System and/or method for platooning
The method can include: creating a platoon; maintaining a platoon; responding to a platoon event; and separating a platoon. However, the method can additionally or alternatively include any other suitable elements. The method functions to facilitate cooperative transportation (platooning) of a plurality of payloads by way of the cars.
1. A method comprising:
based on a first set of instructions from a remote dispatcher, controlling traversal of a first platoon in a direction of transit along a track within a rail network, the first platoon comprising a first rail car;
receiving a second set of instructions from the remote dispatcher at a second rail car trailing the first platoon along the track;
based on the second set of instructions, autonomously controlling traversal of the second rail car along the track in the direction of transit;
determining a distance between the second vehicle and the first platoon;
based on the distance, joining the second rail car to the first platoon;
after joining the second vehicle to the first platoon, autonomously controlling the second rail car by:
determining a compressive force at a leading end in the direction of transit; and
controlling a powertrain of the second rail car based on the compressive force; and
autonomously detecting an obstacle at the first rail car; and, in response to autonomously detecting the obstacle, decelerating, wherein the deceleration of the first rail car mechanically instructs a coordinated, independent braking of each independently-maneuverable rail car within the first platoon.
2. The method of claim 1 , wherein joining the second rail car comprises controlling traversal of the second vehicle based on a relative velocity threshold.
3. The method of claim 1 , wherein joining the second rail car to the first platoon comprises passively and actively damping an initial contact between the second rail car and the platoon.
4. The method of claim 3 , wherein the second rail car comprises a damper at the leading end which passively damps the initial contact.
5. The method of claim 3 , wherein actively damping the initial contact comprises dynamically controlling a powertrain of the second rail car based on the compressive force.
6. The method of claim 1 , wherein the first rail car is autonomous.
7. The method of claim 6 , further comprising:
determining a coordinated deceleration event at the first rail car;
in response to determining the coordinated deceleration event, controlling the first platoon based on the coordinated deceleration event, comprising: controlling the second rail car based on at least one of: a vehicle-to-vehicle (V2V) control communication wirelessly received at the second rail car, the distance, or the compressive force.
8. The method of claim 1 , wherein the first and second sets of instructions are associated with a first and second warrant within the rail network, respectively.
9. The method of claim 8 , wherein joining the second rail car to the platoon comprises: at the remote dispatcher, assigning the first and second rail cars to a shared warrant for the platoon.
10. The method of claim 1 , wherein both the first and second cars are traversing in the first direction when the second rail car joins the platoon.
11. The method of claim 1 , wherein the powertrain of the second rail car comprises a battery-electric powertrain.
12. A method comprising:
receiving, at a rail car of a platoon, an instruction from a remote dispatcher;
based on the instruction, controlling traversal of the rail car within a rail network in a direction of transit;
simultaneously with controlling traversal of the rail car, at each of a set of independently-maneuverable rail cars within the platoon:
determining a respective compressive force at a leading end of the independently-maneuverable rail car in the direction of transit; and
autonomously controlling the independently-maneuverable rail car based on the respective compressive force;
determining a full-stop event at the rail car; and
based on the full-stop event, performing coordinated braking of each of independently-maneuverable rail car of the set.
13. The method of claim 12 , wherein the rail car is the lead rail car of the platoon in the direction of transit.
14. The method of claim 13 , further comprising load balancing the platoon based on a relative energy distribution of the set of independently-maneuverable rail cars, comprising: maintaining unbalanced compressive forces between independently-maneuverable rail cars of the set.
15. The method of claim 14 , wherein load balancing is based on a relative drag gradient within the platoon.
16. The method of claim 12 , further comprising: during the full-stop event, separating the platoon based on a location of the platoon relative to a crossroad.
17. The method of claim 12 , wherein the instruction comprises a speed target, wherein each independently-maneuverable rail car uses torque control based on a compressive force target to achieve the speed target.
18. The method of claim 12 , wherein each independently-maneuverable rail car of the set comprises a respective electric powertrain.
19. The method of claim 12 , further comprising: autonomously detecting an obstacle at the rail car; and, in response, decelerating, wherein the deceleration of the rail car mechanically instructs a coordinated, independent braking of each independently-maneuverable rail car within the platoon.
20. A method comprising:
receiving, at a rail car of a platoon, an instruction from a remote dispatcher;
based on the instruction, controlling traversal of the rail car within a rail network in a direction of transit; and
simultaneously with controlling traversal of the rail car, at each of a set of independently-maneuverable rail cars within the platoon:
determining a respective compressive force at a leading end of the independently-maneuverable rail car in the direction of transit; and
autonomously controlling the independently-maneuverable rail car based on the respective compressive force,
wherein the instruction comprises a speed target, wherein each independently-maneuverable rail car uses torque control based on a compressive force target to achieve the speed target.
21. A method comprising:
receiving, at a rail car of a platoon, an instruction from a remote dispatcher;
based on the instruction, controlling traversal of the rail car within a rail network in a direction of transit, wherein the rail car is a lead rail car of the platoon in the direction of transit;
simultaneously with controlling traversal of the rail car, at each of a set of independently-maneuverable rail cars within the platoon:
determining a respective compressive force at a leading end of the independently-maneuverable rail car in the direction of transit; and
autonomously controlling the independently-maneuverable rail car based on the respective compressive force; and
load balancing the platoon based on a relative energy distribution of the set of independently-maneuverable rail cars, comprising: maintaining unbalanced compressive forces between independently-maneuverable rail cars of the set.