Method for optimizing run curve of vehicles

摘要

A method determines a run-curve of a motion of a vehicle as a function of at least a speed of the vehicle and a position of the vehicle in a continuous space. First, the method determines Markov decision process (MDP) with respect to a set of anchor states selected from the continuous space, such that a control moving the vehicle to a state transitions the MDP to an anchor state with a probability determined as a function of a distance between the anchor state and the state in the continuous space, and solves the MDP subject to constraints to determine an MDP policy optimizing a cost function representing a cost of the motion of the vehicle. Next, the method determines the run-curve based on the MDP policy.

主权项

1. A method for determining a run-curve of a motion of a vehicle during a trip along a route as a function of at least a velocity of the vehicle and a position of the vehicle in a continuous space of the trip, comprising steps of:
determining a Markov decision process (MDP) with respect to a set of anchor states selected from the continuous space, such that a control moving the vehicle to a state transitions the MDP to an anchor state with a probability determined as a function of a distance between the anchor state and the state in the continuous space, wherein the determining the MDP comprises:
partitioning a traveled distance of the vehicle in a set of periods of distances forming a set of stages in the continuous space;determining a step of the transition as a period of distance, such that each control transition the system from a previous state of a previous stage to a next state on a next stage; andselecting the set of anchor states such that a location of each anchor state in the continuous space is on a stage from the set of stages; solving the MDP subject to constraints to determine an MDP policy optimizing a cost function representing a cost of the motion of the vehicle; and determining the run-curve based on the MDP policy, wherein at least some of the steps are performed in a processor of the vehicle.