Systems and methods for route mapping

Patent metadata

Field	Value
Publication number	US-12005940-B2
Application number	US-202016911561-A
Country	US
Kind code	B2
Filing date	Jun 25, 2020
Priority date	Aug 10, 2016
Publication date	Jun 11, 2024
Grant date	Jun 11, 2024

Abstract

In one embodiment of the subject matter described herein a system is provided. The system includes a location determining circuit configured to acquire position information of a vehicle system moving along a route. The system includes a controller circuit having one or more processors. The controller circuit is configured to calculate curvatures of the route, based at least in part on the position information, to form a curvature waveform. The controller circuit is further configured to generate a route map based on the curvature waveform.

First claim

What is claimed is:

1. A system comprising:
a location determining circuit configured to determine position information of a vehicle system moving along a track;
a controller circuit having one or more processors, wherein the controller circuit is configured to:
calculate curvatures of the track, based at least in part on the position information, to form a curvature waveform, the curvature waveform representative of magnitudes of the curvatures of the track at different locations along the track;
identify one or more of the curvatures of the track as one or more circular curves in the track based on changes in the magnitudes of the curvatures that are within a designated threshold of a peak curvature magnitude in the curvature waveform;
generate a route map based on a size of the one or more circular curves.

2. The system of claim 1 , wherein the controller circuit is further configured to generate duty cycle information of the track based on the route map.

3. The system of claim 2 , wherein the duty cycle information includes at least one of a time interval during which the vehicle system traveled on the one or more circular curves, a length of the one or more circular curves, a grade of the one or more circular curves, or a speed at which the vehicle system moved while traversing the one or more circular curves.

4. The system of claim 2 , further comprising a communication circuit, wherein the controller circuit is further configured to transmit the duty cycle information along a bi-directional communication link to a remote system or a remote vehicle within the vehicle system.

5. The system of claim 1 , wherein the controller circuit is further configured to calculate the curvatures of the track based on a conversion of the position information into two dimensional coordinates.

6. The system of claim 1 , wherein the controller circuit is further configured to calculate the size of the one or more circular curves by fitting one or more circles to the one or more circular curves.

7. The system of claim 6 , wherein the controller circuit is further configured to identify the one or more circular curves by determining that the magnitudes of the curvatures that are within the designated threshold of the peak curvature magnitude in the curvature waveform remain at or above the designated threshold.

8. The system of claim 7 , wherein the controller circuit is further configured to identify one or more time intervals of the one or more circular curves based on the changes in the magnitudes of the curvatures.

9. The system of claim 1 , wherein the controller circuit is further configured to compare the route map with a map database, and adjust portions of the map database based on the route map.

10. The system of claim 1 , wherein the controller circuit is further configured to identify straight throughs of the track based on the curvature waveform with respect to a filter bandwidth.

11. The system of claim 1 , wherein the controller circuit is further configured to calculate the curvatures of the track by incrementing a measurement window along the curvature waveform and calculating the curvatures of the one or more circular curves based on the curvatures within the measurement window.

12. The system of claim 1 , wherein the controller circuit is further configured to identify the one or more circular curves of the track based on a morphology of the curvature waveform.

13. The system of claim 1 , further comprising an energy management system configured to control the vehicle system according to a trip plan, wherein the trip plan is based at least in part on the route map.

14. The system of claim 1 , further comprising a sensor array configured to generate measurements corresponding to an environment of the vehicle system, wherein the controller circuit is further configured to detect abnormalities of the track based on the measurements.

15. The system of claim 14 , wherein the sensor array includes an imaging sensor, the measurements corresponding to images of the environment of the vehicle system.

16. The system of claim 1 , wherein the controller circuit is configured to calculate each of the magnitudes of curvature based on a plurality of data points of the position information, and the controller circuit is further configured to generate the route map based on a morphology of the curvature waveform.

17. A method comprising:
acquiring position information of a vehicle system moving along a track;
calculating curvatures of the track, based on the position information, to form a curvature waveform, the curvature waveform representative of magnitudes of the curvatures of the track at different locations along the track;
identifying one or more of the curvatures of the track as a circular curve in the track based on changes in the magnitudes of the curvatures that are within a designated threshold of a peak curvature magnitude in the curvature waveform;
calculating a size of the one or more circular curves based on the magnitudes of the curvatures that are within the designated threshold of the peak curvature magnitude in the curvature waveform; and
generating a route map based on the size of the one or more circular curves.

18. The method of claim 17 , further comprising generating duty cycle information of the track based on the route map.

19. The method of claim 18 , wherein the duty cycle information includes at least one of a time interval during which the vehicle system traveled on the one or more circular curves, a length of the one or more circular curves, a grade of the one or more circular curves, or a speed at which the vehicle system moved while traversing the one or more circular curves.

20. A method comprising:
acquiring position information of a vehicle system moving along a track;
calculating curvatures of the route, based on the position information, to form a curvature waveform, the curvature waveform representative of magnitudes of the curvatures of the track at different locations along the track; and
defining a route map based on the size of the curvature waveform.

Assignees

• Transp Ip Holdings Llc

Inventors

• Ahuja Munishwar
• Kumar Ajith Kuttannair
• Worden Bret Dwayne
• Chandrasekaran Shankar
• Rao Dattaraj Jagdish

Classifications

• B61L15/0062

  On-board target speed calculation or supervision · CPC title

• B61L25/025

  Absolute localisation, e.g. providing geodetic coordinates · CPC title

• B61L15/0072

  On-board train data handling · CPC title

• G01C21/30

  Map- or contour-matching · CPC title

• B61L15/0058 Primary

  On-board optimisation of vehicle or vehicle train operation · CPC title