| 摘要 |
A method and apparatus for determining routes vehicles (4, 6), the method comprising: measuring positions of a first vehicle and a second vehicle (6); providing a specification of a region (12) having a fixed position in relation to the first vehicle (4); using the measurements and the region specification, determining a first route for the first vehicle (4) and a second route for the second vehicle (6). Determining the routes comprises: constructing a graph (34) within a joint state space (X) of the vehicles (4, 6); identifying, within the graph (34), a path from a first vertex to a second vertex, the first vertex corresponding to the measured positions of the vehicles (4, 6), and the second vertex corresponding to the second vehicle (6) being at least partially located within the region (12); and, using the identified path, determining the first and second routes. |
| 主权项 |
1. A method of determining routes for at least two vehicles, the method comprising:
measuring, by a measurement apparatus, a position of a first vehicle; measuring, by the measurement apparatus, a position of a second vehicle; providing, for use by one or more processors, a specification of a region, the region having a fixed position in relation to the first vehicle; using the measurements and the specification of the region, performing, by the one or more processors, a route determination process to determine a first route for the first vehicle and a second route for the second vehicle, wherein performing the route determination process includes:
constructing a graph within a joint state space of the vehicles, the graph comprising a plurality of vertices and one or more edges connecting those vertices;identifying, within the constructed graph, a path from a first vertex of the graph to a second vertex of the graph, the first vertex corresponding to the measured positions of the vehicles, and the second vertex corresponding to the second vehicle being at least partially located within the region; andusing the identified path, determining routes for the vehicles, thereby providing the first and second routes. |
