Method for Optimizing Run Curve of Vehicles
First Claim
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 oithe 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;
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 the steps are performed in a processor.
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Abstract
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.
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Citations
20 Claims
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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 oithe vehicle in a continuous space of the trip, comprising steps of:
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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; 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 the steps are performed in a processor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for determining an optimal sequence of controls transitioning a system from an initial state to a final state in a continuous space defined by state variables of the system, wherein the optimal sequence is monotonically increasing over at least one state variable, wherein the system is a dynamic system having states defined by a dynamic function of previous states and a discrete set of controls, wherein, for each transition, a control is selected from the discrete set of controls, such that, for each control, the dynamic function transitions the system from a previous state to a next state over a step of transition, comprising the steps of:
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determining Markov decision process (MDP) with respect to a set of anchor states selected from the continuous space, such that each control from the discrete set of controls transitions the MDP from an anchor state to a next anchor state with a probability determined based on a location of the next anchor state in the continuous space with respect to a location of a state in the continuous space, in which the dynamic function of the anchor state and a corresponding control transitions the system; solving the MDP to determine an optimal policy for the MDP defining an optimal control for each anchor state; and determining the optimal sequence of controls in the continuous space based on the optimal policy, wherein the steps are performed in a processor. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A system for controlling a motion of a vehicle during a trip along a route, comprising:
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a Markov decision process (MDP) curve generating apparatus for determining an MDP with respect to a set of anchor states selected from the continuous space of the motion of the vehicle and for solving the MDP to determine an MDP policy optimizing a cost function representing a cost of the motion of the vehicle; a run curve generating apparatus for generating a run curve based on the MDP policy; a control computer for generating a control signal according to the nm curve; and a power supply device for supplying a power to the vehicle based on the control signal. - View Dependent Claims (20)
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Specification