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 comprising:
positioning a first railway vehicle along a track;
providing a first set of instructions to a second railway vehicle;
based on the first set of instructions, controlling traversal of the second railway vehicle until the second railway vehicle abuts the first railway vehicle;
providing a second set of instructions to the first railway vehicle;
based on the second set of instructions, controlling traversal of the first railway vehicle in a direction of transit; and
while controlling traversal of the first railway vehicle based on the second set of instructions, maintaining abutment between the second railway vehicle and the first railway vehicle by controlling the second railway vehicle to continuously push the first railway vehicle in the direction of transit.
2. The method of claim 1 , wherein the second railway vehicle is dynamically controlled to push the first railway vehicle in the direction of transit.
3. The method of claim 2 , wherein the second railway vehicle is dynamically controlled based on a motion of the first railway vehicle.
4. The method of claim 2 , wherein the second railway vehicle is controlled with a feedback controller based on a push force of the second railway vehicle applied on the first railway vehicle in the direction of transit.
5. The method of claim 1 , wherein the second set of instructions is received from a remote dispatch system.
6. The method of claim 5 , wherein controlling the second railway vehicle to push the first railway vehicle in the direction of transit comprises receiving, at the second railway vehicle, a third set of instructions from the remote dispatch system.
7. The method of claim 1 , wherein the second set of instructions corresponds to both the first and second rail vehicles.
8. The method of claim 1 , wherein positioning a first railway vehicle along a track comprises: controlling a powertrain of the first railway vehicle with an autonomous controller of the first railway vehicle based on a location of the railway vehicle.
9. The method of claim 1 , wherein the second railway vehicle initially contacts the first railway vehicle while the first railway vehicle is substantially stationary.
10. The method of claim 1 , wherein the first railway vehicle is an autonomous vehicle.
11. The method of claim 1 , wherein the second railway vehicle comprises an autonomous electric bogie.
12. A method comprising:
forming a platoon of rail vehicles comprising: independently controlling each rail vehicle of the platoon to arrange the rail vehicles in series along a track, with abutment between each pair of adjacent rail vehicles of the platoon; and
controlling traversal of the platoon in a first direction, comprising: for each pair of adjacent rail vehicles, controlling a trailing rail vehicle of the pair to continuously push against a leading vehicle of the pair in the first direction.
13. The method of claim 12 , wherein the abutment between each pair of adjacent rail vehicles of the platoon is continuously maintained during traversal of the platoon.
14. The method of claim 12 , wherein forming the platoon comprises simultaneously maneuvering a plurality of the rail vehicles within a rail yard.
15. The method of claim 12 , wherein controlling traversal of the platoon comprises, at a forwardmost rail vehicle of the platoon relative to the first direction: controlling traversal of the forwardmost rail vehicle according to a set of commands, wherein the set of commands are propagated rearwardly through the rail vehicles in series based on the motion of the forwardmost rail vehicle.
16. The method of claim 15 , wherein the forwardmost rail vehicle is controlled via a velocity controller or torque controller.
17. The method of claim 12 , further comprising: while controlling traversal of the platoon in the first direction, executing a coordinated deceleration of the platoon.
18. The method of claim 17 , wherein the coordinated deceleration is based on a plurality of wireless vehicle-to-vehicle (V2V) communications.
19. The method of claim 12 , wherein each rail vehicle of the platoon comprises a pair of electric bogies.
20. The method of claim 19 , wherein each electric bogie is autonomous and configured to be independently maneuverable.
21. The method of claim 12 , wherein the platoon comprises at least three rail vehicles.