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; and
after joining the second rail car 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
with a feedback controller, controlling a powertrain of the second rail car based on the compressive force.
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 an initial compressive force at the leading end, wherein autonomously controlling the second rail car after joining the second rail car to the first platoon comprises maintaining compression at the leading end after actively dampening the initial contact.
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. The method of claim 1 , wherein the feedback controller comprises a force-feedback controller which is configured to control the powertrain to substantially maintain the compressive force.
13. The method of claim 1 , wherein, with the second rail car joined to the first platoon, the feedback controller is configured to control the powertrain of the second rail car is continuously maintain compressive force at the first end.
14. 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 and maintaining 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.
15. The method of claim 14 , wherein the rail car is the lead rail car of the platoon in the direction of transit.
16. The method of claim 14 , wherein each independently-maneuverable rail car of the set comprises a respective electric powertrain.
17. The method of claim 16 , wherein each independently maneuverable rail car comprises a pair of rail bogies configured to operate autonomously under independent power.