Rail authority system and/or method
The system 100 can include: a railroad integration system, a motion planner, a vehicle controller, an optional user interface (UI), an optional fleet management system, and an optional track data system. However, the system 100 can additionally or alternatively include any other suitable set of components. The system functions to facilitate vehicle control and/or manage authority within a rail network.
1. A positive train control (PTC) method for a set of autonomous rail agents comprising:
at a centralized motion planner:
determining a track warrant for at least one railroad authority;
based on the track warrant, determining the motion plan based on operational constraints for the track; and
commanding an autonomous rail agent, based on the motion plan and a state of the autonomous rail agent, by periodically broadcasting commands to the autonomous rail agent; and
dynamically maintaining an exclusive track reservation for the autonomous rail agent based on the commands; and
at a vehicle controller of the autonomous rail agent:
autonomously controlling the autonomous rail agent, within the exclusive track reservation, based on the commands and a heartbeat parameter; and
providing the state of the autonomous rail agent to the centralized motion planner;
wherein the exclusive track reservations are dynamically sized based on the commands and the heartbeat parameter.
2. The PTC method of claim 1 , wherein the exclusive track reservations are dynamically sized based further on a predetermined set of rules associated with a prior map of weak signal connectivity.
3. The PTC method of claim 2 , wherein the exclusive track reservations are sized to span the entirety of a tunnel.
4. The PTC method of claim 1 , wherein the track warrant authorizes operation within a set of track segments, wherein the motion plan comprises linearized coordinates along a series of track segments within the set of track segments, wherein the exclusive track reservation comprises a granular sub-region of track within the series of track segments.
5. The PTC method of claim 1 , wherein, while maintained, the exclusive reservation restricts track access to all other agents.
6. The PTC method of claim 1 , further comprising, at the centralized motion planner:
contemporaneously with maintaining the exclusive track reservation (ETR), commanding a plurality of autonomous rail agents within the track warrant based on the ETR; and
maintaining a respective ETR for each of the plurality of autonomous agents.
7. The PTC method of claim 6 , wherein the motion plan intersects at least one of the respective ETRs of the plurality of autonomous agents.
8. The PTC method of claim 1 , further comprising: in response to satisfaction of a trigger condition at the vehicle controller, autonomously controlling the vehicle to stop within the exclusive track reservation.
9. The PTC method of claim 7 , wherein the trigger condition is based on the heartbeat parameter.
10. The PTC method of claim 7 , wherein the trigger condition is based on the state of the autonomous agent.
11. A system for positive train control (PTC) along a track comprising:
a centralized motion planner configured to:
determine a motion plan based on operational constraints for the track;
command an autonomous rail vehicle based on the motion plan by periodically broadcasting commands to the autonomous rail vehicle; and
dynamically maintain an exclusive track reservation for the autonomous rail vehicle based on the commands; and
a vehicle controller of the autonomous rail vehicle which is communicatively coupled to the centralized motion planner and configured to:
autonomously controlling the autonomous rail vehicle, within the exclusive track reservation, based on the commands and a heartbeat parameter; and
providing the state of the autonomous rail vehicle to the centralized motion planner;
wherein the exclusive track reservations are dynamically sized based on the commands and the heartbeat parameter.
12. The system of claim 11 , wherein the exclusive track reservations are dynamically sized according to a predetermined set of rules.
13. The system of claim 11 , wherein the exclusive track reservations are dynamically sized based on a track geometry constraints.
14. The system of claim 13 , wherein the track geometry constraints are associated with a misaligned switch.
15. The system of claim 11 , wherein at least one exclusive track reservation is dynamically sized to span a tunnel.
16. The system of claim 11 , wherein the motion plan comprises linearized coordinates along a series of track segments within the set of track segments, wherein the exclusive track reservation comprises a granular sub-region of track within the series of track segments.
17. The system of claim 11 , wherein the vehicle controller is configured to autonomously control the vehicle to stop within the exclusive track reservation in response to a communication failure.