Patent ID: 6711480
Filing Date: 2004-03-23
Classification: G08G

Abstract:
A system for supporting driving of cars, said system comprising:a server for processing road geometry; an apparatus for supporting driving of a car; and a computer network for communicating with said server and said apparatus, wherein said server for processing road geometry includes communication control means for controlling communication with said computer network, storing means of the road geometry for storing at least one of road parameters and road information, and processing means of the road parameters for loading the road parameters and the road information stored in said storing means in dependence upon a request received from said apparatus for supporting driving of the car via said communication control means, and said apparatus for supporting driving of the car includes communication control means for controlling communication with said computer network, positioning information control means for calculating a position information of the car by using a base position information, means for generating driving support information by using at least one of the road parameters and the road information from said server for processing the road geometry and the position information of the car from said positioning information control means, wherein the road information includes a virtual digital driving orbit for indicating a driving orbit of the car, and said means for generating driving support information generates the virtual digital driving orbit by at least one of a line segment, circular arcs and a clothoid curve, and generates a clothoid curve from a clothoid origin without executing exceptional processing near the clothoid origin in a case of generating a curvature transition curve of the virtual digital driving orbit using the clothoid curve, by calculating coordinates of the clothoid curve using the following recurrence equation (1), of which parameters are only an arc length â€œ&lgr;â€  from the clothoid origin, expressed as x=&Sum;n=0âˆž&it;(-1)n&it;Î»4&it;n+1(4&it;n+1)&CenterDot;22&it;n&CenterDot;(2&it;n)!&it;&NewLine;&it;y=&Sum;n=0âˆž&it;(-1)n&it;Î»4&it;n+3(4&it;n+3)&CenterDot;22&it;n+1&CenterDot;(2&it;n+1)!(Equation&it;â€ƒ&it;1)â€ƒwhere â€œ&lgr;â€  is a unit clothoid arc length, â€œxâ€  and â€œyâ€  is a coordinate of the arc length â€œ&lgr;â€  from the clothoid origin of the unit clothoid curve, and â€œnâ€  is an order.