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    • 3. 发明授权
    • Method for optimizing run curve of vehicles
    • 优化车辆运行曲线的方法
    • US08938348B2
    • 2015-01-20
    • US13324075
    • 2011-12-13
    • Daniel NikovskiBernard Lidicky
    • Daniel NikovskiBernard Lidicky
    • G01C21/26G01C21/34
    • G01C21/3446B61L27/0027B61L2210/04G05B13/024
    • 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.
    • 一种方法确定作为至少车辆速度和车辆在连续空间中的位置的函数的车辆运动的行驶曲线。 首先,该方法相对于从连续空间中选择的锚定状态集合来确定马尔科夫决定过程(MDP),使得将车辆移动到状态的控制将MDP转换为锚定状态,其中概率被确定为 在锚定状态和连续空间中的状态之间的距离,并且解决受限制的MDP以确定优化代表车辆的运动的成本的成本函数的MDP策略。 接下来,该方法基于MDP策略确定运行曲线。
    • 5. 发明申请
    • Method for Determining Run-Curves for Vehicles Based on Travel Time
    • 基于行驶时间确定车辆运行曲线的方法
    • US20140005876A1
    • 2014-01-02
    • US13538794
    • 2012-06-29
    • Jingyang XuDaniel Nikovski
    • Jingyang XuDaniel Nikovski
    • G06F17/00
    • B61L3/006
    • A method reduces the computation time for determining optimal run-curves for a specific travel time of a vehicle along a route between two locations. The computation is partitioned between pre-processing and real-time steps. A set of weights μ are generated, and run-curves for the weights are obtained and stored during the pre-processing. State transition matrices can also be determined and stored during the pre-processing. During real-time, a specific travel time is obtained. The travel time is used to interpolate the weight μ for the specific travel time from the stored weights. The memory can be updated for each solution for a specific travel time to dramatically reduce the time to optimize the run-curves.
    • 一种方法减少了用于确定车辆沿着两个位置之间的路线的特定行驶时间的最佳行驶曲线的计算时间。 计算在预处理和实时步骤之间进行分区。 生成一组权重mu,并且在预处理期间获得并存储权重的运行曲线。 也可以在预处理期间确定和存储状态转移矩阵。 实时获取具体的旅行时间。 旅行时间用于从存储的权重内插特定行程时间的权重mu。 可以为每个解决方案更新存储器的特定行程时间,以显着减少优化运行曲线的时间。
    • 7. 发明申请
    • Method for Optimizing Run Curve of Vehicles
    • 优化车辆运行曲线的方法
    • US20130151107A1
    • 2013-06-13
    • US13324075
    • 2011-12-13
    • Daniel NikovskiBernard Lidicky
    • Daniel NikovskiBernard Lidicky
    • G06F7/00
    • G01C21/3446B61L27/0027B61L2210/04G05B13/024
    • 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.
    • 一种方法确定作为至少车辆速度和车辆在连续空间中的位置的函数的车辆运动的行驶曲线。 首先,该方法相对于从连续空间中选择的锚定状态集合来确定马尔科夫决定过程(MDP),使得将车辆移动到状态的控制将MDP转换为锚定状态,其中概率被确定为 在锚定状态和连续空间中的状态之间的距离,并且解决受限制的MDP以确定优化代表车辆的运动的成本的成本函数的MDP策略。 接下来,该方法基于MDP策略确定运行曲线。