Setting device and setting method of traveling route

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.

2. 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.

3. 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.

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.

5. 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.

6. 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.