RAIL CONTROL SYSTEM AND/OR METHO
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 comprising:
determining a set of semantic features;
determining a motion plan comprising a sequence of commands defined relative to the set of semantic features; and
controlling a vehicle based on the motion plan, comprising:
transforming each semantic feature of the set of semantic features into a respective set of map coordinates; and
autonomously controlling rail vehicle traversal to each set of map coordinates according to the sequence of commands.
2 . The method of claim 1 , wherein the map comprises a graph of track segments.
3 . The method of claim 2 , wherein each set of coordinates comprises an identifier for a track segment on the graph and a distance along the track segment.
4 . The method of claim 1 , further comprising: based on the motion plan, reserving infrastructure for the vehicle.
5 . The method of claim 4 , wherein the infrastructure reservations for the vehicle are determined automatically based the vehicle state and the motion plan.
6 . The method of claim 4 , wherein autonomously controlling vehicle traversal to a first set of map coordinates comprises: determining an exclusive infrastructure reservation based on a current vehicle state and the first set of map coordinates; and granting autonomous proceed authority to the vehicle based on the exclusive track reservation.
7 . The method of claim 4 , wherein the infrastructure comprises a railroad switch.
8 . The method of claim 7 , wherein the motion plan crosses the railroad switch twice and requires a change in state of the railroad switch.
9 . The method of claim 1 , wherein the set of semantic features comprises a semantic tag for a railroad control point.
10 . The method of claim 1 , wherein the set of semantic features comprises a battery charger name.
11 . A method for rail vehicle navigation comprising:
determining a semantic destination for a rail vehicle;
determining a route plan comprising a command referenced against the semantic destination; and
controlling the rail vehicle according to the command by transforming the semantic navigational target into a track-relative position.
12 . The method of claim 11 , further comprising: automatically determining a track reservation for the rail vehicle based on the route plan.
13 . The method of claim 12 , wherein the track reservation is further determined based on a vehicle state of the rail vehicle.
14 . The method of claim 12 , wherein controlling the rail vehicle according to the command is responsive to a determination of autonomous proceed authorization for the rail vehicle based on the track reservation.
15 . The method of claim 11 , wherein the track-relative position comprises a track segment identifier and a distance along the track segment.
16 . The method of claim 15 , wherein the semantic destination indexes a set of Earth-coordinates, wherein the command is referenced against the set of Earth-coordinates.
17 . The method of claim 11 , wherein the track-relative position is referenced against a track geometry, wherein the command is independent of the track geometry.
18 . The method of claim 17 , wherein the track geometry is transitory.
19 . The method of claim 17 , further comprising: after determining the route plan and prior to controlling the rail vehicle according to the command, updating the track geometry.
20 . The method of claim 11 , wherein the route plan comprises a sequence of semantic features.