DE-102021100902-B4 - Route setting device and setting procedure

DE102021100902B4DE 102021100902 B4DE102021100902 B4DE 102021100902B4DE-102021100902-B4

Abstract

Setting device (10) of a route (TR), wherein the setting device is configured to set the route (TR) of a vehicle (VH) along a junction (ND) between a departure point and a destination point, wherein the setting device (10) comprises: a memory (11) that stores map information with position information of the node (ND) in a two-dimensional coordinate system; and a processor (12) configured to perform a processing operation for calculating a segmented route (SR) between a plurality of adjacent nodes (ND) based on map information, wherein in the processing of calculating the segmented route (SR), the processor (12) is configured to to determine whether a target route, which specifies the segmented route (SR) that is a target of processing the calculation of the segmented route (SR), is curved, based on the map information, to determine whether a radius of curvature (r_SR) of the destination route is smaller than a minimum turning radius (r_VH) of the vehicle (VH), if it is determined that the destination route is curved, to determine whether a preceding segmented route connected to an initial end of the target route exists before the initial end, when it is determined that the radius of curvature (r_SR) is smaller than the minimum turning radius (r_VH), to set an arc (AR) with a sector shape that has coordinates of the start end of the target route as a start end of the arc (AR) and that is curved in the same direction as a curved direction of the target route, if it is determined that the preceding segmented route exists, an end-to-end distance (ΔY) from the coordinates of a termination end of the target route to the coordinates of the termination end of the arc (AR) in a to calculate the direction of a coordinate axis along which the preceding segmented route extends, to cause the entire arc (AR) to be shifted by an amount corresponding to the end-to-end distance (ΔY) in a direction parallel to the coordinate axis and in a direction from a termination end of the previous segmented route to a starting end of the previous segmented route, to set the entire shifted arc (AR) as a new segmented route (SR) instead of the target route, and to change the coordinates of the endpoint of the preceding segmented route to the coordinates of the startpoint of the shifted arc (AR), and wherein a radius of the sector shape is equal to the minimum turning radius (r_VH), a center point of the sector shape is located on a reference line that passes through the coordinates of the start-end of the target route and the central coordinates of a circle with the radius of curvature (r_SR) as a radius, and a central angle of the sector shape is equal to an angle between the reference line and a straight line passing through the coordinates of the endpoint of the target route and the central coordinates.

Inventors

Noriyuki TSURUOKA

Assignees

TOYOTA JIDOSHA KABUSHIKI KAISHA

Dates

Publication Date: 20260513
Application Date: 20210118
Priority Date: 20200205

Claims (6)

Setting device (10) of a route (TR), wherein the setting device is configured to set the route (TR) of a vehicle (VH) along a junction (ND) between a departure point and a destination point, wherein the setting device (10) comprises: a memory (11) which stores map information with position information of the junction (ND) in a two-dimensional coordinate system; and a processor (12) configured to perform a processing operation for calculating a segmented route (SR) between a plurality of adjacent nodes (ND) based on map information, wherein in the processing operation for calculating the segmented route (SR), the processor (12) is configured to determine whether a target route specifying the segmented route (SR), which is a target of the processing operation for calculating the segmented route (SR), is curved, based on the map information; to determine whether a radius of curvature (r_SR) of the target route is smaller than a minimum turning radius (r_VH) of the vehicle (VH), if it is determined that the target route is curved; to determine whether a preceding segmented route associated with a start end of the target route exists before the start end, if it is determined that the radius of curvature (r_SR) is smaller than the minimum turning radius (r_VH); a to set an arc (AR) with a sector shape, having coordinates of the start end of the target route as a start end of the arc (AR) and curved in the same direction as a curved direction of the target route, when it is determined that the preceding segmented route exists, to calculate an end-to-end distance (ΔY) from the coordinates of a termination end of the target route to the coordinates of the termination end of the arc (AR) in a direction along a coordinate axis in which the preceding segmented route extends, and to cause the entire arc (AR) to be curved by an amount corresponding to the end-to-end distance (ΔY) in a direction parallel to the coordinate axis and in a direction from a termination end of the preceding segmented route to a start end of the preceding where the segmented route is moved, the entire moved arc (AR) is set as a new segmented route (SR) instead of the target route, and the coordinates of the endpoint of the previous segmented route are changed to the coordinates of the startpoint of the moved arc (AR), wherein a radius of the sector shape is equal to the minimum turning radius (r_VH), a center point of the sector shape is located on a reference line passing through the coordinates of the startpoint of the target route and the central coordinates of a circle with the radius of curvature (r_SR) as a radius, and a central angle of the sector shape is equal to an angle between the reference line and a straight line passing through the coordinates of the endpoint of the target route and the central coordinates.
Setting device (10) of the route according to Claim 1 , wherein in the processing of the calculation of the segmented route (SR) the processor (12) is configured to: determine whether a subsequent segmented route connected to the termination end of the target route exists after the termination end, if it is determined that the radius of curvature (r_SR) is smaller than the minimum turning radius (r_VH); and change the coordinates of an initial termination of the subsequent segmented route to the coordinates of the termination end of the displaced arc (AR), if it is determined that the subsequent segmented route exists.
Setting device (10) of the route according to Claim 1 , wherein: the map information includes obstacle information (OBS) about an obstacle around the node (ND); and in the processing of calculating the segmented route (SR), the processor (12) is configured to determine whether an obstacle (OB) is located at coordinates where a distance from the displaced arc (AR) is equal to or less than a predetermined value, based on the obstacle information (OBS), to calculate an involvement distance during a virtual traverse of the vehicle (VH) along the displaced arc (AR) when it is determined that the obstacle (OB) is present, and after causing the entire arc (AR) to be displaced by the amount corresponding to the end-to-end distance (ΔY), and before setting the new segmented route (SR), to cause the entire arc (AR) to be displaced by an amount corresponding to the involvement distance (ID) in the direction from the start end of the previous segmented route to the end end of the previous segmented route.
A route setting procedure (TR) for setting the route (TR) of a vehicle (VH) along a junction (ND) between a departure point and a destination point, wherein the procedure comprises a step of calculating a segmented route (SR) between a plurality of adjacent junctions (ND) based on map information with position information of the junction (ND) in a two-dimensional coordinate system, wherein the step of calculating the segmented route (SR) comprises: a step of determining whether a destination route specifying the segmented route (SR), which is a target of the step of calculating the segmented route (SR), is curved, based on the map information; a step of determining whether a radius of curvature (r_SR) of the destination route is smaller than a minimum turning radius (r_VH) of the vehicle (VH), if it is determined that the segmented route (SR) is curved; a step of determining whether a preceding segmented route, associated with a start end of the target route, exists before the start end, if it is determined that the radius of curvature (r_SR) is smaller than the minimum turning radius (r_VH); a step of setting an arc (AR) with a sector shape, having coordinates of the start end of the target route as a start end of the arc (AR) and curved in the same direction as a curved direction of the target route, if it is determined that the preceding segmented route exists; a step of calculating an end-to-end distance (ΔY) from the coordinates of a tail end of the target route to the coordinates of the tail end of the arc (AR) in a direction of a coordinate axis in which the preceding segmented route extends; a step of causing the entire arc (AR) to be shifted by an amount corresponding to the end-to-end distance (ΔY) in a direction parallel to the coordinate axis and in a direction from a termination end of the previous segmented route to the start end of the previous segmented route; a step of setting the entire shifted arc (AR) as a new segmented route (SR) instead of the target route; and a step of changing the coordinates of the termination end of the previous segmented route to the coordinates of the start end of the shifted arc (AR), and wherein a radius of the sector shape is equal to the minimum turning radius (r_VH), a center point of the sector shape is located on a reference line that passes through the coordinates of the start end of the target route and the central coordinates of a circle with the radius of curvature (r_SR) as a radius, and a central angle of the sector shape is equal to an angle between the reference line and a straight line that passes through the coordinates of the end of the target route and the central coordinates.
Route adjustment procedure according to Claim 4 , wherein the step of calculating the segmented route (SR) includes: a step of determining whether a subsequent segmented route connected to the termination end of the target route exists after the termination end, if it is determined that the radius of curvature (r_SR) is smaller than the minimum turning radius (r_VH); and a step of changing coordinates of an initial termination end of the subsequent segmented route to coordinates of the termination end of the displaced arc (AR), if it is determined that the subsequent segmented route exists.
Route adjustment procedure according to Claim 4 , wherein: the map information continues to include obstacle information (OBS) about an obstacle around the node (ND); and the step of calculating the segmented route (SR) includes a step of determining whether an obstacle (OB) located at coordinates where a distance from the shifted arc (AR) is equal to or less than a predetermined value exists, based on the obstacle information (OBS); a step of calculating an involvement distance during a virtual traverse of the vehicle (VH) along the shifted arc (AR) when determined to have the obstacle (OB); and, after causing the entire arc (AR) to shift by the amount corresponding to the end-to-end distance (ΔY); and before setting the new segmented route (SR), a step of causing the entire arc (AR) to shift by an amount corresponding to the involvement distance (ID) in the direction from the start end of the previous segmented route to the finish end of the previous segmented route.

Description

BACKGROUND OF THE INVENTION 1. Field of the invention The invention relates to a device and a method for setting a vehicle's route. 2. Description of the state of the art The printed matter JP H10 - 264 839 A Disclosure reveals a device for performing automatic parking control of a vehicle. In automatic parking control, a guide route is calculated from an initial position near a parking position to the parking position. A radius for the guide route is set such that it is equal to or greater than the minimum turning radius of the vehicle. The printed matter DE 60 2004 000 669 T2 Disclosing a device, the device determines, based on a relationship between the current position of the vehicle and its target position, whether it is possible to define a target path reaching the target position by similarity transformation of a base path. This base path is defined with respect to the current and target positions such that a deflection angle is changed to a state of 0 by steering the vehicle at a predetermined steering rate. If it is possible to define a path, this path is designated as a target path that reaches the target position by similarity transformation. The printed matter JP 2014 - 34 230 A Disclosing a parking guidance system, this document generates a destination route connecting a starting position to a destination position. If the angle of inclination θ of the vehicle's direction of travel at the destination position relative to the vehicle's direction of travel at the starting position and the angle of lift φ of the segment connecting the starting position to the destination position relative to the vehicle's direction of travel at the starting position is θ ≥ 2φ, the parking aid generates a destination route by combining a curve of variable curvature with a curve of constant curvature. However, if θ ≥ 2φ does not hold, the parking aid generates a destination route based on a first circumference C passing through the starting position and intersecting the vehicle's direction of travel at the starting position, and a second circumference C passing through the destination position and intersecting both the vehicle's direction of travel and the first circumference C at the destination position. SUMMARY OF THE INVENTION In an automated valet parking (AVP) system, a control center that manages the parking lot provides the vehicle with information regarding a junction. A junction is a position that a vehicle should pass along a route within the parking lot. The junction information includes the junction's position, expressed as numerical values in a two-dimensional relative coordinate system. The vehicle then adjusts its route within the parking lot based on this positional information. On the route, the radius of a segmented route between adjacent segmented routes is preferably set so that it is equal to or greater than the minimum turning radius, similar to the radius of the guide route described above. However, in a complex location such as a narrow parking lot, there is a possibility that a route is calculated which locally includes the segmented route with a radius smaller than the minimum turning radius. Therefore, an improvement is needed to prevent such an unsuitable route from being set. The invention provides a technique that is capable of setting a suitable route based on information regarding the junction. A first aspect of the present invention is a route setting device, wherein the setting device is configured to set the route of a vehicle along a junction between a departure point and a destination point. The setting device comprises a memory and a processor. The memory stores map information with position information of the junction in a two-dimensional coordinate system. The processor is configured to perform processing for calculating a segmented route between a plurality of adjacent junctions based on the map information. In processing the segmented route, the processor is configured to determine, based on the map information, whether a destination route, which specifies the segmented route that is a target of the segmented route calculation process, is curved; to determine, if determined that the destination route is curved, whether the radius of curvature of the destination route is smaller than a minimum turning radius of the vehicle. Determine whether a preceding segmented route, connected to a start end of the target route, exists before the start end if the radius of curvature is smaller than the minimum turn radius. Set an arc with a sector shape, having the coordinates of the start end of the target route as one of the arc's start ends and curved in the same direction as the target route's curvature, if the preceding segmented route exists. The radius of the sector shape is equal to the minimum turn radius. The center point of the sector shape lies on a reference line passing through the coordinates of the start end of the target route and the center coordinates of a circle with th