Method for CBTC system migration using autonomy platform

1. A method of communication-based train control system migration, including the steps of:

scanning a guideway to generate surveying data;

processing surveying data to calculate a 3-D representation of the guideway including coordinates of guideway elements and line-of-sight range at each guideway element;

extracting track topology and identifying landmarks from the 3-D representation of the guideway;

determining appropriate locations for communication-based control devices on the guideway using the extracted track topology and identified landmarks;

installing a first group of communication-based train control devices in a first portion of the guideway at the determined appropriate locations;

retrofitting a first group of vehicles with a communication-based train control autonomy platform and sensors;

performing testing of the first group of communication-based train control devices;

performing testing of the first group of retrofit vehicles;

installing a second group of communication-based train control devices in a second portion of the guideway at the determined appropriate locations;

retrofitting a second group of vehicles with a communication-based train control autonomy platform and sensors;

performing testing of the second group of communication-based train control devices;

performing testing of the second group of retrofit vehicles; and

using a communication-based train control system to control the retrofit vehicles when they operate within the first and second portions of the guideway.

2. The method of claim 1 , wherein the guideway scanning is performed using surveying equipment installed on a surveying vehicle.

3. The method of claim 1 , wherein the 3-D representation of the guideway is a 3-D representation of a track centerline.

4. The method of claim 1 , wherein the determined appropriate locations are used to generate a communication-based train control system database and map.

5. The method of claim 4 , further comprising checking installation of the communication-based control devices using the communication-based train control system database and map.

6. The method of claim 1 , wherein the communication-based train control system autonomy platform provides automatic train operation functions.

7. The method of claim 1 , wherein the communication-based control devices are tested using post-installation check-out verification.

8. A method of communication-based train control system migration, including the steps of:

scanning a guideway to generate surveying data;

processing surveying data to calculate a 3-D representation of the guideway including coordinates of guideway elements and line-of-sight range at each guideway element;

extracting track topology and identifying landmarks from the 3-D representation of the guideway;

determining appropriate locations for communication-based control devices on the guideway using the extracted track topology and identified landmarks;

installing a communication-based train control system;

installing a first group of communication-based train control devices in a first portion of the guideway at the determined appropriate locations, wherein the first group of communication-based train control devices communicate with the communication-based train control system;

retrofitting a first group of vehicles with a communication-based train control autonomy platform and sensors;

performing testing of the first group of communication-based train control devices;

performing testing of the first group of retrofit vehicles;

installing a second group of communication-based train control devices in a second portion of the guideway at the determined appropriate locations, wherein the second group of communication-based control devices communicate with the communication-based train control system;

retrofitting a second group of vehicles with a communication-based train control autonomy platform and sensors;

performing testing of the second group of communication-based train control devices;

performing testing of the second group of retrofit vehicles; and

using the communication-based train control system to control the retrofit vehicles when they operate within the first and second portions of the guideway.

9. The method of claim 8 , wherein the 3-D representation of the guideway is a 3-D representation of a track centerline.

10. The method of claim 8 , wherein the determined appropriate locations are used to generate a communication-based train control system database and map.

11. The method of claim 10 , further comprising checking installation of the communication-based control devices using the communication-based train control system database and map.

12. The method of claim 8 , wherein the communication-based train control system autonomy platform provides automatic train operation functions.

13. The method of claim 8 , wherein the communication-based control devices are tested using post-installation check-out verification.

14. A method of communication-based train control system migration, including the steps of:

scanning a guideway to generate surveying data;

processing surveying data to calculate a 3-D representation of the guideway including coordinates of guideway elements and line-of-sight range at each guideway element;

extracting track topology and identifying landmarks from the 3-D representation of the guideway;

determining appropriate locations for communication-based control devices on the guideway using the extracted track topology and identified landmarks;

installing a communication-based train control system;

installing a first group of communication-based train control devices in a first portion of the guideway at the determined appropriate locations;

installing a first group of cutover-units to object controllers connected to a first group of guideway elements;

retrofitting a first group of vehicles with a communication-based train control autonomy platform and positioning sensors and speed sensors;

performing testing of the first group of communication-based train control devices;

performing testing of the first group of retrofit vehicles;

installing a second group of communication-based train control devices in a second portion of the guideway at the determined appropriate locations;

installing a second group of cutover-units to object controllers connected to a second group of guideway elements;

retrofitting a second group of vehicles with a communication-based train control autonomy platform and sensors;

performing testing of the second group of communication-based train control devices;

performing testing of the second group of retrofit vehicles; and

using the communication-based train control system to control the retrofit vehicles when they operate within the first and second portions of the guideway;

performing testing of the second group of communication-based train control devices;

performing testing of the second group of retrofit vehicles;

instructing the first group of cutover-units and the second group of cutover units to switch control of the first group of guideway elements from a legacy system to a communication-based train control system; and

using a communication-based train control system to control the retrofit vehicles when they operate within the first and second portions of the guideway.

15. The method of claim 14 , wherein the 3-D representation of the guideway is a 3-D representation of a track centerline.

16. The method of claim 14 , wherein the determined appropriate locations are used to generate a communication-based train control system database and map.

17. The method of claim 16 , further comprising checking installation of the communication-based control devices using the communication-based train control system database and map.

18. The method of claim 14 , wherein the communication-based train control system autonomy platform provides automatic train operation functions.

19. The method of claim 14 , wherein the communication-based control devices are tested using post-installation check-out verification.

20. The method of claim 14 , wherein the first and second groups of cut-over units communicate with the communication-based train control system wirelessly.