Road shape learning apparatus
First Claim
Patent Images
1. A road shape learning apparatus for a vehicle, the apparatus comprising:
- a map data storage device configured to store map data;
a position acquisition device configured to acquire position information relative to a position of the vehicle;
a position extraction section configured to, when it is determined that the vehicle traveled a curve,specify an entrance, a middle, and an exit of the curve based on the map data, andextract an entrance coordinate, a middle coordinate, and an exit coordinate which indicate the positions of the vehicle corresponding to the entrance, the middle, and the exit, respectively, from the position information relative to the vehicle acquired by the position information acquisition device;
a position amendment section configured to obtain a post-amendment entrance coordinate, a post-amendment middle coordinate, and a post-amendment exit coordinate, which are obtained by amending the entrance coordinate, the middle coordinate, and the exit coordinate using amendment values which are predetermined depending on a travel tendency;
a curvature radius computation section configured tocompute a radius of a circular arc passing through the post-amendment entrance coordinate, the post-amendment middle coordinate, and the post-amendment exit coordinate anddesignate the computed radius as a curvature radius of the curve; and
a learned data storage device configured to store the designated curvature radius as learned data associated with the map data,the position amendment section being further configured toperform a curve direction determination as to whether the curve is a left-hand curve or a right-hand curve based on the position information relative to the vehicle acquired by the position acquisition section, anddesignate a predetermined amendment value responding to an out-in-out tendency of the travel tendency based on either one of the left-hand curve and the right-hand curve, which is determined by the performed curve direction determination,the position amendment section being further configured todefine an amendment value relative to each of the entrance coordinate and the exit coordinate as H1,define an amendent value relative to the middle coordinate as H2,wherein H1 is different from H2;
the position amendment section being further configured to with respect to a left-hand traffic,designate a relation of H1<
H2 when the curve is determined to be the left-hand curve relative to a heading direction of the vehicle, anddesignate a relation of H1>
H2 when the curve is determined to be the right-hand curve, relative to a heading direction of the vehicle.
1 Assignment
0 Petitions
Accused Products
Abstract
When determining that a subject vehicle traveled a curve, a road shape learning apparatus amends an entrance coordinate, a middle coordinate, and an exit coordinate of the curve based on predetermined amendment values to thereby obtain a post-amendment entrance coordinate, a post-amendment middle coordinate, and a post-amendment exit coordinate. The road shape learning apparatus computes a radius of a circular arc which passes through the post-amendment entrance coordinate, the post-amendment middle coordinate, and the post-amendment exit coordinate and designates the computed radius as a curvature radius of the curve.
34 Citations
14 Claims
-
1. A road shape learning apparatus for a vehicle, the apparatus comprising:
-
a map data storage device configured to store map data; a position acquisition device configured to acquire position information relative to a position of the vehicle; a position extraction section configured to, when it is determined that the vehicle traveled a curve, specify an entrance, a middle, and an exit of the curve based on the map data, and extract an entrance coordinate, a middle coordinate, and an exit coordinate which indicate the positions of the vehicle corresponding to the entrance, the middle, and the exit, respectively, from the position information relative to the vehicle acquired by the position information acquisition device; a position amendment section configured to obtain a post-amendment entrance coordinate, a post-amendment middle coordinate, and a post-amendment exit coordinate, which are obtained by amending the entrance coordinate, the middle coordinate, and the exit coordinate using amendment values which are predetermined depending on a travel tendency; a curvature radius computation section configured to compute a radius of a circular arc passing through the post-amendment entrance coordinate, the post-amendment middle coordinate, and the post-amendment exit coordinate and designate the computed radius as a curvature radius of the curve; and a learned data storage device configured to store the designated curvature radius as learned data associated with the map data, the position amendment section being further configured to perform a curve direction determination as to whether the curve is a left-hand curve or a right-hand curve based on the position information relative to the vehicle acquired by the position acquisition section, and designate a predetermined amendment value responding to an out-in-out tendency of the travel tendency based on either one of the left-hand curve and the right-hand curve, which is determined by the performed curve direction determination, the position amendment section being further configured to define an amendment value relative to each of the entrance coordinate and the exit coordinate as H1, define an amendent value relative to the middle coordinate as H2, wherein H1 is different from H2; the position amendment section being further configured to with respect to a left-hand traffic, designate a relation of H1<
H2 when the curve is determined to be the left-hand curve relative to a heading direction of the vehicle, anddesignate a relation of H1>
H2 when the curve is determined to be the right-hand curve, relative to a heading direction of the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7)
-
-
8. A road shape learning apparatus for a vehicle, the apparatus comprising:
-
a map data storage device configured to store map data; a position acquisition device configured to acquire position information relative to a position of the vehicle; a position extraction section configured to, when it is determined that the vehicle traveled a curve, specify an entrance, a middle, and an exit of the curve based on the map data and extract an entrance coordinate, a middle coordinate, and an exit coordinate which indicate the positions of the vehicle corresponding to the entrance, the middle, and the exit, respectively, from the position information relative to the vehicle acquired by the position information acquisition device; a position amendment section configured to obtain a post-amendment entrance coordinate, a post-amendment middle coordinate, and a post-amendment exit coordinate, which are obtained by amending the entrance coordinate, the middle coordinate, and the exit coordinate using amendment values which are predetermined depending on a travel tendency; a curvature radius computation section configured to compute a radius of a circular arc passing through the post-amendment entrance coordinate, the post-amendment middle coordinate, and the post-amendment exit coordinate and designate the computed radius as a curvature radius of the curve; and a learned data storage device configured to store the designated curvature radius as learned data associated with the map data, the position amendment section being further configured to assume an out-in-out travel tendency, in which the vehicle travels a lane of the curve to generate a travel track forming a circular arc having a radius greater than a radius of a circular arc generated by a travel track generated by traveling the lane of the curve continuously along on a center of the lane in a width direction, perform (i) a curve direction determination and (ii) a traffic direction determination, based on the map data and the acquired position information relative to the vehicle, the curve direction determination being as to whether the vehicle travels a curve in a curve direction of either a left-hand curve or a right-hand curve, the traffic direction determination being as to whether the vehicle travels a left-hand traffic or a right-hand traffic, and designate a predetermined amendment value responding to the out-in-out travel tendency, with respect to each curve direction of each traffic direction, based on results of the performed curve direction determination and the traffic direction determination.
-
-
9. A road shape learning apparatus for a vehicle, the apparatus comprising:
-
a map data storage device configured to store map data; a position acquisition device configured to acquire position information relative to a position of the vehicle; a position extraction section configured to, when it is determined that the vehicle traveled a curve, specify an entrance, a middle, and an exit of the curve based on the map data, and extract an entrance coordinate, a middle coordinate, and an exit coordinate which indicate the positions of the vehicle corresponding to the entrance, the middle and the exit, respectively, from the position information relative to the vehicle acquired by the position information acquisition device; a position amendment section configured to obtain a post-amendment entrance coordinate a post-amendment middle coordinate, and a post-amendment exit coordinate, which are obtained by amending the entrance coordinate, the middle coordinate and the exit coordinate using amendment values which are predetermined depending on a travel tendency; a curvature radius computation section configured to compute a radius of a circular arc passing through the post-amendment entrance coordinate, the post-amendment middle coordinate, and the post-amendment exit coordinate and designate the computed radius as a curvature radius of the curve; and a learned data storage device configured to store the designated curvature radius as learned data associated with the map data, the position amendment section being further configured to perform a curve direction determination as to whether the curve is a left-hand curve or a right-hand curve based on the position information relative to the vehicle acquired by the position acquisition section, and designate a predetermined amendment value responding to an out-in-out tendency of the travel tendency based on either one of the left-hand curve and the right-hand curve, which is determined by the performed curve direction determination, the position amendment section being further configured to define an amendment value relative to each of the entrance coordinate and the exit coordinate as H1, define an amendment value relative to the middle coordinate as H2, wherein H1 is different from H1, the position amendment section being further configured to, with respect to a right-hand traffic, designate a relation of H1>
H2 when the curve is determined to be the left-hand curve relative to a heading direction of the vehicle, anddesignate a relation of H1<
H2 when the curve is determined to be the right-hand curve relative to a heading direction of the vehicle. - View Dependent Claims (10, 11, 12, 13, 14)
-
Specification
-
- Resources
Litigation Campaign Assessment
Thank you for your request. You will receive a custom alert email when the Litigation Campaign Assessment is available.
×
-
Current AssigneeDENSO Corporation
-
Original AssigneeDENSO Corporation
-
InventorsIida, Masahiro
-
Primary Examiner(s)Nguyen, John Q
-
Assistant Examiner(s)WHALEN, MICHAEL F
-
Application NumberUS13/030,350Publication NumberTime in Patent Office998 DaysField of Search701/70, 701/411, 701/412, 701/445, 701/446, 701/450, 701/508, 701/521US Class Current701/450CPC Class CodesB60W 2556/50 of positioning data, e.g. G...B60W 40/072 Curvature of the roadG01C 21/30 Map- or contour-matchingG01C 21/3819 Road shape data, e.g. outli...G01C 21/3837 Data obtained from a single...G01C 21/3844 Data obtained from position...G06N 20/00 Machine learning
