A TRAFFIC PLANNING METHOD FOR A VEHICLE FLEET

A computer-implemented traffic planning method (100) for controlling a plurality of vehicles which are movable among multiple shared resources, comprising:receiving (112) a transport mission;generating (114) a root node representing an initial resource occupancy of the vehicles;generating (116) a search tree from the root node, in which each edge represents a motion command and each node represents a resource occupancy, wherein each node is associated with a score related to the vehicles' fulfilment of the transport mission;identifying (118) a target node with an acceptable score; andderiving (120) a planned sequence of motion commands corresponding to a path to the target node,wherein the score of a node includes a short-term component, which represents a cost of executing all motion commands from the root node to said node, and a long-term component, which is determined by the resource occupancy that the node represents.