Road shape estimation apparatus and curve approach control apparatus
US6343253B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 20, 2000 |
| Grant date | Jan 29, 2002 |
| Priority date | — |
| Expiry date | Sep 20, 2020 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2552/30
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A curve's radius of curvature that approximates the actual curve is calculated, and an appropriate allowable curve approach speed even when the node interval is extremely short is set. Although the node c with a relatively large positional deviation on the curve is not out of the actual road width, the road geometry indicated by a series of nodes is locally bent like a concave at around the node c, constituting a curve that cannot exist in reality. The interval between nodes b and c is short, so that calculating the curve's radius of curvature at nodes b and c may result in a very small curve's radius of curvature which is far smaller than the actual curve geometry. Therefore, at least one of the nodes is taken as the curve's radius of curvature calculation removal point and is not used for the calculation of the curve's radius of curvature.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.