US 12,393,194 B2
Managing conflicting interactions between a movable device and potential obstacles
Jean Paulo Martins, Indaiatuba (BR); Alberto Hata, Campinas SP (BR); and Klaus Raizer, Indaiatuba (BR)
Assigned to Telefonaktiebolaget LM Ericsson (Publ), Stockholm (SE)
Appl. No. 17/774,049
Filed by Telefonaktiebolaget LM Ericsson (publ), Stockholm (SE)
PCT Filed Nov. 5, 2019, PCT No. PCT/EP2019/080298
§ 371(c)(1), (2) Date May 3, 2022,
PCT Pub. No. WO2021/089131, PCT Pub. Date May 14, 2021.
Prior Publication US 2022/0382286 A1, Dec. 1, 2022
Int. Cl. G05D 1/02 (2020.01); B25J 9/16 (2006.01); G05D 1/00 (2006.01)
CPC G05D 1/0214 (2013.01) [B25J 9/1666 (2013.01); G05D 1/0274 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A method of determining a risk of conflict between a movable device and potential obstacles, the method comprising dividing a space into a plurality of positions, and, at each of a plurality of successive times:
for each movable device of a plurality of movable devices:
determining a conflict function for the movable device in a first position at a respective time, the first position having one or more neighbouring positions, the conflict function being determined based on whether or not an obstacle is present in any of the first position and the one or more neighbouring positions; and
determining a respective risk value for at least one of the first position and the one or more neighbouring positions using the conflict function and a risk value associated with a second position, the movable device being planned to move from the first position to the second position at a subsequent time, the respective risk value being determined based at least in part on a learning parameter times a change in risk value between a risk value for the first position and the risk value for the second position; and
combining the determined respective risk values to obtain a combined risk map.