Title:
CURVE CREATION DEVICE, CURVE CREATION PROGRAM, AND CURVE CREATION METHOD
Document Type and Number:
Japanese Patent JP2016170606
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To create a smooth clothoid curve.SOLUTION: The curve creation device first extracts, as three-point combinations, a plurality of three curve creation points that are continuously aligned from a curve creation point sequence as a collection of the multiple curve creation points that are aligned along the moving direction when a mobile body moves on a road and represent a shape along the moving direction of the road(S160 and S190). Then, the curve creation device calculates radii of the road at a starting point and an end point of each of the extracted multiple three-point combinations, as a starting radius and an end radius respectively (S170 and S190). The curve creation device creates, for each of the multiple three-point combinations, a clothoid curve that is the starting radius at the start point and the end radius at the end point and in which, as it moves along the moving direction from the start point to the end point, a reciprocal number of the radium linearly changes from a reciprocal number of the starting radius towards a reciprocal number of the end radius (S180 and S190).SELECTED DRAWING: Figure 3
Inventors:
NAKAMURA TAKAYUKI
ISHIDA TAKASHI
ISHIDA TAKASHI
Application Number:
JP2015049684A
Publication Date:
September 23, 2016
Filing Date:
March 12, 2015
Export Citation:
Assignee:
AISAN TECH CO LTD
International Classes:
G06T11/60; E01C1/00; G06T1/00; G09B29/00
Attorney, Agent or Firm:
Nagoya International Patent Service Corporation