1. A vehicle trajectory calculation method comprising:
calculating a travel trajectory of a vehicle in a travel route based on a GPS signal received at predetermined time intervals with a GPS receiver (2) of the vehicle during traveling, the vehicle trajectory calculation method further comprising:
when there is an unmeasurable section where the travel trajectory cannot be normally calculated based on the GPS signal, calculating the travel trajectory in the unmeasurable section by performing an interpolation based on the calculated travel trajectories in sections anterior to and posterior to the unmeasurable section,
wherein the traveling vehicle is equipped with a yaw rate sensor, a lateral direction acceleration sensor and a vehicle speed sensor,
the vehicle trajectory calculation method further comprising:
performing a drift determination in the measurable section when a yaw rate value, a lateral direction acceleration value and a vehicle speed value are acquired in addition to the GPS signal; and
calculating the travel trajectory in the unmeasurable section based not on the interpolation but on the yaw rate value detected with the yaw rate sensor when the drift determination determines that the vehicle is not in a drift state.
2. A vehicle trajectory calculation method comprising:
calculating a travel trajectory of a vehicle in a travel route based on a GPS signal received at predetermined time intervals with. a GPS receiver of the vehicle during traveling, the vehicle trajectory calculation method further comprising:
when there is an unmeasurable section where the travel trajectory cannot be normally calculated based on the GPS signal, calculating the travel trajectory in the unmeasurable section by performing an interpolation based on the calculated travel trajectories in sections anterior to and posterior to the unmeasurable section,
wherein the interpolation to calculate the travel trajectory in the unmeasurable section includes curve approximation using the travel trajectories in fixed sections anterior to and posterior to the unmeasurable section.
3. The vehicle trajectory calculation method according to claim 2, wherein the traveling vehicle is equipped with a yaw rate sensor, a lateral direction acceleration sensor and a vehicle speed sensor,
the vehicle trajectory calculation method further comprising:
performing a drift determination in the measurable section when a yaw rate value, a lateral direction acceleration value and a vehicle speed value are acquired in addition to the GPS signal; and
calculating the travel trajectory in the unmeasurable section based not on the interpolation but on the yaw rate value detected with the yaw rate sensor when the drift determination determines that the vehicle is not in a drift state.
4. The vehicle trajectory calculation method according to claim 1, further comprising
pre-designating an environmental factor section as the unmeasurable section, wherein the environmental factor section has a place where a geometric condition of the travel route decreases or disturbs a reception level of the GPS signal.
5. The vehicle trajectory calculation method according to claim 4, wherein
in the environmental factor section serving as the unmeasurable section, a structure shielding or disturbing the radio wave from a GPS satellite is located above or on a side of the travel route.
6. A vehicle trajectory calculation method comprising:
calculating a travel trajectory of a vehicle in a travel route based on a GPS signal received at predetermined time intervals with a GPS receiver of the vehicle during traveling, the vehicle trajectory calculation method further comprising:
when there is an unmeasurable section where the travel trajectory cannot be normally calculated based on the GPS signal, calculating the travel trajectory in the unmeasurable section by performing an interpolation based on the calculated travel trajectories in sections anterior to and posterior to the unmeasurable section; and
before calculating the travel trajectory, performing an unmeasurable section setting process of setting the unmeasurable section based on an angular velocity value calculated based on the GPS signal.
7. The vehicle trajectory calculation method according to claim 6, wherein
the unmeasurable section setting process includes:
detecting an extraordinary section in which the angular velocity value calculated based on the GPS signal is greater than or equal to a first threshold; and
setting the unmeasurable sections to a section that includes a predetermined time range anterior to the extraordinary section and a predetermined time range posterior to the extraordinary section.
8. The vehicle trajectory calculation method according to claim 2, wherein
in the interpolation, an angular velocity value in the unmeasurable section is broken down into an orientation and a velocity to perform approximation with an n-th order approximated line based on the travel trajectories in the fixed sections anterior to and posterior to the unmeasurable section, where n is an integer greater than or equal to 3.
9. A non-transitory storage medium storing a program that causes a computer to execute the vehicle trajectory calculation method recited in claim 1.
10. A control apparatus comprising
a memory storing a program; and
a processor configured to, based on the program stored in the memory, execute the vehicle trajectory calculation method recited in claim 1.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A surgical access apparatus for passing through tissue to an underlying surgical area, which comprises:
an access member defining a longitudinal axis and having a longitudinal channel for reception of a surgical object;
a seal member mounted to the access member and positioned to intersect the longitudinal channel, the seal member having internal seal surfaces defining a passage and being dimensioned to establish a substantial sealing relation with a surgical object inserted therethrough; and
a substantially annular element mounted to the seal member and at least partially circumscribing the passage, the annular member being rigid relative to the seal member and defining an opening to permit passage of the object, the annular element being dimensioned to minimize offset manipulation of the surgical object relative to the longitudinal axis.
2. The surgical access apparatus according to claim 1 wherein the annular element is at least partially embedded within the seal member.
3. The surgical access apparatus according to claim 1 wherein the annular element is mounted in a radial outward relation to the internal seal surfaces of the seal member whereby the internal seal surfaces engage the surgical object in substantial sealed relation therewith.
4. The surgical access apparatus according to claim 3 wherein the seal member defines a generally tapered configuration.
5. The surgical access apparatus according to claim 4, wherein the seal member defines a proximal seal face and a distal seal face, the proximal seal face at least partially defining the internal seal surfaces.
6. The surgical access apparatus according to claim 5, wherein the annular element is substantially planar and is arranged in general transverse relation to the longitudinal axis.
7. The surgical access apparatus according to claim 6, wherein the annular element is mounted between the proximal seal face and the distal seal face.
8. The surgical access apparatus according to claim 3 wherein the seal member defines a substantially planar configuration.
9. The surgical access apparatus according to claim 3 wherein the seal member comprises an elastomeric material and a fabric material.