Verfahren und System zur Steuerung einer Vielzahl von Fahrzeugen, insbesondere Autonomen Fahrzeugen

Details

Veröffentlichungs-Nr.

EP4113241

Aktenzeichen

EP21183223

Anmeldetag

1. Juli 2021

Veröffentlichung

16. August 2023

Erteilung

16. August 2023

Rechtsraum

EP

IPC

G05D1/02G05D1/00

Abstract

A traffic planning method for controlling a plurality of vehicles (v1, v2, v3, v4), wherein each vehicle occupies one node in a shared set of planning nodes (wp1, wp2, wp3, wp4, wp5, wp6, wp7, wp8) and is movable to other nodes along predefined edges between pairs of the nodes in accordance with a finite set of motion commands. In the method, initial node occupancies of the vehicles are obtained, and a sequence of motion commands is determined by optimizing a state-action value function Q(s, a) = Q_s (s, a) + Q_L (s) which depends on node occupancies s and the motion commands a to be given.The objective function includes a command-dependent term Q_s (s, a), which may be updated in each iteration based on a reward function, and a command-independent term Q_L (s), which penalizes node occupancies with too small inter-vehicle gaps.

Anmelder

Firma

Volvo Autonomous Solutions AB

Land

🇸🇪 Schweden

Fachgebiete