SYSTEM AND/OR METHOD FOR PLATOONING
In variants, the system can include a set of vehicles, cooperatively capable of forming a platoon. Each vehicle within the platoon can be configured to operate based on feedback from other vehicles within the platoon. In examples, a vehicle can selectively brake based on feedback from other vehicles within the platoon.
1 . A self-propelled railcar comprising:
a body structure; and
a pair of bogies supporting the body structure, at least one bogie of the pair comprising:
a powertrain mechanically coupled to the body structure;
a bumper;
a sensor coupled to the bumper and configured to measure contact force at the bumper; and
a controller onboard the bogie and communicatively coupled to the sensor, the controller configured to control the powertrain based on a platoon control target and measurements from the sensor.
2 . The self-propelled railcar of claim 1 , wherein the powertrain comprises a battery-electric powertrain.
3 . The self-propelled railcar of claim 2 , wherein controlling the powertrain comprises regeneratively braking with the battery-electric powertrain.
4 . The self-propelled railcar of claim 1 , wherein the sensor comprises a load cell.
5 . The self-propelled railcar of claim 1 , wherein the sensor comprises a displacement sensor.
6 . The self-propelled railcar of claim 1 , wherein the bumper is mechanically coupled to the bogie with a set of springs.
7 . The self-propelled railcar of claim 1 , wherein the controller is further configured to control a brake system responsive to a determination of a coordinated braking event.
8 . The self-propelled railcar of claim 7 , wherein the brake system comprises a pneumatic brake system coupled to a plurality of railcars.
9 . The self-propelled railcar of claim 7 , wherein the coordinated braking event is determined based on a wireless signal received by the controller.
10 . The self-propelled railcar of claim 7 , wherein the controller is further configured to control the brake system based on measurements from the sensor.
11 . A system comprising:
a plurality of railcars, wherein a first railcar of the plurality which is at a first end of the plurality, comprising:
a bumper configured to compressively contact an adjacent vehicle of a platoon;
a force sensor coupled to the bumper and configured to measure a compressive contact force at the bumper; and
a controller coupled to the force sensor, the controller configured to autonomously control a brake system of the plurality of railcars, based on the compressive contact force, to maintain compressive contact at the bumper.
12 . The system of claim 11 , wherein the brake system comprises a respective set of brakes of each railcar of the plurality of railcars.
13 . The system of claim 12 , wherein the brake system is a pneumatic brake system.
14 . The system of claim 12 , wherein the controller is configured to autonomously control the brake system responsive to a determination of a coordinated braking event for the platoon.
15 . The system of claim 14 , wherein the coordinated braking event is determined at the controller based on receipt of a wireless signal.
16 . The system of claim 11 , wherein the railcars of the plurality of railcars are mechanically coupled in series.
17 . A system comprising:
a railcar comprising a body structure and a pair of bogies supporting the body structure, the railcar further comprising:
a powertrain mounted to a bogie of the pair;
a bumper;
a sensor coupled to the bumper and configured to measure contact force at the bumper; and
a controller onboard the bogie and communicatively coupled to the sensor, the controller configured to control the powertrain based on a platoon control target and measurements from the sensor.
18 . The system of claim 17 , wherein the controller is further configured to:
autonomously control the electric powertrain based on the compressive contact force to achieve a platoon control target for a platoon; and
control a brake system responsive to a determination of a coordinated braking event for the platoon.
19 . The system of claim 18 , wherein the brake system comprises a pneumatic brake system coupled to a plurality of railcars.
20 . The system of claim 18 , wherein the controller is further configured to control the brake system based on the contact force measurements from the sensor.