Method and system for independent control of vehicle
View Patent ↗Methods and systems are provided for controlling movement of a train including a plurality of locomotives along a route. In one example, the method comprises, generating a first plan profile, the first plan profile including synchronous settings for the locomotives over a route, and generating a second plan profile based on the first plan profile, the second plan profile including independent settings for the locomotives over at least one region within the route. The method may further comprise, operating the locomotives based in the first and/or second plan profiles. In another example, the method comprises, generating a plan profile with fully independent settings for the locomotives over the entire route, the fully independent settings based on cost function coefficients of each locomotive.
1. A method of controlling movement of a train consist including a plurality of locomotives along a route, comprising:
receiving input from one or more sensors of the train consist;
generating, at one or more of an off-board or an on-board controller, a fully independent plan profile for the train consist including fully independent settings for each of the plurality of locomotives of the given train consist over the route, the fully independent settings generated according to one or more cost functions and constraints based on the received input; and
operating the train consist according to the generated fully independent plan profile, wherein the one or more cost functions and constraints are based on train operating parameters including a rate of change in node position, wherein generating the fully independent plan profile includes generating fully independent settings based on undulation parameters relative to one or more thresholds, wherein the one or more cost functions and constraints are further based on undulation parameters relative to one or more thresholds, the undulation parameters including one or more of a number of uphill regions of the train consist, a length of each uphill region, a grade of each uphill region, a number of downhill regions of the train consist, a length of each downhill region, and a grade of each downhill region, wherein generating fully independent settings includes generating fully independent settings based on one or more of the number of uphill regions of the train consist being greater than a threshold, the length of each uphill region being higher than a threshold percentage of a length of the train consist, the grade of each uphill region being greater than a threshold grade, the number of downhill regions of the train consist being greater than the threshold, the length of each downhill region being higher than the threshold percentage of the length of the train consist, and the grade of each downhill region being greater than the threshold grade.
2. The method of claim 1 , wherein the one or more cost functions and constraints based on the received input further include coupler forces, and wherein the cost function coefficients for tensile coupler forces are penalized heavier than the cost function coefficients for compressive coupler forces.
3. The method of claim 1 , wherein the one or more cost functions and constraints based on the received input further include one or more of train power, train speed, rate of change of power, tractive effort, rate of change of tractive effort, coupler force, and fuel use.
4. The method of claim 1 , wherein the undulation parameters of the train consist are based on one or more terrain features, the terrain features including an undulation, a crest, and/or a sag estimated based on the received input.
5. The method of claim 3 , wherein generating the fully independent plan profile includes adjusting a fully independent setting for a first locomotive of the train consist while maintaining a fully independent setting for a second locomotive of the train consist.
6. The method of claim 5 , wherein the independent setting includes a notch setting for a locomotive throttle.
7. The method of claim 3 , wherein generating the fully independent plan profile includes adjusting an independent setting for each of one or more locomotives of the train consist to maintain a train speed.
8. The method of claim 1 , wherein the one or more sensors include a track sensor, a coupler force sensor, and a location sensor.
9. The method of claim 8 , wherein the plurality of locomotives are coupled to each other through a coupler and wherein the coupler force sensor is connected to the coupler.
10. The method of claim 1 , wherein the operating includes adjusting settings of one or more of a locomotive throttle and a locomotive brake.
11. The method of claim 7 , wherein adjusting the independent setting for each of one or more locomotives of the train consist includes commanding a first notch setting for a lead locomotive while commanding a second, different notch setting for a remote locomotive.
12. The method of claim 1 , wherein the fully independent plan profile is generated in segments as the train consist progresses along the route.