| CPC E02F 9/205 (2013.01) [B60W 30/143 (2013.01); E02F 9/2045 (2013.01); G05D 1/0217 (2013.01); G05D 1/43 (2024.01); G05D 1/644 (2024.01)] | 20 Claims |
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1. A method for controlling an autonomous vehicle in a worksite, the method comprising the steps of:
receiving, by a processor of the autonomous vehicle, a predetermined trajectory of a work sequence of the autonomous vehicle, the predetermined trajectory including at least a set path and a set speed,
adding, by the processor, a pre-defined variation including noise of a random signal of a known size and characteristics to the predetermined trajectory to form a test trajectory, the variation including at least a variation in set path,
comparing, by the processor, the energy usage over the test trajectory and the predetermined trajectory,
determining, by the processor, whether or not the compared energy usage achieves a pre-set criteria,
setting, by the processor, the test trajectory as a new set trajectory of the autonomous vehicle in response to determining that the compared energy usage achieves the pre-set criteria, and
controlling, by the processor, the autonomous vehicle in the worksite to operate according to the predetermined trajectory with the new set trajectory,
wherein the pre-set criteria is at least that the compared energy usage is related to at least one of the following: elapsed time of the work sequence, elapsed time of the set path, maximum allowed vibration, or desired battery usage.
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