US 12,228,927 B2
Control of host vehicle of unmanned vehicle group based on constraint condition, activity situation of host vehicle, and activity amount of host vehicle
Masumi Ichien, Tokyo (JP)
Assigned to NEC CORPORATION, Tokyo (JP)
Appl. No. 17/773,232
Filed by NEC Corporation, Tokyo (JP)
PCT Filed Nov. 14, 2019, PCT No. PCT/JP2019/044623
§ 371(c)(1), (2) Date Apr. 29, 2022,
PCT Pub. No. WO2021/095189, PCT Pub. Date May 20, 2021.
Prior Publication US 2023/0012391 A1, Jan. 12, 2023
Int. Cl. G05D 1/00 (2024.01)
CPC G05D 1/0088 (2013.01) 8 Claims
OG exemplary drawing
 
1. An unmanned vehicle belonging to an unmanned vehicle group including a plurality of unmanned vehicles, the unmanned vehicle comprising:
at least one memory storing instructions; and
at least one processor configured to access the at least one memory and execute the instructions to:
receive a constraint condition related to an activity amount of the unmanned vehicle group and an activity situation of the unmanned vehicles other than a host vehicle in the unmanned vehicle group;
calculate a value of the activity amount for each of the unmanned vehicles in the unmanned vehicle group based on the received constraint condition, an activity situation of the host vehicle, and the received activity situation of the unmanned vehicles other than the host vehicle in the unmanned vehicle group;
calculate the activity amount of the host vehicle based on the constraint condition by using a nonlinear function that defines a relationship between the value of the activity amount of unmanned vehicles and activity amount of the unmanned vehicles in the unmanned vehicle group; and
control the host vehicle based on the received constraint condition, an activity situation of the host vehicle, and the calculated activity amount.