Apparatus for predicting road shape

Details Apparatus for predicting road shape Apparatus for predicting road shape

2005-01-12

2009-06-30

Beaulieu, Yonel (Department: 3661)

Data processing: vehicles, navigation, and relative location

Navigation

Employing position determining equipment

C701S200000

Reexamination Certificate

active

07555385

ABSTRACT:
An apparatus for predicting road shape includes a map data reading unit, a clothoid curve calculating unit for calculating a clothoid curve corresponding to a corner area, and a fitting unit for adjusting the clothoid curve to the corner area. The clothoid curve calculating unit calculates a clothoid curve by using X-coordinates and Y-coordinates which are found by expressions:x=X0+∑L⁢cos⁢⁢ϕ(1)andy=Y0+∑L⁢·sin⁢⁢ϕ,(2)wherein X0and Y0are coordinates at a start point of a clothoid curve, L is distance from the start point of the clothoid curve, φ is computed by equation (3) φ=α+2kL, wherein α is an angle for the start point of the clothoid curve and “k” is computed by equation (4) k =28/A2, wherein A is a clothoid coefficient.

REFERENCES:
patent: 6738705 (2004-05-01), Kojima et al.
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patent: 1 593 936 (2005-11-01), None
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patent: 2001-093094 (2001-04-01), None
patent: 2001-093094 (2001-06-01), None
Schwartz D.A.; Clothold Road Geometry Unsuitable for Sensor Fusion Clothold Parameter Sloshing; Intelligent Vehicles Symposium, 2003, pp. 484-488.

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