System and/or method for platooning
The system can include a dispatcher and a plurality of cars. However, the system 100 can additionally or alternatively include any other suitable set of components. The system 100 functions to enable platooning of the plurality of cars (e.g., by way of the method S 100 ).
1. A method for coordinated braking within a rail platoon, comprising:
determining, at an autonomous rail vehicle within the rail platoon, a compressive force at a leading end of the autonomous rail vehicle in a direction of traversal;
determining a coordinated braking event; and
in response to determining the coordinated braking event, braking at the autonomous rail vehicle while maintaining compression at the leading end, comprising autonomously controlling an independent set of brakes of the autonomous vehicle based on the compressive force at the leading end.
2. The method of claim 1 , wherein braking at the autonomous rail vehicle comprises: based on the compressive force, independently controlling a regenerative braking of a battery-electric powertrain of the autonomous vehicle.
3. The method of claim 1 , wherein the leading end comprises an abutment surface of a bumper which is suspended relative to a chassis of the autonomous rail vehicle.
4. The method of claim 1 , wherein determining the coordinated braking event comprises receiving a braking command via a vehicle-to-vehicle (V2V) communication from a rail vehicle within the rail platoon.
5. The method of claim 4 , further comprising: in response to receiving the V2V communication, relaying the braking command to a second autonomous rail vehicle within the platoon.
6. The method of claim 1 , wherein the coordinated braking event is determined based on the compressive force.
7. The method of claim 1 , further comprising: separating from the platoon based on a track geometry or a location of a level crossing.
8. The method of claim 1 , wherein the compressive force is determined with a load cell.
9. A method, comprising:
determining, at a rail vehicle within a rail platoon, a contact force at a leading end of the rail vehicle in a direction of traversal; and
autonomously controlling the rail vehicle within the rail platoon, comprising:
determining a platoon control target; and
based on the contact force, controlling an independent powertrain of the rail vehicle to achieve the platoon control target.
10. The method of claim 9 , wherein the independent powertrain comprises a battery-electric powertrain.
11. The method of claim 10 , wherein autonomously controlling the rail vehicle comprises regeneratively braking with the battery-electric powertrain.
12. The method of claim 9 , wherein the leading end comprises an abutment surface of a bumper which is damped relative to a chassis of the autonomous rail vehicle.
13. The method of claim 9 , wherein the platoon control target comprises a target contact force.
14. The method of claim 13 , wherein the target contact force is based on a relative energy distribution of the rail platoon.
15. The method of claim 9 , wherein the platoon control target comprises a speed setpoint.
16. The method of claim 9 , further comprising:
receiving, at the autonomous rail vehicle, a set of dispatch instructions associated with a coordinated separation of the rail platoon; and
based on the set of dispatch instructions, controlling the independent powertrain of the rail vehicle to separate from a leading portion of the rail platoon at the leading end.
17. The method of claim 16 , wherein the coordinated separation is based on a track geometry or a location of a level crossing.
18. The method of claim 16 , wherein the set of dispatch instructions comprises a warrant for the autonomous rail vehicle, wherein the control target is determined based on the warrant.
19. The method of claim 9 , wherein autonomously controlling the rail vehicle within the rail platoon comprises: at the leading end of the rail vehicle, pushing an adjacent rail vehicle.
20. The method of claim 19 , wherein no components span between the rail vehicle and the adjacent rail vehicle.