Processing

Please wait...

Settings

Settings

Goto Application

1. WO2020192875 - A METHOD FOR CONTROLLING VEHICLES IN A MISSION ALONG A ROUTE

Note: Text based on automatic Optical Character Recognition processes. Please use the PDF version for legal matters

[ EN ]

CLAIMS

1. A method for controlling vehicles (V1-V3) in a mission along a route, characterised by:

- selecting at least two progress control value sets (u, tw), each value set comprising a respective value (u 1 , u2, u3, tw) of a progress control parameter for at least one of the vehicles, wherein each progress control parameter value influences the rate of progress of the respective vehicle,

- determining, for each of the selected progress control value sets, a respective distribution (SoB) of the vehicles, if the at least one of the vehicles is controlled based on the respective selected progress control value set (u, tw), so that each progress control value set is correlated to a respective distribution (SoB) of the vehicles,

- identifying, from the selected progress control value sets, based at least partly on the determinations of the distributions (SoB), a progress control value set (u, tw) for controlling the at least one of the vehicles, and

- controlling the at least one of the vehicles (V1-V3) according to the identified progress control value set (u, tw).

2. A method according to claim 1 , characterized in that at least one of the determined distributions is at a future point in time (t+dt, t+tw).

3. A method according to claim 2, characterized in that determining a respective distribution (SoB) of the vehicles (V1-V3) comprises determining a distribution of the vehicles, if the at least one of the vehicles is controlled based on at least one of the selected progress control variable sets (u, tw), from a first point in time (t) to the future point in time (t+dt, t+tw).

4. A method according to any one of the preceding claims, characterized in that selecting at least two progress control value sets, and determining, for each of the selected progress control value sets, a respective distribution (SoB) of the vehicles, comprises selecting a progress control value set (u), determining a distribution (SoB) of the vehicles, if the at least one of the vehicles is controlled based on the selected progress control value set (u), and repeating once, or a plurality of times, the progress control value set selection and the vehicle distribution determination.

5. A method according to any one of the preceding claims, characterized in that the progress control value sets are speed value sets (u), each speed value set comprising a respective speed value (-1 , 0, 1 ) for at least one, preferably more than one, of the vehicles.

6. A method according to claim 5, characterized in that each speed value set (u) comprises a respective speed value (-1 , 0, 1 ) for all of the vehicles.

7. A method according to any one of claims 5-6, characterized in that one or more of the speed values (-1 , 0, 1 ), of each speed value set, is a speed change value (-1 ,

1 ), or an absolute speed (vref + dvmax).

8. A method according to any one of claims 5-7, characterized in that each speed value set is a control vector (u) indicating, for each vehicle (V1-V3), a condition with no speed change (0), a condition with a positive speed change (1 ), or a condition with a negative speed change (-1 ).

9. A method according to any one of claim 1-4, characterized in that in each progress control value set, each progress control parameter value represents a time interval value for a standstill condition of the respective vehicle.


10. A method according to claim 9, characterized in that the method is carried out upon one of the at least one vehicle approaching a designated waiting area (wp3) along the route (R).

1 1. A method according to any one of claim 9-10, characterized in that one of the

progress control value sets includes a progress control parameter value representing a zero standstill time interval of the respective vehicle, and the remaining at least one progress control value set each includes a progress control parameter value representing a standstill condition during a respective

predetermined time interval.

12. A method according to claim 1 1 , characterized in that three or more progress

control value sets are selected, wherein, in the remaining at least two progress control value sets, the time intervals are different from one progress control value set to another.

13. A method according to any one of claim 9-12, characterized in that identifying a progress control value set (u, tw) for controlling at least one of the vehicles, comprises identifying, from the selected progress control value sets, a progress control value set (u, tw) based partly the respective standstill time interval for the at least one vehicle.

14. A method according to any one of the preceding claims, characterized by

determining a desired distribution of the vehicles along the route.

15. A method according to claim 14, characterized in that identifying a progress

control value set (u, tw) for controlling the at least one of the vehicles, comprises identifying a distribution (SoB) of the vehicles, which presents the smallest deviation from the desired distribution, and identifying the progress control value set which is correlated to the identified distribution which presents the smallest deviation from the desired distribution.

16. A method according to any one of claims 14-15, characterized in that the desired distribution of the vehicles is a distribution where the gaps between the vehicles are equal.

17. A method according to any one of claims 14-16, characterized in that determining a respective distribution (SoB) of the vehicles comprises determining a respective deviation of the vehicles, from the desired distribution.

18. A method according to any one of claims 14-17, characterized in that determining a respective distribution of the vehicles comprises determining a respective state of balance (SoB) indicating, as a function of the respective progress control value set (u), a respective deviation of the vehicles, from the desired distribution.

19. A method according to any one of the claims 9-13, and any one of the claims 14- 18, characterized in that identifying a progress control value set (u, tw) for controlling at least one of the vehicles, comprises identifying a progress control value set which minimises a function which is dependent on the deviation from the desired distribution, and the standstill time.

20. A method according to any one of the preceding claims, characterized in that the mission is a circulating mission.

21. A method according to any one of the preceding claims, characterized by

repeating after a predetermined time interval the steps of selecting progress control value sets, determining a respective vehicle distribution, identifying a progress control value set for controlling the at least one of the vehicles, and controlling the at least one of the vehicles according to the identified progress control value set.

22. A method for controlling vehicles in a mission along a route, the method

comprising

selecting at least two values (tw) of a progress control parameter for one of the vehicles, wherein each progress control parameter value influences the rate of progress of said vehicle,

determining, for each of the selected progress control parameter values (tw), a respective distribution (SoB) of the vehicles, if said vehicle is controlled based on the respective selected progress control parameter value, so that each progress control parameter value (tw) is correlated to a respective distribution (SoB) of the vehicles,

identifying, from the selected values (tw), based at least partly on the determinations of the distributions (SoB), a progress control parameter value for controlling said vehicle, and

controlling the said vehicle according to the identified progress control parameter value.

23. A computer program comprising program code means for performing the steps of any one of claims 1-22 when said program is run on a computer, or a group of computers.

24. A computer readable medium carrying a computer program comprising program code means for performing the steps of any one of claims 1-22 when said program product is run on a computer, or a group of computers.

25. A control unit, or a group of control units, configured to perform the steps of the method according to any one of claims 1-22.

26. A vehicle comprising a control unit according to claim 25.

5