US Patent 7613553 Unmanned vehicle control system

A method for autonomously controlling a vehicle includes establishing decision variables for maneuvering the vehicle. Behavior functions are established for behaviors of the vehicle as a function of at least one of the established decision variables. These behavior function give a score which may be weighted, indicating the desirability of engaging in the associated behavior. A summation of the weighted behavior functions can be solved while the vehicle is operating to determine the values of the decision variables giving the highest summation of scores. In a preferred method, an optimal structure for the behavior functions and summation solution is taught. The method then guides the vehicle in accordance with the determined decision variable values.