Curve-shape modeling device, vehicle information processing system, curve-shape modeling method, and non-transitory tangible computer readable medium for the same
First Claim
1. A curve-shape modeling device that divides a plurality of sampling points acquired along a route into a linear section, a relaxation curve section and a steady section, and models a curve shape of the route, the curve-shape modeling device comprising:
- a curve extractor configured to extract a curve from the sampling points based on a curvature of the sampling points;
a steady section curvature determiner configured to determine a curvature of the steady section based on a curvature of sampling points included in the curve extracted by the curve extractor; and
a curve entry and exit determiner configured to set a predetermined curvature range including the curvature of the steady section, and determines a start point and an end point of the steady section based on the curvature range,wherein the curve extractor extracts the curve using an extremal value of the curvature of the sampling points, andwherein the curve extractor extracts the curve when the curve extractor determines that one of extremal points having the extremal values assigned to the curvature of the sampling points provides a same curve as at least one of one or more preceding extremal points and one or more succeeding extremal points in a case where a ratio between the curvature of the one of extremal points and a value obtained by smoothing the curvature of the one or more preceding extremal points or a value obtained by smoothing the curvature of the one or more succeeding extremal points is disposed within a predetermined range.
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Accused Products
Abstract
A curve-shape modeling device that divides multiple sampling points along a route into a linear section, a relaxation curve section and a steady section, and models a curve shape of the route, includes: a curve extraction unit that extracts a curve from the sampling points based on a curvature of the sampling points; a steady section curvature determination unit that determines a curvature of the steady section based on a curvature of sampling points included in an extracted curve; and a curve entry and exit determination unit that sets a predetermined curvature range including the curvature of the steady section, and determines a start point and an end point of the steady section based on the curvature range.
36 Citations
15 Claims
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1. A curve-shape modeling device that divides a plurality of sampling points acquired along a route into a linear section, a relaxation curve section and a steady section, and models a curve shape of the route, the curve-shape modeling device comprising:
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a curve extractor configured to extract a curve from the sampling points based on a curvature of the sampling points; a steady section curvature determiner configured to determine a curvature of the steady section based on a curvature of sampling points included in the curve extracted by the curve extractor; and a curve entry and exit determiner configured to set a predetermined curvature range including the curvature of the steady section, and determines a start point and an end point of the steady section based on the curvature range, wherein the curve extractor extracts the curve using an extremal value of the curvature of the sampling points, and wherein the curve extractor extracts the curve when the curve extractor determines that one of extremal points having the extremal values assigned to the curvature of the sampling points provides a same curve as at least one of one or more preceding extremal points and one or more succeeding extremal points in a case where a ratio between the curvature of the one of extremal points and a value obtained by smoothing the curvature of the one or more preceding extremal points or a value obtained by smoothing the curvature of the one or more succeeding extremal points is disposed within a predetermined range. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A curve-shape modeling method of classifying a plurality of sampling points acquired along a route into a linear section, a relaxation curve section and a steady section to model a curve shape of the route, executed on a computer, the method comprising:
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extracting a curve from the sampling points based on a curvature at the sampling points; determining a curvature of the steady section based on a curvature at the sampling points included in an extracted curve; and setting a predetermined curvature range including the curvature of the steady section, and determining a start point and an end point of the steady section based on the curvature range, wherein the extracting of the curve includes;
extracting the curve using an extremal value of the curvature of the sampling points; andwherein the extracting of the curve is performed when it is determined in the determining of the curvature of the steady section that one of extremal points having the extremal values assigned to the curvature of the sampling points provides a same curve as at least one of one or more preceding extremal points and one or more succeeding extremal points in a case where a ratio between the curvature of the one of extremal points and a value obtained by smoothing the curvature of the one or more preceding extremal points or a value obtained by smoothing the curvature of the one or more succeeding extremal points is disposed within a predetermined range.
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15. A non-transitory tangible computer readable medium comprising instructions being executed by a computer, the instructions including a computer-implemented curve-shape modeling method of classifying a plurality of sampling points acquired along a route into a linear section, a relaxation curve section and a steady section to model a curve shape of the route, the method comprising:
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extracting a curve from the sampling points based on a curvature at the sampling points; determining a curvature of the steady section based on a curvature at the sampling points included in a curve extracted at the extracting of the curve; and setting a predetermined curvature range including the curvature of the steady section, and determining a start point and an end point of the steady section based on the curvature range, wherein the extracting of the curve includes;
extracting the curve using an extremal value of the curvature of the sampling points; andwherein the extracting of the curve is performed when it is determined in the determining of the curvature of the steady section that one of extremal points having the extremal values assigned to the curvature of the sampling points provides a same curve as at least one of one or more preceding extremal points and one or more succeeding extremal points in a case where a ratio between the curvature of the one of extremal points and a value obtained by smoothing the curvature of the one or more preceding extremal points or a value obtained by smoothing the curvature of the one or more succeeding extremal points is disposed within a predetermined range.
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Specification