A METHOD FOR CONTROLLING AN AUTONOMOUS VEHICLE OPERATING AT A WORKSITE

The invention relates to a method for controlling an autonomous vehicle (10, 110) in a worksite. The method comprises the steps of: receiving (550) a predetermined trajectory of a work sequence of the autonomous vehicle, the predetermined trajectory including at least a set path (20, 120) and a set speed; adding (552) a pre-defined variation to the predetermined trajectory to form a test trajectory (22), the variation including at least a variation in set path or set speed; comparing (554) the energy usage over the test trajectory and the predetermined trajectory; determining (556) whether or not the compared energy usage achieves a pre-set criteria; and setting (558) 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.