Effiziente Trajektorienplanung für eine Fahrzeugflotte

Details

Veröffentlichungs-Nr.

EP4459408

Aktenzeichen

EP23171302

Anmeldetag

3. Mai 2023

Veröffentlichung

10. September 2025

Erteilung

10. September 2025

Rechtsraum

EP

IPC

G05D1/60

Abstract

A method of planning trajectories for vehicles operating in a common environment, wherein movements of each vehicle are controllable by a control signal, comprising:for each vehicle, obtaining (1312) a predefined vehicle path to be traversed;performing a first computation (1314) to obtain a vehicle crossing order O at each mutually exclusive - MUTEX - zone between two vehicle paths, wherein the first computation is subject to safety constraints; andperforming trajectory planning (1320) subject to the obtained vehicle crossing order at the MUTEX zones, to obtain a control signal for each of the vehicles,the method further comprising assigning (1316) a dependency metric to each pair of vehicles, and partitioning (1318) the vehicles into a number N_SG of vehicle subsets such that the dependency metric exceeds a threshold within each,wherein the trajectory planning is performed as multiple independent subproblems (1320-1, ..., 1320-N_SG), each relating to one of the vehicle subsets.

Anmelder

Firma

Volvo Autonomous Solutions AB

Land

🇸🇪 Schweden

Fachgebiete