The invention relates to a control system (1) for controlling a fleet of autonomous vehicles (10, 20) adapted to travel along a travel path (HS, LS) in an area, where the fleet of vehicles (10, 20) comprises at least two vehicles (10, 20), each adapted to adopt a first travel behavior and a second travel behavior (HS, LS) when traveling along the travel path, characterized in that the first and second travel behaviors (HS, LS) are different from each other. The first travel behavior (LS) is associated with a travel closer to an edge (E1, E2) of a road section (RS) with respect to the second travel behavior (HS), which is associated with a travel further away from the edge and closer to a centre line (C) of the road section (RS), wherein the control system (1) is configured to: predict, by using data indicative of a driving state (x) and a position (y) of the at least two vehicles (10, 20), whether a meeting will occur between the at least two vehicles (10, 20) along the road section (RS); and-commanding at least one, preferably each, of the at least two vehicles (10, 20) to adopt the first driving behavior (LS) when it is predicted that the meeting will occur, thereby allowing and/or facilitating the vehicles (10, 20) to pass through each other along the road section (RS). The invention also relates to an autonomous vehicle (10, 20), a method, a computer program and a computer readable medium.
本发明涉及一种用于控制适于沿着一定区域中的行驶路径(HS、LS)行进的自主车辆(10、20)的车队的控制系统(1),其中所述车辆(10、20)的车队包括至少两个车辆(10、20),每个车辆适于在沿着行驶路径行驶时采用第一行驶行为和第二行驶行为(HS、LS),其特征在于,所述第一行驶行为(LS)相对于所述第二行驶行为(HS)而言与更靠近路段(RS)的边缘(E1、E2)的行驶相关联,所述第二行驶行为与更远离所述边缘且更靠近所述路段(RS)的中心线(C)的行驶相关联,其中所述控制系统(1)被配置为:‑通过使用指示所述至少两个车辆(10、20)的行驶状态(x)和位置(y)的数据,预测所述至少两个车辆(10、20)之间沿着所述路段(RS)是否会发生会车;以及‑当预测将会发生所述会车时,命令所述至少两个车辆(10、20)中的至少一个、优选是每一个采用所述第一行驶行为(LS),从而允许和/或便于所述车辆(10、20)沿着所述路段(RS)互相通过。本发明还涉及自主车辆(10、20)、方法、计算机程序和计算机可读介质。
Control system for controlling fleet of autonomous vehicles
用于控制自主车辆的车队的控制系统
2024-11-15
Patent
Electronic Resource
Chinese
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