System and/or method for platooning
In variants, the system can include a set of vehicles, cooperatively capable of forming a platoon. Each vehicle within the platoon can be configured to operate based on feedback from other vehicles within the platoon. In examples, a vehicle can selectively brake based on feedback from other vehicles within the platoon.
1. A rail bogie comprising:
a chassis;
a powertrain mechanically coupled to the chassis;
a bumper mechanically coupled to the chassis and configured to contact an adjacent rail vehicle of a rail platoon;
a sensor coupled to the bumper and configured to measure contact force at the bumper; and
a controller onboard the chassis and communicatively coupled to the sensor, the controller configured to control the powertrain based on contact force measurements from the sensor and a platoon control target.
2. The rail bogie of claim 1 , wherein the bumper is mechanically coupled to the chassis with a set of springs.
3. The rail bogie of claim 1 , further comprising a set of brakes, wherein the controller is further configured to control the brakes based on contact force measurements from the sensor.
4. The rail bogie of claim 1 , wherein the sensor comprises a load cell.
5. The rail bogie of claim 1 , wherein the sensor comprises a displacement sensor.
6. The rail bogie of claim 1 , wherein the powertrain comprises a battery-electric powertrain.
7. The rail bogie of claim 6 , wherein controlling the powertrain comprises regeneratively braking with the battery-electric powertrain.
8. A rail vehicle comprising:
a brake system;
a bumper configured to compressively contact an adjacent rail vehicle of a platoon;
a force sensor coupled to the bumper and configured to measure a compressive contact force at the bumper; and
a controller coupled to the force sensor and the brake system, the controller configured to autonomously control the brake system, based on the compressive contact force, to maintain compressive contact at the bumper.
9. The rail vehicle of claim 8 , wherein the brake system comprises a set of independent brakes which is decoupled from the adjacent rail vehicle.
10. The rail vehicle of claim 9 , wherein the controller is configured to autonomously control the brake system responsive to a determination of a coordinated braking event for the platoon.
11. The rail vehicle of claim 8 , wherein the rail vehicle comprises a rail bogie.
12. The rail vehicle of claim 11 , wherein the rail vehicle comprises a second rail bogie mechanically coupled to the first rail bogie.
13. The rail vehicle of claim 12 , wherein the rail vehicle further comprises a cargo payload mechanically coupled to the rail bogie and the second rail bogie, wherein the bumper is located at a forward end of the rail vehicle along a direction of platoon traversal.
14. The rail vehicle of claim 8 , wherein the brake system comprises an electric powertrain and a set of friction brakes.
15. The rail vehicle of claim 14 , wherein the controller is further configured to autonomously control the electric powertrain based on the compressive contact force to achieve a platoon control target.
16. The rail vehicle of claim 15 , wherein the platoon control target is wirelessly received at the controller.
17. The rail vehicle of claim 14 , wherein the controller is configured to autonomously control regenerative braking of the electric powertrain responsive to a coordinated braking event determination.
18. The rail vehicle of claim 17 , wherein the coordinated braking event is determined at the controller based on receipt of a wireless signal.
19. The rail vehicle of claim 8 , further comprising a vehicle powertrain, wherein the controller is further configured to autonomously control traversal of the rail vehicle within the platoon based on the compressive contact force.
20. The rail vehicle of claim 8 , wherein the force sensor comprises a load cell.