# US 2021/0239474 A1 · Setting device and setting method of traveling route

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- Number: US 2021/0239474 A1
- Document ID: US20210239474A1
- Status: Published application
- Kind: A1
- Application number: 17/153,255
- Filed: 2021-01-20
- Published: 2021-08-05
- Earliest claimed: 2020-02-05
- Assignees: Toyota Jidosha Kabushiki Kaisha
- Applicants: Toyota Jidosha Kabushiki Kaisha
- Inventors: Noriyuki Tsuruoka
- Web page: https://patentgrep.com/patent/US20210239474A1

## CPC

- B62D 15/0285: {Parking performed automatically}
- G01C 21/3446: {Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags or using precalculated routes}
- G01C 21/3407: {specially adapted for specific applications}
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)

## Abstract

A setting device is configured to: determine whether a target route indicating a segmented route is curved based on map information; calculate an end-to-end distance from coordinates of a terminating end of the target route to coordinates of a terminating end of an arc in a direction of a coordinate axis in which a preceding segmented route extends; cause the entire arc to slide by an amount corresponding to the end-to-end distance in a direction parallel to the coordinate axis and in a direction from a terminating end of the preceding segmented route toward a starting end of the preceding segmented route; set the entire slid arc as a new segmented route; and change the coordinates of the terminating end of the preceding segmented route to the coordinates of a starting end of the slid arc.

## Claims

### Claim 1

A setting device of a traveling route, the setting device configured to set the traveling route of a vehicle along a node between a departure point and a destination point, the setting device comprising:
a memory that stores map information having position information of the node in a two-dimensional coordinate system; and
a processor configured to execute processing of calculating a segmented route between a plurality of the nodes that are adjacent to each other based on the map information, wherein
in the processing of calculating the segmented route, the processor is configured to
determine whether a target route indicating the segmented route that is a target of the processing of calculating the segmented route is curved based on the map information,
determine whether a radius of curvature of the target route is less than a minimum turning radius of the vehicle when the target route is determined to be curved,
determine whether a preceding segmented route that is connected to a starting end of the target route exists before the starting end when the radius of curvature is determined to be less than the minimum turning radius,
set an arc having a sector shape, including coordinates of the starting end of the target route as a starting end of the arc and being curved in the same direction as a curved direction of the target route when the preceding segmented route is determined to exist,
calculate an end-to-end distance from coordinates of a terminating end of the target route to coordinates of the terminating end of the arc in a direction of a coordinate axis in which the preceding segmented route extends,
cause the entire arc to slide by an amount corresponding to the end-to-end distance in a direction parallel to the coordinate axis and in a direction from a terminating end of the preceding segmented route toward a starting end of the preceding segmented route,
set the entire slid arc as a new segmented route in place of the target route, and
change the coordinates of the terminating end of the preceding segmented route to the coordinates of the starting end of the slid arc, and wherein
a radius of the sector shape is equal to the minimum turning radius,
a center of the sector shape is positioned on a reference line that passes through the coordinates of the starting end of the target route and central coordinates of a circle having the radius of curvature 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 terminating end of the target route and the central coordinates.

### Claim 2 (depends on 1)

The setting device of the traveling route according to claim 1, wherein
in the processing of calculating the segmented route, the processor is configured to:
determine whether a subsequent segmented route that is connected to the terminating end of the target route exists ahead of the terminating end when the radius of curvature is determined to be less than the minimum turning radius; and
change coordinates of a starting end of the subsequent segmented route to the coordinates of the terminating end of the slid arc when the subsequent segmented route is determined to exist.

### Claim 3 (depends on 1)

The setting device of the traveling route according to claim 1, wherein:
the map information has obstacle information about an obstacle around the node; and
in the processing of calculating the segmented route, the processor is configured to
determine whether an obstacle positioned at coordinates at which a distance from the slid arc is equal to or less than a predetermined value exists based on the obstacle information,
calculate an involvement distance during a virtual traveling of the vehicle along the slid arc when the obstacle is determined to exist, and
after causing the entire arc to slide by the amount corresponding to the end-to-end distance and before setting the new segmented route, cause the entire arc to slide by an amount corresponding to the involvement distance in the direction from the starting end of the preceding segmented route toward the terminating end of the preceding segmented route.

### Claim 4

A setting method of a traveling route to set the traveling route of a vehicle along a node between a departure point and a destination point, the method comprising a step of calculating a segmented route between a plurality of the nodes adjacent to each other based on map information having position information of the node in a two-dimensional coordinate system, wherein
the step of calculating the segmented route has:
a step of determining whether a target route indicating the segmented route that is a target of the step of calculating the segmented route is curved based on the map information;
a step of determining whether a radius of curvature of the target route is less than a minimum turning radius of the vehicle when the segmented route is determined to be curved;
a step of determining whether a preceding segmented route that is connected to a starting end of the target route exists before the starting end when the radius of curvature is determined to be less than the minimum turning radius;
a step of setting an arc having a sector shape, including coordinates of the starting end of the target route as a starting end of the arc and being curved in the same direction as a curved direction of the target route when the preceding segmented route is determined to exist;
a step of calculating an end-to-end distance from coordinates of a terminating end of the target route to coordinates of the terminating end of the arc in a direction of a coordinate axis in which the preceding segmented route extends;
a step of causing the entire arc to slide by an amount corresponding to the end-to-end distance in a direction parallel to the coordinate axis and in a direction from a terminating end of the preceding segmented route toward the starting end of the preceding segmented route;
a step of setting the entire slid arc as a new segmented route in place of the target route; and
a step of changing the coordinates of the terminating end of the preceding segmented route to the coordinates of the starting end of the slid arc, and wherein
a radius of the sector shape is equal to the minimum turning radius,
a center of the sector shape is positioned on a reference line that passes through the coordinates of the starting end of the target route and central coordinates of a circle having the radius of curvature 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 terminating end of the target route and the central coordinates.

### Claim 5 (depends on 4)

The setting method of the traveling route according to claim 4, wherein the step of calculating the segmented route has:
a step of determining whether a subsequent segmented route that is connected to the terminating end of the target route ahead of the terminating end exists when the radius of curvature is determined to be less than the minimum turning radius; and
a step of changing coordinates of a starting end of the subsequent segmented route to the coordinates of the terminating end of the slid arc when the subsequent segmented route is determined to exist.

### Claim 6 (depends on 4)

The setting method of the traveling route according to claim 4, wherein:
the map information further has obstacle information about an obstacle around the node; and
the step of calculating the segmented route has
a step of determining whether an obstacle positioned at coordinates at which a distance from the slid arc is equal to or less than a predetermined value exists based on the obstacle information,
a step of calculating an involvement distance during a virtual traveling of the vehicle along the slid arc when the obstacle is determined to exist, and
after causing the entire arc to slide by the amount corresponding to the end-to-end distance and before setting the new segmented route, a step of causing the entire arc to slide by an amount corresponding to the involvement distance in the direction from the starting end of the preceding segmented route toward the terminating end of the preceding segmented route.