Abstract: A computer implemented method for monitoring an autonomous operating zone, AOZ, including a number of one or more autonomous vehicles, is provided. Each vehicle has sensors arranged to detect an ego-position of the vehicle and relative positions of surrounding objects.

Abstract: A method for estimating a region of space occupied by a vehicle which moves along a path includes: obtaining a nominal path {X(s):0?s?s0}; recording a plurality of trajectories in the vehicle's state space {x(s;q):0?s?s0} while the vehicle is maneuvered along the nominal path in a variety of driving conditions q; for each trajectory, computing a corresponding lateral deviation {e(s;q)=(el(s;q), er(s;q)):0?s?s0} off the nominal path; estimating a conditional probability distribution Fe(s)|X(s) of the lateral deviation given the nominal path; and based on the estimated probability distribution, providing an outer limit of a region of space AX occupied by the vehicle, wherein the computing of the lateral deviation and/or the providing of the outer limit is based on a footprint of the vehicle.

Abstract: A computer system controls movements of a plurality of vehicles in a confined geographical area. The computer system has processing circuitry configured to: define at least one vehicle path within the confined geographical area, the at least one vehicle path containing at least one vehicle zone, and further being delimited to a single vehicle lane; obtain real-time vehicle travelling profiles of the plurality of vehicles intended to travel in the at least one vehicle zone; estimate, based on the obtained real-time vehicle travelling profiles, a possibility of having a set of vehicles among the plurality of vehicles accessing the at least one vehicle zone and travelling along the single vehicle lane at the same time; determine that the possibility satisfies a safety criterion; and feed motion commands to the set of vehicles for realizing their routes through the at least one vehicle zone together.

Abstract: A method for operating a plurality of vehicles is disclosed. The method comprises receiving a first set of vehicle data and a second set of vehicle data, the vehicle data comprising information about each vehicle of the plurality of vehicles, each vehicle operating along at least one fixed route, receiving a first set of environmental data and a second set of environmental data, the environmental data comprising information about each fixed route, and estimating, by means of the global self-learning model and each local-self learning model, a schedule parameter for each vehicle of the plurality of vehicles based on the received first set of vehicle data, the received first set of environmental data, the received second set of vehicle data, the received second set of environmental data, and a predefined interaction model between the global self-learning model and each local-self learning model.

Abstract: A method to determine if a traffic situation comprising a plurality of heavy-duty vehicles following a plurality of guided vehicle trajectories in a defined area will lead to a vehicle deadlock is described. For example, one method includes generating a traffic situation representation for the defined area comprising, for each of the plurality of vehicles, an initial vehicle trajectory segment location and a subsequent deadlock status, inputting the traffic situation representation to a traffic situation deadlock classifier which has been trained to output a traffic situation deadlock classification based on an input representation of a traffic situation in the defined area, and, based on the input traffic situation representation, generating a predicted deadlock classification of a subsequent traffic situation for that input traffic situation representation.

Abstract: A computer system for handling bandwidth of a wireless communication link for a vehicle is provided. The computer system comprises processing circuitry configured to determine which state a latency critical system of the vehicle is in, and to, when the latency critical system is determined to be in an active state, determine to limit a bandwidth of a wireless communication link between the vehicle and a wireless communication network such that at least a part of the limited bandwidth is reserved for the latency critical system in active state and a non-latency critical system is at least partly limited from consuming the limited bandwidth.

Abstract: A control system for motion management of a heavy-duty vehicle includes an upper-level control system and a lower-level control system. The upper-level control system is arranged to obtain a desired motion behavior by the vehicle and to transmit one or more control signals adapted for control of at least one motion support device, MSD, to the lower-level control system in dependence of the desired motion behavior by the vehicle. The one or more control signals transmitted from the upper-level control system to the lower-level control system comprises data indicative of a desired control bandwidth for control of the at least one MSD. The lower-level control system is arranged to receive the control signals and to control the at least one MSD in dependence of the desired control bandwidth.

Abstract: A computer-implemented method of assessing vehicle trajectories for deadlock scenarios in a site where multiple vehicles operate by following planned vehicle trajectories is described. The site includes at least one traffic-constrained area via which at least two of the multiple vehicles passes when following their planned trajectories.

Abstract: A computer-implemented traffic planning method controls a plurality of vehicles which are movable among multiple shared resources. The method includes receiving a transport mission; generating a root node representing an initial resource occupancy of the vehicles; generating a search tree from the root node, in which each edge represents a motion command and each node represents a resource occupancy, wherein each node is associated with a score related to the vehicles' fulfilment of the transport mission; identifying a target node with an acceptable score; and deriving a planned sequence of motion commands corresponding to a path to the target node. The score of a node includes a short-term component, which represents a cost of executing all motion commands from the root node to said node, and a long-term component, which is determined by the resource occupancy that the node represents.

Abstract: A method of planning trajectories for vehicles operating in a common environment, wherein movements of each vehicle are controllable by a control signal is provided the method includes for each vehicle, obtaining a predefined vehicle path to be traversed; performing a first computation to obtain a vehicle crossing order at each mutually exclusive—MUTEX—zone between two vehicle paths, wherein the first computation is subject to safety constraints; and performing trajectory planning subject to the obtained vehicle crossing order at the MUTEX zones, to obtain a control signal for each of the vehicles. The method further includes assigning a dependency metric to each pair of vehicles, and partitioning the vehicles into a number NSG of vehicle subsets such that the dependency metric exceeds a threshold within each, wherein the trajectory planning is performed as multiple independent subproblems, each relating to one of the vehicle subsets.

Abstract: The present disclosure generally relates to a computer implemented method for operating a vehicle (104, 106, 108), specifically in relation to efficient transporting of a predefined cargo. The present disclosure also relates to a corresponding arrangement and computer program product.

Abstract: A method for controlling a maximum allowed speed of an autonomous vehicle includes utilizing a first sensor performance level during driving where the vehicle is allowed to drive with a first maximum allowed speed, while utilizing the first sensor performance level, simultaneously monitoring a rate of false positive object detections for the second sensor performance level which is associated with a second maximum allowed speed which is higher than the first maximum allowed speed and which is a less restrictive sensor performance level, wherein a less restrictive sensor performance level is a sensor performance level with a higher probability of false positive object detections, when the rate of false positive object detections for the second sensor performance level is below a first false positive error threshold, utilizing a less restrictive sensor performance level which is associated with a higher maximum allowed speed, thereby increasing the maximum allowed speed from the first maximum allowed speed to a

Abstract: A method of visualizing output data of a traffic planning method for controlling a plurality of vehicles (v1, v2, . . . ), wherein each vehicle occupies one node in a shared set of planning nodes (wp1, wp2, . . . ) and is movable to other nodes along predefined edges between pairs of the nodes, wherein the output data indicates respective planned node occupancies of the vehicles for a sequence of time steps, the method comprising: obtaining a graphical representation of the planning nodes; and in the graphical representation, indicating each vehicle's planned movements between the nodes by linear graphical elements, wherein an appearance parameter of the linear graphical elements has a time variation with respect to the time step, which time variation is common to all vehicles. The appearance parameter may be a line width, line style, color or texture.

Abstract: A method of controlling a backup motion control system for an autonomous vehicle is provided. The autonomous vehicle includes a primary steering system for controlling steering operations of a pair of steerable wheels. Each of the steerable wheels comprises a wheel brake, the wheel brakes being connected to an anti-lock braking system for preventing the wheel brakes from being locked when the anti-lock braking system is arranged in an enabled state.

Abstract: A method for controlling a plurality of vehicles performing missions along a respective route includes obtaining for each vehicle of the plurality of vehicles, a first value of a balance parameter, indicative of a balance between a cost for operating the respective vehicle along at least a part of the route, and a progress of the respective vehicle along at least a part of the route, establishing, in dependence on the first balance parameter values, a desired number of completed missions as a function of time, after an initial of the missions has started, and before all missions are completed, determining a mission completion deviation comprising a deviation of an actual number of completed missions from the desired number of completed missions, obtaining for each of one or more of the vehicles a second balance parameter value, different from the respective first balance parameter value, the respective second balance parameter value being dependent on the mission completion deviation, and controlling the one

Abstract: A computer system comprising a processor device configured to determine at least one travelling path for at least one vehicle is provided. The processor device is further configured to obtain an indication of wear of a drivable surface. The drivable surface comprising a set of surface areas. The indication of wear is indicative of a wear of each respective surface area in the set of surface areas. The processor device is further configured to, based on the indicated wear of the set of surface areas of the drivable surface, determine the at least one travelling path for the at least one vehicle.

Abstract: A computer system including a processor device configured to determine lateral offsets to a predefined path for a set of vehicles is provided. The processor device is configured to, for each vehicle in the set of vehicles, obtain an indication of a load exerted on a ground surface of the respective vehicle. The processor device is further configured to, determine lateral offsets for the set of vehicles. The lateral offsets are determined to laterally distribute the loads of the set of vehicles relative to the predefined path. The processor device is further configured to, for each vehicle in the set of vehicles, trigger the respective vehicle to travel the predefined path using the determined respective lateral offset.

Abstract: A computer system comprising a processor device configured to handle a configuration of a predefined path is provided. The processor device is configured to, obtain a configuration of a predefined path. The configuration is indicative of operations to be performed at positions of the predefined path, each operation affects a longitudinal motion of at least one vehicle. The processor device is configured to obtain at least one distance for offsetting at least one position of the configuration. The processor device is configured to adjust the configuration by offsetting the at least one position of the configuration based on the obtained at least one distance. The processor device is configured to trigger the at least one vehicle to operate in the predefined path based on the adjusted configuration.

Abstract: A method for providing a platform-independent unified simulation model representing a road vehicle includes a vehicle dynamic model configured to simulate a time evolution of at least one motion state of the vehicle, a plurality of actuator sub-models, each of which represents an actuator in the vehicle, configured to simulate a time evolution of a motion state under the action of the actuator controller sub-models representing electronic control unit, ECUs, which are configured to control the actuators on the basis of a sensed state of the vehicle and in accordance with predefined control logic, and to exchange bus messages with other ECUs, and a communication sub-model representing a data bus operable to deliver bus messages among ECUs.

Abstract: A computer system comprising a processor device configured to select a candidate path for a first vehicle to travel is provided. The processor device is further configured to obtain, from at least one temperature sensor, heat sensor data indicative of heat distributed on a road surface of a road located ahead of the first vehicle in a driving direction of the first vehicle. The processor device is further configured to, based on the heat distributed on the road surface, identify at least one first path travelled by at least one second vehicle. The processor device is further configured to select a candidate path for the first vehicle to travel. The candidate path is selected out of the at least one first path.