Patent Publication Number: US-6711480-B2

Title: System, method and program for supporting driving of cars

Description:
FIELD OF THE INVENTION 
     This invention relates to a system, a method and program products for supporting to drive cars, and more particularly to, a system, a method and program products for supporting to drive cars which automatically and safety can drive the cars. 
     BACKGROUND OF THE INVENTION 
     Systems for supporting to drive cars such as a lane marks system and a sensor system are used in the field of a car driving support nowadays. For example, the systems disclosed in TOKKAIHEI 11-212640 and TOKKAIHEI 10-261193. 
     In the conventional system for supporting to drive cars, however, there is a disadvantage in that the system for supporting to dive cars with which the performance of the system is low, because the system has to execute a lot of information from the sensor and the lane marks. 
     And more, in the system, it costs highly for constructing the infrastructure of the roads. 
     SUMMARY OF THE INVENTION 
     Accordingly, it is an object of the invention to provide a system, a method and program products for supporting to drive cars which automatically and safety can drive the cars without the high costs and with high performance. 
     A system for supporting to drive cars according to the resent invention, which comprises a server for processing road geometry, an apparatus for supporting to drive a car, and a computer network for communicating with the server for processing road geometry and the apparatus for supporting to drive a car, wherein the server for processing the road geometry includes communication control means for controlling communication with the computer network, storing means of road geometry for storing road parameters and/or road information, and processing means of road parameters for loading the road parameters and the road information stored in the storing means in dependence upon a request from the apparatus for supporting to drive the car received via the communication control means, the apparatus for supporting to drive the car includes communication control means for controlling communication with the computer network, positioning information control means for calculating position information of the car by using base position information, means for generating driving support information by using the road parameters and/or the road information from the server for processing the road geometry and the positioning information of the car from the positioning information control means. 
     A method for supporting to drive cars according to the present invention, which executes driving support processes by using a server for processing road geometry, an apparatus for supporting to drive a car, and a computer network for communicating with the server for processing road geometry and the apparatus for supporting to drive a car, comprises the steps of (A) in the apparatus for supporting to drive a car, sending request information inputted for supporting to drive the car to the server for processing road geometry via the computer network, (B) in the server for processing road geometry, loading road parameters and/or beforehand stored road information in dependence upon the request information receiving from the apparatus for supporting to drive a car, and sending the road parameters and/or the road information to the apparatus for supporting to drive a car via the computer network, (C) in the apparatus for supporting to drive a car, generating road information by using the road parameters when receiving the road parameters from the server for processing road geometry, (D) in the apparatus for supporting to drive a car, calculating position information of the car by using base position information, (E) in the apparatus for supporting to drive a car, generating driving support information by using the road information received from the server for processing road geometry and/or generated by the step of (C), and the positioning information of the car calculated by the step of (D). 
     Program products for supporting to drive cars according to the present invention, which is executed by computer system, comprises the steps of (A) sending request information inputted for supporting to drive the car to the server for processing road geometry via the computer network, (B) loading road parameters and/or beforehand stored road information in dependence upon the request information receiving from the apparatus for supporting to drive a car, and sending the road parameters and/or the road information to the apparatus for supporting to drive a car via the computer network, (C) generating road information by using the road parameters when receiving the road parameters from the server for processing road geometry, (D) calculating position information of the car by using base position information, (E) generating driving support information by using the road information received from the server for processing road geometry and/or generated by the step of (C), and the positioning information of the car calculated by the step of (D). 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     The invention will be described in more detail in conjunction with the appended drawings, wherein: 
     FIG. 1 is a diagram showing an example of the conventional system for supporting to drive a car; 
     FIG. 2 is a diagram showing an example of the conventional system for supporting to drive cars; 
     FIG. 3 is a diagram showing an example of the system for supporting to drive cars according to the present invention; 
     FIG. 4 is a diagram showing an example of the server for processing road geometry in the system for supporting to drive cars according to the present invention; 
     FIG. 5 is a diagram showing an example of the apparatus for supporting to drive a car in the system for supporting to drive cars according to the present invention; 
     FIG. 6 is a diagram showing an example of the system for supporting to drive cars according to the present invention; 
     FIG. 7 is a diagram showing an example of the apparatus for supporting to drive a car in the system for supporting to drive cars according to the present invention; 
     FIG. 8 is a flowchart showing an example of the method of supporting to drive cars according to the present invention; 
     FIG. 9 is a diagram showing an example of the road parameters loaded from the data base of the road geometry; 
     FIG. 10 is a diagram showing an example of the road parameters loaded from the data base of the road geometry; 
     FIG. 11 is a diagram showing an example of the road parameters loaded from the data base of the road geometry; 
     FIG. 12A is a diagram showing an example of the road parameters loaded from the data base of the road geometry; 
     FIG. 12B is a diagram showing an example of the road parameters loaded from the data base of the road geometry; 
     FIG. 13 is a diagram showing an example of the processes of generating the road information with the virtual digital driving orbit; 
     FIG. 14 is a flowchart showing an example of the processes of generating the road information with the virtual digital driving orbit; 
     FIG. 15 is a diagram showing an example of the virtual digital driving orbit (lattice of coordinate); 
     FIG. 16A is a diagram showing an example of the way for using the virtual digital driving orbit (lattice of coordinate); 
     FIG. 16B is a diagram showing an example of the way for using the virtual digital driving orbit (lattice of coordinate); 
     FIG. 16C is a diagram showing an example of the way for using the virtual digital driving orbit (lattice of coordinate); 
     FIG. 17 is a diagram showing an example of the way for calculating an elevation of the road on the design of the crossing gradient; 
     FIG. 18 is a diagram showing an example of using the driving support information at the step of  408  in FIG. 8; 
     FIG. 19 is a diagram showing an example of using the driving support information at the step of  408  in FIG. 8; 
     FIG. 20 is a diagram showing an example of using the driving support information at the step of  408  in FIG. 8; 
     FIG. 21 is a diagram showing an example of using the driving support information at the step of  408  in FIG. 8; 
     FIG. 22 is a diagram showing an example of using the driving support information at the step of  408  in FIG. 8; 
     FIG. 23 is a diagram showing an example of using the driving support information at the step of  408  in FIG. 8; 
     FIG. 24 is a diagram showing an example of using the driving support information at the step of  408  in FIG. 8; 
     FIG. 25 is a diagram showing an example of using the driving support information at the step of  408  in FIG. 8; 
     FIG. 26 is a diagram showing an example of the system for supporting to drive cars according to the present invention; 
     FIG. 27 is a diagram showing an example of the server for processing road geometry in the system for supporting to drive cars according to the present invention; 
     FIG. 28 is a diagram showing an example of the apparatus for supporting to drive a car in the system for supporting to drive cars according to the present invention; 
     FIG. 29 is a diagram showing an example of the system for supporting to drive cars according to the present invention; and 
     FIG. 30 is a diagram showing an example of the apparatus for supporting to drive a car in the system for supporting to drive cars according to the present invention; 
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     Before explaining a system, a method and program products for supporting to drive cars in the preferred embodiment according to the invention, the aforementioned conventional system and method for supporting to drive cars will be explained in FIGS. 1 and 2. 
     FIG. 1 is a diagram showing an example of the conventional system for supporting to drive a car. In FIG. 1, a car system  2020   a  is placed on a car  2010   a , and a car system  2020   b  is placed on a car  2010   b . The car systems  2020   a  and  2020   b  estimate a best driving route by getting a traffic condition on a driving road from GPS (Global Positioning System). And the cars  2010   a  and  2010   b  are automatically driven by the car systems  2020   a  and  2020   b  which use a position information of the white lines  2030  on the road, the information by communicating with the both cars  2010   a  and  2010   b  obtained by CCD (Charge Coupled Device) cameras, and the navigation information from the GPS. 
     FIG. 2 is a diagram showing an example of the conventional system for supporting to drive cars. In FIG. 2, a car system  2020   c  is placed on a car  2010   c . The car system  2020   c  estimate a best driving route by getting a traffic condition on a driving road from GPS and/or LCX (Leakage Coaxial cable). And the car  2010   c  is automatically driven by the car system  2020   c  which uses the information of lane marks  2060  detected by a detecting unit  2040  of the lane marks and/or the information by communicating with the LCX  2050  and the car  2010   c.    
     In the conventional system for supporting to drive the car disclosed in FIG. 1, however, there is a disadvantage in that it costs highly and its performance is very poor, because the car system has to process all information. 
     In the conventional system for supporting to drive the car disclosed in FIG. 2, however, there is a disadvantage in that it costs highly, because setting and maintenance costs of the lane marks are very high. 
     And there is a disadvantage in that the car is not able to be automatically driven when the lane marks are not able to be obtained. 
     Referring to accompanying drawings, embodiments of a system, a method and program products for supporting to drive cars according to the present invention will be explained as follows. 
     FIG. 3 is a diagram showing an example of the system for supporting to drive cars according to the present invention. In FIG. 3, a system for supporting to drive cars has a server  10  for processing road geometry, an apparatus  20  for supporting to drive a car  70 , and a computer network  40  for communicating with the server  10  and the apparatus  20 , wherein the saver  10  provides road parameters and/or road information for the apparatus  20 , and the apparatus  20 , placed on the car  70 , supports to drive the car  70  and/or automatically drives the car  70  by using the road information which includes virtual digital driving orbit (lattice of coordinate)  60  from the saver  10  and/or calculated by the road parameters, and GPS (Global Positioning System) information from GPS satellite  50  for calculating the position of the car  70 . 
     In the system for supporting to drive cars, the communication with the apparatus  20  for supporting to drive the car  70  and the computer network  40  is executed by using communication tool  30  such as a mobile phone. And the computer network  40  is constructed by an internet or an intranet. 
     FIG. 4 is a diagram showing an example of the server for processing road geometry in the system for supporting to drive cars according to the present invention. In FIG. 4, the server  10  for processing the road geometry includes a communication control unit  11  for controlling communication with the computer network  40 , a data base  13  of the road geometry for storing the road parameters and/or the road information, and a processing unit  12  of the road parameters for loading the road parameters and the road information stored in the data base  13  in dependence upon a request received from the apparatus  20  for supporting to drive the car  70  via the communication control unit  11 . 
     FIG. 5 is a diagram showing an example of the apparatus for supporting to drive a car in the system for supporting to drive cars according to the present invention. In FIG. 5, the apparatus  20  for supporting to drive the car  70  includes a communication control unit  21  for controlling communication with the computer network  40 , a GPS control unit (positioning information control unit)  22  for calculating position information of the car  70  by using base position information (GPS information) from the GPS sattellite  50 , a data base  26  of maps for storing a part or all of the road information and/or map information, an unit  23  for generating driving support information by using the road parameters, the road information from the server  10  for processing the road geometry, the positioning information of the car  70  from the GPS control unit (the positioning information control unit), and/or the map information of the data base  26 , an input/output unit  24  having an input unit  24   a  for inputting the request and an output unit  24   b  for displaying the road information and/or the driving support information, and a driving control unit  25  for controlling to drive the car  70  by controlling an actuator  71  by using the driving support information generated by the unit  23  for generating the driving support information. 
     FIG. 6 is a diagram showing an example of the system for supporting to drive cars according to the present invention. In FIG. 6, the system for supporting to drive cars has a server  10  for processing road geometry, an apparatus  20 A for supporting to drive a car  70 , and a computer network  40  for communicating with the server  10  and the apparatus  20 , wherein the saver  10  provides road parameters and/or road information for the apparatus  20 A, and the apparatus  20 A, placed on the car  70 , supports to drive the car  70  and/or automatically drives the car  70  by using the road information which includes virtual digital driving orbit (lattice of coordinate)  60  from the saver  10  and/or calculated by the road parameters, and base position information, from an unit  50 A (such as the GPS, magnetic nail, and beacon) for sending reference positioning information, for calculating the position of the car  70 . 
     In this case, the base position information is obtained from the GPS, the magnetic nail, and/or the beacon. 
     In the system for supporting to drive cars, the communication with the apparatus  20  for supporting to drive the car  70  and the computer network  40  is executed by using communication tool  30  such as a mobile phone. And the computer network  40  is constructed by an internet or an intranet. 
     FIG. 7 is a diagram showing an example of the apparatus for supporting to drive a car in the system for supporting to drive cars according to the present invention. In FIG. 7, the apparatus  20 A for supporting to drive the car  70  includes a communication control unit  21  for controlling communication with the computer network  40  via communication tool  30 , a positioning information control unit  22 A for calculating position information of the car  70  by using the base position information from the unit  50 A, a data base  26  of maps for storing a part or all of the road information and/or map information, an instrumentation unit  80  for calculating an instrumentation value by detecting a car condition, instrumentation information control units (comprising a control unit  27  for controlling a distance accumulating unit  81 , and a sensor control unit  28 ) for generating instrumentation information based on the instrumentation value received from the instrumentation unit  80 , an unit  23  for generating driving support information based on the road information generated based on the road parameters and/or received from the server  10  for processing the road geometry, the positioning information received from the positioning information control unit  22 A, the instrumentation information received from the instrumentation information control units  27  and  28 , and/or the map information of the data base  26 , an input/output unit  24  having an input unit  24   a  for inputting the request and an output unit  24   b  for displaying the road information and/or the driving support information, and a driving control unit  25  for controlling to drive the car  70  by controlling an actuator  71  by using the driving support information generated by the unit  23  for generating the driving support information. 
     In the system for supporting to drive cars, the instrumentation unit  80  has a distance accumulating unit  81  for calculating an instrumentation value by accumulating driving distance of the car  70 , a speed sensor  82  for calculating an instrumentation value by measuring speed of the car  70 , a gyro-sensor  83  for calculating an instrumentation value by measuring gradient of the car  70 , and an angle measuring unit  84  for calculating an instrumentation value by measuring an angle of car progress way. 
     The control unit  27  for controlling the distance accumulating unit  81  generates accumulating distance information based on the instrumentation value from the distance accumulating unit  81 . The sensor unit  28  generates the speed information based on the instrumentation value from the speed sensor  82 , the rolling angle information based on the instrumentation value from the gyro-sensor  83 , and the way angle information based on the instrumentation value from the angle measuring unit  84 . 
     In the system for supporting to drive cars, the road information includes the virtual digital driving orbit  60  for indicating driving orbit of the car  70 . 
     And the unit  23  for generating the driving support information generates the virtual digital driving orbit  60  by line segment, circular arcs and/or clothoid curve, and generates a clothoid curve from a clothoid origin without executing exceptional processing near said clothoid origin in case of generating a curvature transition curve of the virtual digital driving orbit  60  using the clothoid curve, by calculating coordinates of the clothoid curve using the following recurrence equation (1), of which parameters are only the arc length “λ” from the clothoid origin, expressed as                x   =       ∑     n   =   0     ∞              (     -   1     )     n            λ       4      n     +   1           (       4      n     +   1     )     ·     2     2      n       ·       (     2      n     )     !                    
        y   =       ∑     n   =   0     ∞              (     -   1     )     n            λ       4      n     +   3           (       4      n     +   3     )     ·     2       2      n     +   1       ·       (       2      n     +   1     )     !                     (     Equation                 1     )                         
     where “λ” is the unit clothoid arc length, “x” and “y” is a coordinate of the arc length “λ” from a clothoid origin of the unit clothoid curve, and “n” is order. 
     And the unit  23  for generating the driving support information generates the clothoid curve using the following relation equation (2) of a “n” term (Tx(n), Ty(n)), which is deduced by expanding “x” and “y” of the recurrence equation (1) in a series, expressed as                        Tx        (     n   +   1     )       =                  -         (       4      n     +   1     )     ·     λ   4         4   ·     (       4      n     +   5     )     ·     (       2      n     +   2     )     ·     (       2      n     +   1     )                Tx        (   n   )                                               (       n   =   0     ,   1   ,   2   ,   Λ     )                   Tx        (   0   )       =              λ                 Ty        (     n   +   1     )       =                  -         (       4      n     +   3     )     ·     λ   4         4   ·     (       4      n     +   7     )     ·     (       2      n     +   3     )     ·     (       2      n     +   2     )                Ty        (   n   )                                  (       n   =   0     ,   1   ,   2   ,   Λ     )                   Ty        (   0   )       =                  λ   3       3   ·   2                     (     Equation                 2     )                         
     FIG. 8 is a flowchart showing an example of the method of supporting to drive cars according to the present invention. In FIG. 8, the method for supporting to drive cars, which executes driving support processes by using the server  10  for processing the road geometry, the apparatus  20 ,  20 A for supporting to drive the car  70 , and the computer network  40  for communicating with the server  10  for processing the road geometry and the apparatus  20 ,  20 A for supporting to drive the car  70  processes the steps as follows. 
     In the apparatus  20 ,  20 A for supporting to drive the car  70 , request information is inputted for supporting to drive the car  70  (at the step  401 ). 
     The request information is sent to the server  10  from the apparatus  20 ,  20 A via said computer network  40  (at the step  402 ). 
     In the server  10 , the request information is received by the communication control unit  11  and sent to the processing unit  12  (at the step  403 ). 
     In the server  10 , the road parameters and/or the beforehand stored road information are loaded from the data base  13  in dependence upon the request information receiving from the apparatus  20 ,  20 A (at the step  404 ). 
     Next, the road parameters and/or the road information are sent to the apparatus  20 ,  20 A via the computer network  40  (at the step  405 ). 
     In the apparatus  20 ,  20 A for supporting to drive the car  70 , the road parameters and/or the road information are received, wherein the road information is generated by using the road parameters when receiving the road parameters from the server  10  (at the step  406 ). 
     In the apparatus  20 ,  20 A for supporting to drive the car  70 , the position information of the car  70  is calculated by using the base position information. Next, the driving support information is generated by using the road information received from the server  10  and/or generated by the step of  406 , and the positioning information of the car  70  calculated (at the step  407 ). 
     Finally, the apparatus  20 , placed on the car  70 , supports to drive the car  70  and/or automatically drives the car  70  by using the road information which includes virtual digital driving orbit (lattice of coordinate)  60  from the saver  10  and/or calculated by the road parameters, and GPS (Global Positioning System) information from GPS satellite  50  for calculating the position of the car  70  (at the step  408  ). 
     At the steps of  402  and  406 , the communication with the apparatus  20 ,  20 A and the computer network  40  is executed by using communication tool  30  such as a mobile phone. And the computer network  40  is constructed by an internet and/or an intranet. 
     At the steps of  407 , the base position information is the GPS information, the magnetic nail information, and/or the beacon information. 
     Next, a process at the step of  407  will be explained in FIGS. 9 to  17 . 
     FIGS. 9 to  12 B are the diagrams showing the examples of the road parameters loaded from the data base  13  of the road geometry. 
     FIG. 13 is a diagram showing an example of the processes of generating the road information with the virtual digital driving orbit  60 . 
     FIG. 14 is a flowchart showing an example of the processes of generating the road information with the virtual digital driving orbit  60 . 
     FIG. 15 is a diagram showing an example of the virtual digital driving orbit (lattice of coordinate)  60 . 
     FIGS. 16A to  16 C are the diagram showing the examples of the way for using the virtual digital driving orbit (lattice of coordinate)  60 . 
     FIG. 17 is a diagram showing an example of the way for calculating an elevation of the road on the design of the crossing gradient. 
     In the apparatus  20 ,  20 A, the unit  23  creates the design of the plane linear (at the step  407 - 1 , FIGS.  9  and  13 A). 
     Next, the unit  23  creates the design of the road width (ate the step  407 - 2 , FIGS. 10 and 13B) 
     And then, the unit  23  creates the virtual digital driving orbit  60  (at the step  407 - 3 , FIGS. 15 to  16 C). 
     And the unit  23  create the design of the sectional linear (at the step  407 - 4 , FIGS. 11,  13 C and  17 ). 
     Next, the unit  23  create the design of the crossing gradient (at the step  407 - 5 , FIGS. 12A,  12 B,  13 D and  17 ). 
     And then, the unit  23  generates the driving support information (at the step  407 - 6 ). 
     At the step  407 - 3 , the road information includes the virtual digital driving orbit  60  for indicating the driving orbit of the car  70 . And the unit  23  generates the virtual digital driving orbit  60  by line segment, circular arcs and/or clothoid curve, and generates a clothoid curve from a clothoid origin without executing exceptional processing near the clothoid origin in case of generating a curvature transition curve of the virtual digital driving orbit  60  using the clothoid curve, by calculating coordinates of the clothoid curve using the following recurrence equation (1), of which parameters are only the arc length “λ” from said clothoid origin, expressed as                x   =       ∑     n   =   0     ∞              (     -   1     )     n            λ       4      n     +   1           (       4      n     +   1     )     ·     2     2      n       ·       (     2      n     )     !                    
        y   =       ∑     n   =   0     ∞              (     -   1     )     n            λ       4      n     +   3           (       4      n     +   3     )     ·     2       2      n     +   1       ·       (       2      n     +   1     )     !                     (     Equation                 1     )                         
     where “λ” is the unit clothoid arc length, “x” and “y” is a coordinate of the arc length “λ” from a clothoid origin of the unit clothoid curve, and “n” is order. 
     Wherein, the unit  23  generates the clothoid curve using the following relation equation (2) of a “n” term (Tx(n), Ty(n)), which is deduced by expanding “x” and “y” of said recurrence equation (1) in a series, expressed as                        Tx        (     n   +   1     )       =                  -         (       4      n     +   1     )     ·     λ   4         4   ·     (       4      n     +   5     )     ·     (       2      n     +   2     )     ·     (       2      n     +   1     )                Tx        (   n   )                                               (       n   =   0     ,   1   ,   2   ,   Λ     )                   Tx        (   0   )       =              λ                 Ty        (     n   +   1     )       =                  -         (       4      n     +   3     )     ·     λ   4         4   ·     (       4      n     +   7     )     ·     (       2      n     +   3     )     ·     (       2      n     +   2     )                Ty        (   n   )                                  (       n   =   0     ,   1   ,   2   ,   Λ     )                   Ty        (   0   )       =                  λ   3       3   ·   2                     (     Equation                 2     )                         
     FIGS. 18 to  25  are the diagrams showing the examples of using the driving support information at the step of  408  in FIG.  8 . 
     The unit  23  generates the driving support information. For example, the instrumentation information is generated by measuring the car condition, and the driving support information is generated by using the road information received from the server  10  and/or generated by the step of  406  (in FIG. 8 ), the positioning information of the car  70  calculated, and the instrumentation information which includes the accumulating distance information, the speed information, the rolling angle information, and the way angle information by a handle of said car (FIGS.  22  and  23 ). 
     In another way, the unit  23  generates the driving support information based on the road information received from the server  10  and/or generated by the step of  406  (in FIG. 8 ), the positioning information of the car  70  calculated, and beforehand stored map information (FIGS. 18 to  20 ). 
     And the unit  23  also generates the driving support information by using the image information from the radar camera and/or laser scan unit (FIG.  21 ). 
     The image of FIGS. 18 to  25  are able to be displayed on the output unit  24   b  by using the driving support information. 
     FIG. 26 is a diagram showing an example of the system for supporting to drive cars according to the present invention. 
     In FIG. 26, a system for supporting to drive cars has a server  10  for processing road geometry, an apparatus  20 ′ for supporting to drive a car  70 , a collecting unit  2210  road side information with a LCX (Leakage Coaxial Cable)  2220  for communicating with the apparatus  20 ′, and a computer network  40  for communicating with the server  10  and the collecting unit  2210  with the LCX  2220 , wherein the saver  10  provides road parameters and/or road information for the apparatus  20 ′, and the apparatus  20 ′, placed on the car  70 , supports to drive the car  70  and/or automatically drives the car  70  by using the road information which includes virtual digital driving orbit (lattice of coordinate)  60  from the saver  10  and/or calculated by the road parameters, and GPS (Global Positioning System) information from GPS satellite  50  for calculating the position of the car  70 . 
     The computer network  40  is constructed by an internet or an intranet. 
     FIG. 27 is a diagram showing an example of the server for processing road geometry in the system for supporting to drive cars according to the present invention. In FIG. 27, the server  10  for processing the road geometry includes a communication control unit  11  for controlling communication with the computer network  40 , a data base  13  of the road geometry for storing the road parameters and/or the road information, and a processing unit  12  of the road parameters for loading the road parameters and the road information stored in the data base  13  in dependence upon a request received from the apparatus  20 ′ for supporting to drive the car  70  via the communication control unit  11 . 
     FIG. 28 is a diagram showing an example of the apparatus for supporting to drive a car in the system for supporting to drive cars according to the present invention. In FIG. 28, the apparatus  20 ′ for supporting to drive the car  70  includes a communication control unit  21 ′ for controlling communication with the LCX  2220  of the collecting unit  2210 , a GPS control unit (positioning information control unit)  22  for calculating position information of the car  70  by using base position information (GPS information) from the GPS sattellite  50 , a data base  26  of maps for storing a part or all of the road information and/or map information, an unit  23  for generating driving support information by using the road parameters, the road information from the server  10  for processing the road geometry, the positioning information of the car  70  from the GPS control unit (the positioning information control unit), and/or the map information of the data base  26 , an input/output unit  24  having an input unit  24   a  for inputting the request and an output unit  24   b  for displaying the road information and/or the driving support information, and a driving control unit  25  for controlling to drive the car  70  by controlling an actuator  71  by using the driving support information generated by the unit  23  for generating the driving support information. 
     FIG. 29 is a diagram showing an example of the system for supporting to drive cars according to the present invention. In FIG. 29, the system for supporting to drive cars has a server  10  for processing road geometry, an apparatus  20 A′ for supporting to drive a car  70 , a collecting unit  2210  road side information with a LCX (Leakage Coaxial Cable)  2220  for communicating with the apparatus  20 A′, and a computer network  40  for communicating with the server  10  and the collecting unit  2210  with the LCX  2220 , wherein the saver  10  provides road parameters and/or road information for the apparatus  20 A′, and the apparatus  20 A′, placed on the car  70 , supports to drive the car  70  and/or automatically drives the car  70  by using the road information which includes virtual digital driving orbit (lattice of coordinate)  60  from the saver  10  and/or calculated by the road parameters, and base position information, from an unit  50 A (such as the GPS, magnetic nail, and beacon) for sending reference positioning information, for calculating the position of the car  70 . 
     In this case, the base position information is obtained from the GPS, the magnetic nail, and/or the beacon. 
     In the system for supporting to drive cars, the communication with the apparatus  20 A,  20 A′ and the computer network  40  is executed by using the collecting unit  2210  with the LCX  2220 . And the computer network  40  is constructed by an internet or an intranet. 
     FIG. 30 is a diagram showing an example of the apparatus for supporting to drive a car in the system for supporting to drive cars according to the present invention. In FIG. 30, the apparatus  20 A′ for supporting to drive the car  70  includes a communication control unit  21 ′ for controlling communication with the computer network  40  via the collecting unit  2210  with the LCX  2220 , a positioning information control unit  22 A for calculating position information of the car  70  by using the base position information from the unit  50 A, a data base  26  of maps for storing a part or all of the road information and/or map information, an instrumentation unit  80  for calculating an instrumentation value by detecting a car condition, instrumentation information control units (comprising a control unit  27  for controlling a distance accumulating unit  81 , and a sensor control unit  28 ) for generating instrumentation information based on the instrumentation value received from the instrumentation unit  80 , an unit  23  for generating driving support information based on the road information generated based on the road parameters and/or received from the server  10  for processing the road geometry, the positioning information received from the positioning information control unit  22 A, the instrumentation information received from the instrumentation information control units  27  and  28 , and/or the map information of the data base  26 , an input/output unit  24  having an input unit  24   a  for inputting the request and an output unit  24   b  for displaying the road information and/or the driving support information, and a driving control unit  25  for controlling to drive the car  70  by controlling an actuator  71  by using the driving support information generated by the unit  23  for generating the driving support information. 
     In the system for supporting to drive cars, the instrumentation unit  80  has a distance accumulating unit  81  for calculating an instrumentation value by accumulating driving distance of the car  70 , a speed sensor  82  for calculating an instrumentation value by measuring speed of the car  70 , a gyro-sensor  83  for calculating an instrumentation value by measuring gradient of the car  70 , and an angle measuring unit  84  for calculating an instrumentation value by measuring an angle of car progress way. 
     The control unit  27  for controlling the distance accumulating unit  81  generates accumulating distance information based on the instrumentation value from the distance accumulating unit  81 . The sensor unit  28  generates the speed information based on the instrumentation value from the speed sensor  82 , the rolling angle information based on the instrumentation value from the gyro-sensor  83 , and the way angle information based on the instrumentation value from the angle measuring unit  84 . 
     In the system for supporting to drive cars, the road information includes the virtual digital driving orbit  60  for indicating driving orbit of the car  70 . 
     And the unit  23  for generating the driving support information generates the virtual digital driving orbit  60  by line segment, circular arcs and/or clothoid curve, and generates a clothoid curve from a clothoid origin without executing exceptional processing near said clothoid origin in case of generating a curvature transition curve of the virtual digital driving orbit  60  using the clothoid curve, by calculating coordinates of the clothoid curve using the following recurrence equation (1), of which parameters are only the arc length “λ” from the clothoid origin, expressed as                x   =       ∑     n   =   0     ∞              (     -   1     )     n            λ       4      n     +   1           (       4      n     +   1     )     ·     2     2      n       ·       (     2      n     )     !                    
        y   =       ∑     n   =   0     ∞              (     -   1     )     n            λ       4      n     +   3           (       4      n     +   3     )     ·     2       2      n     +   1       ·       (       2      n     +   1     )     !                     (     Equation                 1     )                         
     where “λ” is the unit clothoid arc length, “x” and “y” is a coordinate of the arc length “λ” from a clothoid origin of the unit clothoid curve, and “n” is order. 
     And the unit  23  for generating the driving support information generates the clothoid curve using the following relation equation (2) of a “n” term (Tx(n), Ty(n)), which is deduced by expanding “x” and “y” of the recurrence equation (1) in a series, expressed as                        Tx        (     n   +   1     )       =                  -         (       4      n     +   1     )     ·     λ   4         4   ·     (       4      n     +   5     )     ·     (       2      n     +   2     )     ·     (       2      n     +   1     )                Tx        (   n   )                                               (       n   =   0     ,   1   ,   2   ,   Λ     )                   Tx        (   0   )       =              λ                 Ty        (     n   +   1     )       =                  -         (       4      n     +   3     )     ·     λ   4         4   ·     (       4      n     +   7     )     ·     (       2      n     +   3     )     ·     (       2      n     +   2     )                Ty        (   n   )                                  (       n   =   0     ,   1   ,   2   ,   Λ     )                   Ty        (   0   )       =                  λ   3       3   ·   2                     (     Equation                 2     )                         
     In the system for supporting to drive cars indicated FIGS. 5,  7 ,  28  and  30 , the unit  23  for generating driving support information is able to generate the driving support information by using the image information from the radar camera and/or a laser scan unit. 
     It is easy to make the program products for supporting to drive cars according to the present invention, which is executed by computer system. 
     The invention to provide the system, the method and the program products for supporting to drive cars automatically and safety can drive the cars without the high costs and with high performance. 
     Although the invention has been described in its preferred form with a certain degree of particularity, it is understood that the present disclosure of the preferred form has been changed in the details of construction and the combination and arrangement of parts may be resorted to without departing from the spirit and the scope of the invention as hereinafter claimed.