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1. WO2018038073 - TRAVEL TRAJECTORY PREPARATION DEVICE, METHOD, AND PROGRAM, AND DRIVE ASSIST DEVICE AND SYSTEM

Publication Number WO/2018/038073
Publication Date 01.03.2018
International Application No. PCT/JP2017/029858
International Filing Date 22.08.2017
Chapter 2 Demand Filed 22.02.2018
IPC
B60W 30/10 2006.01
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 2006.01
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 2006.01
GPHYSICS
08SIGNALLING
GTRAFFIC CONTROL SYSTEMS
1Traffic control systems for road vehicles
B62D 137/00 2006.01
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 2006.01
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 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
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 30/18154
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
18154Approaching an intersection
B60W 40/072
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
40Estimation or calculation of ; non-directly measurable; driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, ; e.g. by using mathematical models
02related to ambient conditions
06Road conditions
072Curvature of the road
Applicants
  • 株式会社三英技研 SANEI CO., LTD. [JP]/[JP]
Inventors
  • 山本 忠 YAMAMOTO, Tadashi
Agents
  • 松永 裕吉 MATSUNAGA, Yukichi
Priority Data
2016-16273723.08.2016JP
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) TRAVEL TRAJECTORY PREPARATION DEVICE, METHOD, AND PROGRAM, AND DRIVE ASSIST DEVICE AND SYSTEM
(FR) DISPOSITIF, PROCÉDÉ ET PROGRAMME DE PRÉPARATION DE TRAJECTOIRE DE DÉPLACEMENT, ET DISPOSITIF ET SYSTÈME D'AIDE À LA CONDUITE
(JA) 走行軌道作成装置、方法及びプログラム、並びに、運転支援装置及びシステム
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 clothoid preparation 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 the radius 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.
(FR)
Dispositif de préparation de trajectoire de déplacement (2) pourvu d'une unité de préparation de trajectoire de déplacement (42) pour préparer une trajectoire de déplacement qui comprend une section d'approche linéaire, une section d'approche clothoïde dans laquelle un premier groupe de courbes clothoïdes sont reliées, une section d'arc, une section de clothoïde d'échappement dans laquelle un deuxième groupe de courbes clothoïdes sont reliées, et une section d'échappement linéaire, l'unité de préparation de trajectoire de déplacement (42) comprenant : une unité de préparation d'arc (42a) pour préparer une section d'arc qui est positionnée plus près du côté anticentre d'un intervalle d'arc qu'un point cible de passage qui est séparé d'une distance prédéfinie sur le côté anticentre de l'intervalle d'arc par rapport au bord intérieur de l'intervalle d'arc, la section d'arc ayant un rayon aussi grand que possible; et une unité de préparation de clothoïde (42b) pour préparer une section d'approche clothoïde ayant le rayon de la section d'arc comme rayon d'un arc tangentiel final, le point de départ étant en contact avec la section d'approche linéaire, et l'angle de direction de la section d'approche linéaire étant utilisé comme angle de direction du point de départ, et une section de clothoïde d'échappement ayant le rayon de la section d'arc comme rayon d'un arc tangentiel final, étant en contact avec la section d'échappement linéaire, et ayant l'angle de direction de la section d'évacuation linéaire comme angle de direction du point de départ.
(JA)
走行軌道作成装置(2)は、進入直線部、第1群のクロソイド曲線が連結されてなる進入クロソイド部、円弧部、第2群のクロソイド曲線が連結されてなる脱出クロソイド部、及び脱出直線部を含む走行軌道を作成する走行軌道作成部(42)を備え、走行軌道作成部(42)は、円弧区間の内縁から円弧区間の反中心側に予め定められた距離だけ離れた通過目標点よりも更に円弧区間の反中心側に位置し且つ半径ができるだけ大きい円弧部を作成する円弧作成部(42a)と、円弧部の半径を最終接円弧の半径とし、始点が進入直線部に接し、進入直線部の方向角を始点の方向角とする進入クロソイド部と、円弧部の半径を最終接円弧の半径とし、脱出直線部に接し、脱出直線部の方向角を始点の方向角とする脱出クロソイド部と、を作成するクロソイド作成部(42b)とを含む。
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