Road shape estimating device, road shape estimating method and program

• US 8,583,355 B2
• Filed: 03/26/2009
• Issued: 11/12/2013
• Est. Priority Date: 03/28/2008
• Status: Expired due to Fees

• Current Assignee: Aisin AW Company Limited (Aisin Corp.)
• Original Assignee: Aisin AW Company Limited (Aisin Corp.)
• Inventors: Sugiura, Hiroaki, Fukumoto, Masataka, Toujyou, Takayuki
• Primary Examiner(s): Patel, Neha
• Application Number:
  US12/411,907
• Publication Number:
  US 20090248290A1
• Time in Patent Office: 1,692 Days
• Field of Search: 701/206
• US Class Current: 701/206
• CPC Class Codes: B60W 40/06 Road conditions
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network

Abstract

A road shape estimating device has a data obtaining processing unit for obtaining interpolation point data for a plurality of shape interpolation points which are set along a road and represent a shape of the road, a radius calculation processing unit for calculating a radius of curvature at each of the shape interpolation points based on the interpolation point data for a predetermined section of the road, a corner detection processing unit for detecting a corner in the predetermined section based on the radii of curvature, and a corner dividing processing unit for dividing the corner at a shape interpolation point having a radius of curvature equal to or larger than a threshold in the detected corner. The threshold is set corresponding to an average value of radii of curvature at respective shape interpolation points in the detected corner.

Claims

1. A road shape estimating device for a vehicle, comprising:

a position determination device for determining a position of the vehicle;

a data obtaining processing unit which obtains, from a database in a data recording unit of a navigation device mounted in the vehicle, interpolation point data for a plurality of shape interpolation points which are set along a road, wherein the shape interpolation points and linear segments joining adjacent interpolation points represent a shape of the road;

a radius calculation processing unit which calculates a radius of curvature at each of the shape interpolation points based on the interpolation point data for a predetermined section of the road;

a corner detection processing unit which detects a corner in the predetermined section by extracting any shape interpolation point with a radius of curvature equal to or smaller than a first threshold which is set in advance based on the radius of curvature at each of the shape interpolation points and sets the detected corner in the database, the detected corner being represented by a plurality of the shape interpolation points and segments; and

a corner dividing processing unit, which calculates an average value of radii of curvature at respective shape interpolation points in the detected corner, which sets a second threshold based on the calculated average value of radii of curvature, which divides, into a plurality of corners, the detected corner at a shape interpolation point having a radius of curvature equal to or larger than the second threshold in the detected corner, wherein each of the plurality of corners is represented by plural shape interpolation points and segments, and which estimates a road shape for a road section in front of the determined vehicle position based on the plurality of corners; and

a control device which controls the vehicle in accordance with the estimated road shape of the road section in front of the vehicle.

2. The road shape estimating device according to claim 1, wherein

the second threshold is set corresponding to a degree of variation between radii of curvature at respective shape interpolation points in the corner.

3. A road shape estimating method for estimating a road shape for a road section in front of a vehicle, comprising the steps of:

determining a position of the vehicle;

obtaining, from a database in a storage unit, interpolation point data for a plurality of shape interpolation points which are set along a road, wherein the shape interpolation points and linear segments joining adjacent interpolation points represent a shape of a road; and

a computer;

calculating a radius of curvature at each of the shape interpolation points based on the interpolation point data for a predetermined section of the road;

detecting a corner in the predetermined section by extracting any shape interpolation point with a radius of curvature equal to or smaller than a first threshold which is set in advance based on the radius of curvature at each of the shape interpolation points and setting the detected corner in the database, the detected corner being represented by a plurality of shape interpolation points and segments;

calculating an average value of radii of curvature at respective shape interpolation points in the detected corner;

setting a second threshold based on the calculated average value of radii of curvature;

dividing the detected corner into a plurality of corners at a shape interpolation point having a radius of curvature equal to or larger than the second threshold in the detected corner, wherein each of the plurality of corners is represented by plural shape interpolation points and segments; and

estimating a road shape for the road section in front of the determined position of the vehicle based on the plurality of corners; and

controlling an operation of the vehicle in accordance with the estimated road shape.

4. A non-transitory computer-readable medium having, encoded thereon, a program that causes a computer to perform the steps of:

obtaining interpolation point data for a plurality of shape interpolation points which are set along a road, wherein the shape interpolation points and linear segments joining adjacent interpolation points represent a shape of the road;

calculating a radius of curvature at each of the shape interpolation points based on the interpolation point data for a predetermined section of the road;

detecting a corner in the predetermined section by extracting any shape interpolation point with a radius of curvature equal to or smaller than a first threshold which is set in advance based on the radius of curvature at each of the shape interpolation points and setting the detected corner in the database, the detected corner being represented by a plurality of shape interpolation points and segments;

calculating an average value of radii of curvature at respective shape interpolation points in the detected corner;

setting a second threshold based on the calculated average value of radii of curvature; and

dividing the detected corner into a plurality of corners at a shape interpolation point having a radius of curvature equal to or larger than the second threshold in the detected corner, wherein each of the plurality of corners is represented by plural shape interpolation points and segments; and

estimating a road shape for a road section in front of the vehicle based on the plurality of corners.