A traffic planning method for controlling a plurality of vehicles, wherein each vehicle occupies one node in a shared set of planning nodes 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 are determined by optimizing a state-action value function which depends on node occupancies s and the motion commands a to be given. The state-action value function includes a command-dependent term, which is updated in each iteration based on a reward function, and a command-independent term, which penalizes node occupancies with too small inter-vehicle gaps and is exempted from said updating.
METHOD AND SYSTEM FOR CONTROLLING A PLURALITY OF VEHICLES, IN PARTICULAR AUTONOMOUS VEHICLES
2023-01-05
Patent
Electronic Resource
English
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