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1. CN109415056 - TRAVEL TRAJECTORY PREPARATION DEVICE, METHOD, AND PROGRAM, AND DRIVE ASSIST DEVICE AND SYSTEM

Office China
Application Number 201780038594.7
Application Date 22.08.2017
Publication Number 109415056
Publication Date 01.03.2019
Grant Number 109415056
Grant Date 01.05.2020
Publication Kind B
IPC
B60W 30/10
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
30Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
10Path keeping
B62D 6/00
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
6Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
G08G 1/00
GPHYSICS
08SIGNALLING
GTRAFFIC CONTROL SYSTEMS
1Traffic control systems for road vehicles
B62D 137/00
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
137Conditions not specified in groups B62D101/-B62D135/87
G01C 21/26
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
26specially adapted for navigation in a road network
CPC
B60W 30/045
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
30Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units ; , or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
02Control of vehicle driving stability
045Improving turning performance
B60W 30/10
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
30Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units ; , or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
10Path keeping
B60W 30/18145
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
30Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units ; , or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
18Propelling the vehicle
18009related to particular drive situations
18145Cornering
B60W 50/14
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
50Details of control systems for road vehicle drive control not related to the control of a particular sub-unit ; , e.g. process diagnostic or vehicle driver interfaces
08Interaction between the driver and the control system
14Means for informing the driver, warning the driver or prompting a driver intervention
B60W 2050/146
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
50Details of control systems for road vehicle drive control not related to the control of a particular sub-unit ; , e.g. process diagnostic or vehicle driver interfaces
08Interaction between the driver and the control system
14Means for informing the driver, warning the driver or prompting a driver intervention
146Display means
B62D 6/00
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
6Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
Applicants SANEI CO LTD
株式会社三英技研
Inventors YAMAMOTO TADASHI
山本忠
Agents 广州三环专利商标代理有限公司 44202
广州三环专利商标代理有限公司 44202
Priority Data 2016-162737 23.08.2016 JP
Title
(EN) TRAVEL TRAJECTORY PREPARATION DEVICE, METHOD, AND PROGRAM, AND DRIVE ASSIST DEVICE AND SYSTEM
(ZH) 行驶轨道生成装置、方法和程序,以及驾驶辅助装置和系统
Abstract
(EN)
A travel trajectory preparation device (2) is provided with a travel trajectory preparation unit (42) for preparing a travel trajectory that includes a linear approach section, a clothoid approach section in which a first group of clothoid curves are connected, an arc section, an escape clothoid section in which a second group of clothoid curves are connected, and a linear escape section, the travel trajectory preparation unit (42) including: an arc preparation unit (42a) for preparing an arc section that is positioned closer to the anticenter side of an arc interval than a passing target point that is separated by a predetermined distance on the anticenter side of the arc interval from the inner edge of the arc interval, the arc section having as large a radius as possible; and a clothoidpreparation unit (42b) for preparing a clothoid approach section having the radius of the arc section as the radius of a final tangential arc, the starting point being in contact with the linear approach section, and the direction angle of the linear approach section being used as the direction angle of the starting point, and an escape clothoid section having the radius of the arc section as theradius of a final tangential arc, being in contact with the linear escape section, and having the direction angle of the linear escape section as the direction angle of the starting point.

(ZH)
本发明提供具备生成行驶轨道的行驶轨道生成部(42)的行驶轨道生成装置(21)。行驶轨道包括:驶入直线轨道、第一组回旋曲线连结而成的驶入回旋轨道、圆弧轨道、第二组回旋曲线连结而成的驶出回旋轨道、以及驶出直线轨道。行驶轨道生成部(42)包括:圆弧生成部(42a),生成位于比从圆弧部内缘朝圆弧部中心相反侧离开预定距离的通过目标点更靠近圆弧部中心相反侧的位置,半径尽可能大的圆弧轨道;以及回旋线生成部(42b),生成以圆弧轨道的半径为最终切圆弧的半径、起点与驶入直线轨道相切、以驶入直线轨道的方向角为起点的方向角的驶入回旋轨道,以及以圆弧轨道的半径为最终切圆弧的半径、与驶出直线轨道相切、以驶出直线轨道的方向角为起点的方向角的驶出回旋轨道。