Guideway mounted vehicle localization system

Patent metadata

Field	Value
Publication number	US-11608097-B2
Application number	US-201816489337-A
Country	US
Kind code	B2
Filing date	Feb 28, 2018
Priority date	Feb 28, 2017
Publication date	Mar 21, 2023
Grant date	Mar 21, 2023

Abstract

A system comprises a set of sensors on a first end of a vehicle having the first end and a second end, and a controller. The sensors are configured to generate corresponding sensor data based on a detected object along a direction of movement of the vehicle. The controller is configured to compare a time at which the first sensor detected the object with a time at which the second sensor detected the object to identify the first end or the second end as a leading end of the vehicle, and to calculate a position of the leading end of the vehicle based on the sensor data generated by one or more of the first sensor or the second sensor. The controller is also configured to generate a map of the plurality of objects based on the sensor data.

First claim

What is claimed is:

1. A system, comprising:
a set of sensors on a first end of a vehicle having the first end and a second end, each sensor of the set of sensors on the first end being configured to generate corresponding sensor data based on detection of one or more objects of a plurality of objects along a direction of movement of the vehicle; and
a controller coupled with the set of sensors, the controller being configured to:
compare a time at which a first sensor of the set of sensors on the first end detected a first object with a time at which a second sensor of the set of sensors on the first end detected the first object;
identify the first end or the second end as a leading end of the vehicle based on the comparison of the time the first sensor detected the first object with the time the second sensor detected the first object;
calculate a position of the leading end of the vehicle based on sensor data generated by one or more of the first sensor or the second sensor; and
generate a map of the plurality of objects based on the sensor data.

2. The system of claim 1 , further comprising:
a geographic position sensor configured to identify a position of the vehicle based on the detection of the first object,
wherein the controller is configured to determine a geographic position of the first object based on the position of the leading end of the vehicle and the position of the vehicle identified by the geographic position sensor.

3. The system of claim 2 , wherein the controller is further configured to generate the map of the plurality of objects corresponding to geographic positions of the plurality of objects based on the position of the vehicle identified by the geographic position sensor and the position of the vehicle identified by the geographic position sensor when each object of the plurality of objects is detected.

4. The system of claim 2 , wherein the controller is further configured to identify the first object based on the sensor data.

5. The system of claim 1 , wherein the position of the leading end of the vehicle is calculated based on a distance between a detected second object and the first object.

6. The system of claim 1 , wherein consecutive objects of the plurality of objects are pairs of objects separated by a distance stored in a memory, and the controller is further configured to:
count a quantity of objects detected by the set of sensors during a predetermined duration of time;
search the memory for the distance stored between each pair of consecutive objects detected by the set of sensors during the predetermined duration of time; and
add the distances between each pair of consecutive objects for the quantity of objects detected by the set of sensors to determine a distance the vehicle traveled during the predetermined duration of time.

7. The system of claim 6 , wherein the controller is further configured to calculate a velocity of the vehicle based on the distance the vehicle traveled and the predetermined duration of time.

8. The system of claim 1 , wherein
one or more objects of the plurality of objects are a pattern of objects,
each sensor of the set of sensors are configured to recognize the one or more objects based on the pattern of objects.

9. The system of claim 1 , wherein the vehicle is configured to move along a guideway, and one or more objects of the plurality of objects is on the guideway.

10. The system of claim 1 , wherein the vehicle is configured to move along a guideway, and one or more objects of the plurality of objects is on a wayside of the guideway.

11. The system of claim 1 , wherein the controller is further configured to:
compare a first calculated value based on the sensor data generated by the first sensor with a second calculated value based on the sensor data generated by the second sensor,
identify one of the first sensor or the second sensor as being faulty based on a determination that the first calculated value differs from the second calculated value by more than a predefined threshold, and
initiate a maintenance procedure to identify a source of a difference between the first calculated value and the second calculated value.

12. The system of claim 11 , wherein each of the first calculated value and the second calculated value is the identification of the leading end of the vehicle, the position of the leading end of the vehicle, a signature based on the sensor data indicative of a property associated with the first object, a distance the vehicle traveled, or a velocity of the vehicle.

13. The system of claim 1 , further comprising:
a third and fourth sensor, where the third and fourth sensor correspond to a set of sensors on the second end of the vehicle, each sensor on the second end of the vehicle being configured to generate corresponding sensor data based on the first object,
wherein the controller is further configured to:
compare a time the third sensor detected the first object with a time the fourth sensor detected the first object;
identify the first end or the second end as the leading end of the vehicle based on the comparison of the time the third sensor detected the first object with the time the fourth sensor detected the first object; and
calculate the position of the leading end of the vehicle based on the sensor data generated by one or more of the third sensor or the fourth sensor.

14. The system of claim 13 , wherein
the controller is further configured to:
compare a first calculated value based on the sensor data generated by one or more of the first sensor or the second sensor with a second calculated value based on the sensor data generated by one or more of the third sensor or the fourth sensor; and
identify one of the first sensor, the second sensor, the third sensor, or the fourth sensor as being faulty based on a determination that the first calculated value differs from the second calculated value by more than a predefined threshold.

15. The system of claim 14 , wherein each of the first calculated value and the second calculated value is the identification of the leading end of the vehicle, the position of the leading end of the vehicle, a signature based on the sensor data indicative of a property associated with the first object, a distance the vehicle traveled, or a velocity of the vehicle.

16. The system of claim 13 , wherein the controller is further configured to:
calculate a first velocity of the leading end of the vehicle based on the sensor data generated by the set of sensors on an end of the vehicle identified as being the leading end of the vehicle;
calculate a second velocity of other of the first end or the second end that is other than the leading end of the vehicle based on the sensor data generated by the set of sensors on an end of the vehicle that is other than the leading end of the vehicle; and
generate an alarm based on a determination that a magnitude of the first velocity differs from a magnitude of the second velocity by more than a predefined threshold.

17. The system of claim 1 , wherein each sensor in the set of sensors on the first end of the vehicle are laser imaging detection and ranging (“LIDAR”) sensors.

18. A method, comprising:
generating sensor data based on a detection of an object of a plurality of objects along a direction of movement of a vehicle having a first end and a second end using a first sensor and a second sensor of a set of sensors on the first end of the vehicle, wherein each sensor of the set of sensors on the first end of the vehicle is configured to generate corres

Assignees

• Thales Canada Inc

Inventors

• Green Alon
• Kinio Walter
• Timmermans Peter

Classifications

• B61L25/026

  Relative localisation, e.g. using odometer · CPC title

• B61L25/021

  Measuring and recording of train speed · CPC title

• G01P3/68

  using optical means, i.e. using infrared, visible, or ultraviolet light (G01P3/80 takes precedence {; by reflection of waves G01S17/58}) · CPC title

• G01S13/60

  wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track (G01S13/64 takes precedence) · CPC title

• G01S17/42

  Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) · CPC title