Rail control system and/or method
The system 100 can include: a fleet management system, a motion planner, a vehicle controller, and a track data system. The system can optionally include a user interface. However, the system 100 can additionally or alternatively include any other suitable set of components. The system functions to facilitate waypoint-based command, navigation, and/or control of rail vehicles within a rail network. Additionally or alternatively, the system can function to facilitate execution of the method S 100 and/or sub-elements thereof.
1. A method for waypoint-based rail navigation comprising:
determining a command comprising a waypoint for a predetermined feature of a rail network;
determining a versioned track geometry comprising a plurality of indexed track segments;
commanding the rail vehicle by:
transforming the waypoint into a linearized distance along an indexed track segment of the versioned track geometry; and
determining a vehicle command based on the linearized distance along an indexed track segment; and
autonomously controlling the rail vehicle based on the vehicle command.
2. The method of claim 1 , further comprising: prior to commanding the rail vehicle, storing the versioned track geometry at a memory onboard the rail vehicle.
3. The method of claim 2 , further comprising: at the rail vehicle, prior to autonomously controlling the rail vehicle based on the vehicle command, validating that the command is associated with a version identifier of the versioned track geometry.
4. The method of claim 1 , wherein transforming the waypoint into a linearized distance along an indexed track segment uses a heuristic search algorithm.
5. The method of claim 1 , wherein the predetermined feature of a rail network is independent of the versioned track geometry.
6. The method of claim 1 , wherein the waypoint comprises a GPS location.
7. The method of claim 1 , wherein the rail vehicle is commanded according to a timeseries of track-geometry-referenced coordinates comprising the linearized distance along the indexed track segment.
8. A method for waypoint-based rail navigation comprising:
determining a track geometry for at least a portion of a rail network;
determining a waypoint-based command comprising a waypoint which is independent of the track geometry; and
controlling the rail vehicle according to the waypoint-based command by transforming the waypoint into a position relative to the track geometry.
9. The method of claim 8 , wherein the track geometry comprises a set of indexed track segments, wherein the position comprises a linearized distance along an indexed segment of the set of indexed track segments.
10. The method of claim 8 , wherein transforming the waypoint into a position comprises performing a search, within a predetermined radius, for a nearest track segment of the set of track segments.
11. The method of claim 8 , wherein the waypoint-based command is defined in an Earth coordinate frame.
12. The method of claim 11 , wherein the set of predetermined track features comprises a clearance point.
13. The method of claim 8 , wherein controlling the rail vehicle comprises: with an autonomous controller onboard the vehicle, controlling the rail vehicle based on a timeseries of track-geometry-referenced positions.
14. A system for waypoint-based rail navigation comprising:
a rail vehicle comprising an autonomous controller and memory storing a versioned track map; and
a remote motion planner communicatively coupled to the rail vehicle and configured to:
determine a set of waypoints in an Earth coordinate frame;
determine a motion plan for the rail vehicle based on the set of waypoints; and
grant exclusive track reservations to the rail vehicle based on the versioned track map and the motion plan,
wherein the autonomous controller is configured to control the vehicle based on the exclusive track reservations and the versioned track map.
15. The system of claim 14 , wherein the exclusive track reservations are based on an identifier associated with the versioned track map.
16. The system of claim 14 , wherein the motion plan comprises a target trajectory in a coordinate frame of the versioned track map.
17. The system of claim 14 , wherein the motion planner is further configured to determine vehicle commands based on the motion plan and the exclusive track reservations, wherein the autonomous controller is configured to control the vehicle according to the commands.
18. The system of claim 17 , wherein autonomous controller is configured to validate vehicle commands based on a version identifier of the versioned track map.
19. The system of claim 17 , wherein the vehicle commands comprise a timeseries of positions in a coordinate frame of the versioned track map.
20. The system of claim 14 , wherein at least one waypoint of the set is determined based a manual selection from an image overlay of the track geometry.