evaluates predetermined driving conditions other than target passing time.

5. The running locus generating apparatus according to claim 4, wherein, as the evaluation function, the running locus deriving section uses an evaluation function according to the optimizing technique that gives preference to high mileage running.

6. The running locus generating apparatus according to claim 5, further comprising:

a second convergent computation section for deriving a running locus by a convergent computation according to the optimizing technique to achieve a second constraint condition based on the road boundary;

a fastest running locus deriving section for deriving a fastest running locus by a convergent computation of an evaluation function according to the optimizing technique that gives preference to a passing time of a predetermined segment in a state achieving the second constraint condition;

a high mileage running locus deriving section for deriving a high mileage running locus by a convergent computation of an evaluation function according to the optimizing technique that gives preference to high mileage running in a state achieving the second constraint condition; and

a target passing time calculation section for calculating a target passing time by weighting a fastest passing time determined from the fastest running locus and a high mileage passing time determined from the high mileage running locus;

wherein the first convergent computation section employs the target passing time calculated by the target passing time calculation section as the predetermined target passing time.