Vehicle Route Interpolation Using Position and Direction Gaps
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Solution Overview
Problem
Conventional traveling route generation systems face challenges in generating accurate routes in areas with poor road information, such as rural or unpaved roads, where satellite positioning is obstructed or periphery monitoring devices fail to provide position information, leading to inaccurate interpolation and hindering autonomous driving.
Innovation Solution
A traveling route generation apparatus that acquires and compares time-series traveling positions and directions to determine whether interpolation is necessary, using a traveling information acquisition unit, a comparison unit, and a route generation unit to generate routes with improved accuracy by setting permission ranges for distance and direction differences.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If satellite positioning information is used to obtain traveling position, then position information can be obtained in open areas, but positioning cannot be obtained when there are upper obstacles such as viaducts, tunnels, buildings, or mountains
Solution Approach 1:
The patent uses periphery monitoring devices (cameras, radar) as intermediary tools to detect road information and estimate vehicle position when satellite positioning is unavailable. These devices mediate between the vehicle and the environment, providing alternative means to obtain position information in obstructed areas.
Solution Approach 2:
The system pre-stores road information (road shape, landmarks, road width) obtained from map data and periphery monitoring devices before satellite positioning becomes unavailable. This preliminary storage of environmental data enables the vehicle to estimate its position through comparison even when direct satellite signals are blocked.
2Measurement precision
If periphery monitoring devices are used to obtain position information, then position can be detected using camera and radar, but position information cannot be obtained when there is insufficient information from the vehicle periphery
Solution Approach 1:
The patent combines multiple information sources including map data, periphery monitoring device outputs, and satellite positioning information into a unified road information database. This merging of diverse data sources ensures that when one source fails (e.g., periphery devices insufficient), other stored information can compensate to maintain position detection capability.
3Stability of the object's composition
If interpolation is performed to fill traveling position gaps, then continuous route can be generated, but accuracy deteriorates when the missing interval has curved shape
Solution Approach 1:
The patent explicitly considers road curvature when performing interpolation. Instead of simple linear interpolation, the system uses stored road shape information (curvature data) to perform curved interpolation that matches the actual road geometry, maintaining accuracy even when satellite positioning is unavailable over curved sections.
Solution Approach 2:
The system changes the interpolation method based on road parameters. When road curvature is detected from stored map data or periphery monitoring, the interpolation algorithm adapts to use curved paths matching the road geometry rather than straight-line interpolation, preserving accuracy in curved intervals.
4Measurement precision
If road map data is used to obtain position information, then existing road positions can be referenced, but maintenance requires huge amount of time and costs due to enormous map data volume
Solution Approach 1:
The system enables vehicles to self-update road information by using periphery monitoring devices to detect and store current road conditions (road shape, landmarks, width) locally. This self-service approach allows the vehicle to maintain its own road database without requiring centralized map maintenance, reducing the time and cost burden of updating enormous map data volumes.
Data Source
AI summary
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.