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 comprising:
at a first computing system, determining a motion plan for an autonomous rail agent based on a set of track rules for a track; and
based on the motion plan and a state of the autonomous rail agent, commanding the autonomous rail agent by broadcasting a first command to the autonomous rail agent; and
maintaining an exclusive track reservation for the autonomous rail agent based on the first command, wherein the exclusive track reservation is dynamically sized; and
at a second computing system:
autonomously controlling the autonomous rail agent, within the exclusive track reservation, based on the first command; and
providing the state of the autonomous rail agent to the first computing system.
2. The PTC method of claim 1 , further comprising, while autonomously controlling the autonomous rail agent within the exclusive track reservation:
based on the motion plan and an updated state of the autonomous rail agent, commanding the autonomous rail agent by broadcasting second command to the autonomous rail agent; and
maintaining the exclusive track reservation for the autonomous rail agent based on both the first command and the second command.
3. The PTC method of claim 2 , further comprising: in response to receipt of the second command at the second computing system, autonomously controlling the autonomous rail agent within the exclusive track reservation based on the second command.
4. The PTC method of claim 1 , wherein the exclusive track reservation is dynamically sized based on the first command.
5. The PTC method of claim 4 , wherein the exclusive track reservation is dynamically sized in time.
6. The PTC method of claim 4 , wherein the exclusive track reservation is dynamically sized in space.
7. The PTC method of claim 1 , wherein the exclusive track reservation is dynamically sized based on the set of track rules.
8. The PTC method of claim 1 , wherein the exclusive track reservation is dynamically sized based on a predetermined set of rules associated with a map of signal connectivity.
9. The PTC method of claim 8 , wherein the exclusive track reservation is dynamically sized to span a tunnel.
10. The PTC method of claim 1 , wherein the command is periodically broadcast within a time interval associated with the first command, wherein the exclusive track reservations are dynamically sized based on the time interval.
11. The PTC method of claim 1 , wherein the motion plan comprises linearized coordinates along a series of track segments, wherein the exclusive track reservation comprises a granular sub-region of track within the series of track segments.
12. The PTC method of claim 1 , wherein the second computing system is configured to autonomously control the vehicle to stop within the exclusive track reservation in response to a communication failure between the first computing system and the second computing system.
13. The PTC method of claim 1 , wherein the autonomous rail agent is commanded based on a heartbeat mechanism, wherein the exclusive track reservation is maintained based on a heartbeat mechanism.
14. The PTC method of claim 13 , wherein the heartbeat mechanism comprises the broadcast of the first command.
15. The PTC method of claim 1 , further comprising: at the first computing system, determining a track warrant for a least one railroad authority, wherein the motion plan is determined based on the track warrant.
16. A system for positive train control (PTC) along a track comprising:
a motion planner configured to:
determine a motion plan for an autonomous rail vehicle based on a set of track rules of the track;
based on the motion plan and a state of the autonomous rail vehicle, command the autonomous rail agent by periodically broadcasting commands to the autonomous rail agent; and
maintain an exclusive track reservation for the autonomous rail agent based on the commands, wherein the exclusive track reservation is dynamically determined 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 control the autonomous rail vehicle, within the exclusive track reservation, based on the commands; and
provide the state of the autonomous rail vehicle to the centralized motion planner.
17. The system for PTC of claim 16 , wherein the exclusive track reservation is dynamically sized in space.
18. The system for PTC of claim 16 , wherein the exclusive track reservation is dynamically sized based on an expiration parameter.
19. The system for PTC of claim 16 , wherein the exclusive track reservation is dynamically sized based on the set of track rules.
20. The system for PTC of claim 16 , wherein the exclusive track reservation is dynamically determined based on track geometry constraints.