Traveling route generation apparatus, traveling route generation method, vehicle control apparatus, and vehicle control method

Patent metadata

Field	Value
Publication number	US-12194994-B2
Application number	US-201917638072-A
Country	US
Kind code	B2
Filing date	Sep 25, 2019
Priority date	Sep 25, 2019
Publication date	Jan 14, 2025
Grant date	Jan 14, 2025

Abstract

To provide a traveling route generation apparatus and a traveling route generation method which can suppress generation of the traveling route with bad interpolation accuracy, and can generates the traveling route with good interpolation accuracy, when generating the traveling route of the vehicle. To provide a vehicle control apparatus and a vehicle control method which can control the traveling of vehicle based on the traveling route generated above. A traveling route generation apparatus and a traveling route generation method compares the two traveling positions and the two traveling directions which are temporally before and after relation, and determines whether to interpolate between the two traveling positions, and generates the traveling route which interpolates between the two traveling positions determined to interpolate, when it is determined to interpolate.

First claim

What is claimed is:

1. A traveling route generation apparatus, comprising:
a vehicle controller;
at least one processor; and

at least one memory including computer program code, which when executed, causes the at least one processor to:
obtain traveling positions and traveling directions, of one object vehicle, which were detected in time series;
compare the two traveling positions and the two traveling directions which are temporally before and after relation, and generate an interpolation determination result by determining whether to interpolate between the two traveling positions;
generate a traveling route which interpolates between the two traveling positions determined to interpolate based on the interpolation determination result; and
the vehicle controller controls traveling of vehicle, based on the traveling route generated;
wherein comparing the two traveling positions comprises:
calculating a distance between the two traveling positions, and a direction difference between the two traveling directions;
based on the distance being within a permission range of distance and the direction difference being within a permission range of direction difference, determining to interpolate between the two traveling positions;
otherwise, determining not to interpolate between the two traveling positions;
setting a lower limit distance of the permission range of distance, based on a preliminarily set reference time difference between detection times of the two traveling positions and the two traveling directions, and a travelling speed of the object vehicle;
setting an upper limit distance of the permission range of distance, based on a lateral margin width obtained by subtracting a width of the object vehicle from a road width, and an upper limit direction difference of the permission range of direction difference;
setting the lateral margin width to ΔW, setting the upper limit direction difference of the permission range of direction difference to θmax, and setting the upper limit distance of the permission range of distance to Lmax; and

setting the upper limit distance of the permission range of distance by a calculation equation of
L max=Δ W/ 2/tan(θmax)

2. The traveling route generation apparatus according to claim 1 ,
wherein, when it is determined to interpolate adding an interpolation traveling position which is a traveling position interpolating between the two traveling positions determined to interpolate, and generating a traveling route, based on the plural traveling positions detected in time series and the interpolation traveling position.

3. The traveling route generation apparatus according to claim 1 ,
wherein obtaining traveling positions and traveling directions comprises obtaining the traveling positions of the object vehicle detected in time series, based on satellite positioning information.

4. A traveling route generation method, comprising:
obtaining traveling positions and traveling directions, of one object vehicle, which were detected in time series;
comparing the two traveling positions and the two traveling directions which are temporally before and after relation, and generating an interpolation determination result by determining whether to interpolate between the two traveling positions;
generating a traveling route which interpolates between the two traveling positions determined to interpolate, when it is determined to interpolate; and
controlling traveling of a vehicle, based on the generated traveling route;

wherein comparing the two traveling positions comprises:
calculating a distance between the two traveling positions, and a direction difference between the two traveling directions;
based on the distance being within a permission range of distance and the direction difference being within a permission range of direction difference, determining to interpolate between the two traveling positions;
otherwise, determining not to interpolate between the two traveling positions;
setting a lower limit distance of the permission range of distance, based on a preliminarily set reference time difference between detection times of the two traveling positions and the two traveling directions, and a travelling speed of the object vehicle;
setting an upper limit distance of the permission range of distance, based on a lateral margin width obtained by subtracting a width of the object vehicle from a road width, and an upper limit direction difference of the permission range of direction difference;
setting the lateral margin width to ΔW, setting the upper limit direction difference of the permission range of direction difference to θmax, and setting the upper limit distance of the permission range of distance to Lmax; and

setting the upper limit distance of the permission range of distance by a calculation equation of
L max=Δ W/ 2/tan(θmax).

Assignees

• Mitsubishi Electric Corp

Inventors

• KADOYA Fumiaki
• Okada Junichi
• Yoshida Yuki
• Hiraoka Akihiko

Classifications

• B60W2556/50

  of positioning data, e.g. GPS [Global Positioning System] data · CPC title

• B60W40/12

  related to parameters of the vehicle itself {, e.g. tyre models} · CPC title

• B60W40/105

  Speed · CPC title

• B60W40/06

  Road conditions · CPC title

• B60W2556/40

  High definition maps · CPC title