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1. WO2020192876 - A METHOD OF CONTROLLING A PLURALITY OF VEHICLES PERFORMING THE SAME MISSION CYCLE

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[ EN ]

CLAIMS

1. A method of controlling a plurality of vehicles, performing the same mission cycle, the method being characterized by

- mapping a first set of planned degrees of progress (CCP1 ) to the cycle,

controlling the vehicles to start the cycle at respective different points in time, determining deviations of the vehicles from a respective planned degree of progress (CCP1 i) of the first set of planned degrees of progress (CCP1 ), mapping, based on the determined deviations, a second set of planned degrees of progress (CCP2) to the cycle, and

controlling the vehicles so as to minimize deviations of the vehicles from a respective planned degree of progress (CCP2i) of the second set of planned degrees of progress (CCP2).

2. A method according to claim 1 , characterized in that the step of controlling the vehicles so as to minimize deviations, of the vehicles from a respective planned degree of progress (CCP2i) of the second set of planned degrees of progress (CCP2), is done on the condition that the second set of planned degrees of progress represent a faster progress than the first set of planned degrees of progress.

3. A method according to any one of the preceding claims, characterized by dividing the cycle into stages with respective vehicle activities, wherein mapping the first set of planned degrees of progress (CCP1 ) to the cycle comprises mapping the first set of planned degrees of progress (CCP1 ) to the cycle stages.

4. A method according to claim 3, characterized in that determining deviations of the vehicles, from a respective planned degree of progress (CCP1 i), comprises determining the stages in which the vehicles are in.

5. A method according to any one of the preceding claims, characterized in that mapping the first set of planned degrees of progress (CCP1 ) to the cycle comprises mapping the first set of planned degrees of progress (CCP1 ) to the time from the start of the cycle by the respective vehicle.

6. A method according to any one of the preceding claims, characterized in that mapping a first set of planned degrees of progress (CCP1 ) to the cycle comprises mapping a plurality of first values (CCP1 ), of a progress degree parameter, to the cycle.

7. A method according to claim 6, characterized in that determining deviations of the vehicles from the respective planned degree of progress (CCP1 ) comprises, for each vehicle, comparing an actual value (CCPa) of the progress degree parameter to a respective first progress degree parameter value (CCP1 i).

8. A method according to any one of claims 6-7, characterized in that determining deviations of the vehicles from the first planned degree of progress (CCP1 ) comprises, for each vehicle, calculating a progress degree difference (ACCPi) as a difference between the actual progress degree parameter value (CCPai) and the respective first progress degree parameter value (CCP1 i).

9. A method according to claim 8, characterized by determining an advancement indicator (Iέ) based on the progress degree difference (ACCPi) for the respective vehicle.

10. A method according to claim 9, characterized in that mapping, based on the

determined deviations, a second set of planned degrees of progress (CCP2) to the cycle, comprises calculating an average value (I) of the advancement indicators (Ij) of the vehicles.

1 1. A method according to any one of claims 6-10, characterized in that mapping, based on the determined deviations, a second set of planned degrees of progress (CCP2) to the cycle, further comprises mapping a plurality of second progress degree parameter values (CCP2), to the cycle.

12. A method according to claim 11 , characterized in that the second progress degree parameter values (CCP2) differ from the first progress degree parameter values (CCP1 ), by a constant value (ACCP).

13. A method according to claim 10 and claim 12, characterized in that said constant value (ACCP) is equal to the average advancement indicator value (I).

14. A method according to claim 11 , characterized in that the time derivate

(dCCP2/dt), of the second progress degree parameter values, differs from the time derivate (dCCP1/dt), of the first progress degree parameter values.

15. A method according to claim 10 and claim 14, characterized in that said time

derivate difference is equal to the average advancement indicator value (I).

16. A method according to any one of claims 10, 13, or 15, characterized in that the step of controlling the vehicles so as to minimize deviations, of the vehicles from a respective planned degree of progress (CCP2i) of the second set of planned degrees of progress (CCP2), is done on the condition that the average

advancement indicator value (I) indicates an average progress of the vehicles that is faster than the first set of planned degrees of progress.

17. A computer program comprising program code means for performing the steps of any one of claims 1-16 when said program is run on a computer, or a group of computers.

18. A computer readable medium carrying a computer program comprising program code means for performing the steps of any one of claims 1-16 when said program product is run on a computer, or a group of computers.

19. A control unit, or a group of control units, configured to perform the steps of the method according to any one of claims 1-16.