Method of controlling a plurality of vehicles performing the same mission cycle
The invention relates to a method of controlling a plurality of vehicles, performing the same mission cycle, comprising mapping a first set of planned degrees of progress (CCP1) to the cycle, controlling the vehicles to start the cycle at respective different points in time, determining deviations of the vehicles from a respective planned degree of progress (CCP1i) of the first set of planned degrees of progress (CCP1), mapping, based on the determined deviations, a second set of planned degrees of progress (CCP2) to the cycle, and controlling the vehicles so as to minimize deviations of the vehicles from a respective planned degree of progress (CCP2i) of the second set of planned degrees of progress (CCP2).
1. A method of controlling a plurality of vehicles, the method comprising:
mapping the plurality of vehicles to perform a same predetermined mission cycle including same tasks along a same route;
dividing the predetermined mission cycle into a plurality of stages with respective vehicle activities;
estimating a time duration for each of the stages;
associating the time duration for each of the stages with a planned degree of progress for the predetermined mission cycle, wherein the planned degree of progress is a measure of a percentage of completion of the predetermined mission cycle;
mapping a first set of planned degrees of progress for the plurality of vehicles to the predetermined mission cycle,
controlling the plurality of vehicles to start the predetermined mission cycle at respective different points in time,
determining deviations of the vehicles from a respective planned degree of progress of the first set of planned degrees of progress,
mapping, based on the determined deviations, a second set of planned degrees of progress to the predetermined mission cycle, and
controlling the plurality of vehicles so as to minimize deviations of the plurality of vehicles from a respective planned degree of progress of the second set of planned degrees of progress based on the condition that the second set of planned degrees of progress represent a faster progress than the first set of planned degrees of progress.
2. A method according to claim 1 , characterized in that determining deviations of the vehicles, from a respective planned degree of progress, comprises determining the stages in which the vehicles are in.
3. A method according to claim 1 , characterized in that mapping the first set of planned degrees of progress to the cycle comprises mapping the first set of planned degrees of progress to the time from the start of the cycle by the respective vehicle.
4. A method according to claim 1 , characterized in that mapping a first set of planned degrees of progress to the cycle comprises mapping a plurality of first values, of a progress degree parameter, to the cycle.
5. A method according to claim 4 , characterized in that determining deviations of the vehicles from the respective planned degree of progress comprises, for each vehicle, comparing an actual value of the progress degree parameter to a respective first progress degree parameter value.
6. A method according to claim 4 , characterized in that determining deviations of the vehicles from the first planned degree of progress comprises, for each vehicle, calculating a progress degree difference as a difference between the actual progress degree parameter value and the respective first progress degree parameter value.
7. A method according to claim 6 , characterized by determining an advancement indicator based on the progress degree difference for the respective vehicle.
8. A method according to claim 7 , characterized in that mapping, based on the determined deviations, a second set of planned degrees of progress to the cycle, comprises calculating an average value of the advancement indicators of the vehicles.
9. A method according to claim 4 , characterized in that mapping, based on the determined deviations, a second set of planned degrees of progress to the cycle, further comprises mapping a plurality of second progress degree parameter values, to the cycle.
10. A method according to claim 9 , characterized in that the second progress degree parameter values differ from the first progress degree parameter values, by a constant value.
11. A method according to claim 10 , characterized in that said constant value is equal to the average advancement indicator value.
12. A method according to claim 9 , characterized in that the time derivate, of the second progress degree parameter values, differs from the time derivate, of the first progress degree parameter values.
13. A method according to claim 8 , characterized in that time derivate difference is equal to the average advancement indicator value.
14. A method according to claim 8 , characterized in that the step of controlling the vehicles so as to minimize deviations, of the vehicles from a respective planned degree of progress of the second set of planned degrees of progress, is done on the condition that the average advancement indicator value indicates an average progress of the vehicles that is faster than the first set of planned degrees of progress.
15. A non-transitory computer readable medium carrying a computer program comprising program code for performing the steps of claim 1 when said program code is run on a computer, or a group of computers.
16. A control unit, or a group of control units, configured to perform the steps of the method according to claim 1 .