Method and apparatus for deciding path of vehicle

• US 9,881,263 B2
• Filed: 06/24/2016
• Issued: 01/30/2018
• Est. Priority Date: 06/08/2016
• Status: Active Grant

• Current Assignee: Ajou University Industry
• Original Assignee: Ajou University Industry
• Inventors: Kim, Jai-Hoon, Alemayehu, Temesgen Seyoum
• Primary Examiner(s): To, Tuan C
• Application Number:
  US15/191,764
• Publication Number:
  US 20170357918A1
• Time in Patent Office: 585 Days
• CPC Class Codes: G01C 21/343 Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips travelling salesman problem G06Q10/04; optimisation of routes G06Q10/047
• CPC Class Codes: G01C 21/3446 Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
• CPC Class Codes: G01S 5/0249 Determining position using measurements made by a non-stationary device other than the device whose position is being determined
• CPC Class Codes: G01S 5/0294 Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
• CPC Class Codes: G05D 1/0276 using signals provided by a source external to the vehicle involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058
• CPC Class Codes: G06Q 10/047 Optimisation of routes or paths, e.g. travelling salesman problem

Abstract

A route determining method includes determining a first node which is the closest to a current position, among a plurality of nodes by using a position sensor and moving in a direction of the determined first node, determining a first point included in a radio wave reachable area of the first node by transmitting and receiving data between the moving object and the first node and going through the determined first point, determining a second node which is the closest to the first point by using the position sensor and moving in a direction of the determined second node, and determining a second point included in a radio wave reachable area of the second node by transmitting and receiving the data between the moving object and the second node based on the first node and a position of the first point and going through the second point.

Claims

1. A route determining method of a moving object, the method comprising:

determining, by the moving object, a first node which is the closest to a current position of the moving object, among a plurality of nodes by using a position sensor, and moving the moving object in a direction of the determined first node;

determining, by the moving object, a first point included in a radio wave reachable area of the first node by transmitting and receiving data between the moving object and the first node, and going through, by the moving object, the determined first point;

determining, by the moving object, a second node which is the closest to the first point by using the position sensor, and moving the moving object in a direction of the determined second node; and

determining, by the moving object, a second point included in a radio wave reachable area of the second node by transmitting and receiving the data between the moving object and the second node based on the first node and a position of the first point and going through, by the moving object, the second point.

2. The method of claim 1, wherein in the determining of the second point, the second point is determined by determining whether to be at a boundary of the radio wave reachable area of the second node and whether to be located in the closest distance from the first point.

3. The method of claim 1, wherein in the determining of the second point, the second point is determined by determining whether to be at a boundary of the radio wave reachable area of the second node and whether to be located in the closest distance from the first node.

4. The method of claim 1, wherein in the determining, by the moving object, the first point included in the radio wave reachable area of the first node, the first point is determined by considering a first time when it takes for the moving object to move from a boundary of the radio wave reachable area of the first node to an arbitrary point included in the radio wave reachable area and a second time when it takes for the moving object to receive data to be obtained from the first node at the arbitrary point.

5. The method of claim 1, wherein in the determining of the second point, the second point is located between a first intersection point between a segment of a line connecting the first node and the second node and a boundary of the radio wave reachable area of the second node and a second intersection point between a segment of a line connecting the first point and the second node and the boundary of the radio wave reachable area of the second node, and the second point is determined by considering a position of a third node which is the closest to the second node.

6. A route determining method of a moving object, the method comprising:

determining, by the moving object, a first node which is the closest to a current position of the moving object, among a plurality of nodes by using a position sensor;

determining, by the moving object, a second node which is the closest to the first node by using the position sensor;

determining, by the moving object, a route in a direction of the determined second node from the current position based on (i) a communication time to transmit and receive data between the moving object and the plurality of nodes and (ii) an estimated moving time of the moving object; and

determining whether the determined route of the moving object passes through a radio wave reachable area of the first node by transmitting and receiving the data between the moving object and the first node, and moving the moving object to the determined route.

7. A route determining apparatus of a moving object, the apparatus comprising:

a processor; and

a memory configured to store instructions executable by the processor,

wherein the processor is configured to;

determine a first node which is the closest to a current position of the moving object, among a plurality of nodes by using a position sensor;

determine a first point included in a radio wave reachable area of the first node by transmitting and receiving data between the moving object and the first node;

determine a second node which is the closest to the first point by using the position sensor;

determine a second point which is included in a radio wave reachable area of the second node by transmitting and receiving the data between the moving object and the second node based on the first node and a position of the first point; and

move the moving object to a position determined by the determining of the first node, the determining of the first point, the determining of the second node and the determining of the second point.

8. The apparatus of claim 7, wherein the processor is further configured to determine the second point by determining whether to be at a boundary of the radio wave reachable area of the second node and whether to be located in the closest distance from the first point.

9. The apparatus of claim 7, wherein the processor is further configured to determine the second point by determining whether to be at a boundary of the radio wave reachable area of the second node and whether to be located in the closest distance from the first node.

10. The apparatus of claim 7, wherein the processor is further configured to determine the first point by considering a first time when it takes for the moving object to move from a boundary of the radio wave reachable area of the first node to an arbitrary point included in the radio wave reachable area and a second time when it takes for the moving object to receive data to be obtained by the moving object from the first node at the arbitrary point.

11. A route determining apparatus of a moving object, the apparatus comprising:

a processor; and

a memory configured to store instructions executable by the processor,

wherein the processor is configured to;

determine a first node which is the closest to a current position of the moving object, among a plurality of nodes by using a position sensor;

determine a second node which is the closest to the first node by using the position sensor;

determine a route in a direction of the determined second node from the current position based on (i) a communication time to transmit and receive data between the moving object and the plurality of nodes and (ii) an estimated moving time of the moving object, and determine whether the determined route passes through a radio wave reachable area of the first node by transmitting and receiving the data between the moving object and the first node to move the moving object to the determined route.