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1. 发明申请

US20130151107A1 Method for Optimizing Run Curve of Vehicles 有权
标题翻译：优化车辆运行曲线的方法
公开(公告)号：US20130151107A1
公开(公告)日：2013-06-13
申请号：US13324075
申请日：2011-12-13
申请人： Daniel Nikovski , Bernard Lidicky
发明人： Daniel Nikovski , Bernard Lidicky
IPC分类号： G06F7/00
CPC分类号： G01C21/3446 , B61L27/0027 , B61L2210/04 , G05B13/024
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.
摘要翻译：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。

2. 发明授权

US08938348B2 Method for optimizing run curve of vehicles 有权
标题翻译：优化车辆运行曲线的方法
公开(公告)号：US08938348B2
公开(公告)日：2015-01-20
申请号：US13324075
申请日：2011-12-13
申请人： Daniel Nikovski , Bernard Lidicky
发明人： Daniel Nikovski , Bernard Lidicky
IPC分类号： G01C21/26 , G01C21/34
CPC分类号： G01C21/3446 , B61L27/0027 , B61L2210/04 , G05B13/024
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.
摘要翻译：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。

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