Guideway mounted vehicle localization system

• US 10,220,863 B2
• Filed: 04/23/2018
• Issued: 03/05/2019
• Est. Priority Date: 08/26/2015
• Status: Active Grant

• Current Assignee: Ground Transportation Systems Canada Incorporated
• Original Assignee: Thales Canada Incorporated (Thales SA)
• Inventors: Green, Alon, Kinio, Walter, Ignatius, Rodney, Whitwam, Firth
• Primary Examiner(s): Smith, Jason C
• Application Number:
  US15/960,067
• Publication Number:
  US 20180237043A1
• Time in Patent Office: 316 Days
• CPC Class Codes: B61L 2027/204 using Communication-based Train Control [CBTC]
• CPC Class Codes: B61L 25/021 Measuring and recording of train speed
• CPC Class Codes: B61L 25/025 Absolute localisation, e.g. providing geodetic coordinates
• CPC Class Codes: B61L 25/026 Relative localisation, e.g. using odometer
• CPC Class Codes: B61L 27/20 Trackside control of safe travel of vehicle or train, e.g. braking curve calculation

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 marker along a direction of movement of the vehicle. A first sensor has a first inclination angle with respect to the detected marker, and a second sensor has a second inclination angle with respect to the detected marker. The controller is configured to compare a time at which the first sensor detected the marker with a time at which the second sensor detected the marker 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.

Claims

1. A system, comprising:

a set of sensors on a first end of a vehicle having the first end and a second end, the sensors of the set of sensors each being configured to generate corresponding sensor data based on a detected marker of a plurality of markers along a direction of movement of the vehicle, a first sensor of the set of sensors has a first inclination angle with respect to a horizon line, and a second sensor of the set of sensors has a second inclination angle with respect to the horizon line; and

a controller coupled with the set of sensors, the controller being configured to;

compare a time at which the first sensor detected the marker of the plurality of markers with a time at which the second sensor detected the marker of the plurality of markers; and

calculate a position of the first end of the vehicle based on a distance between a first marker of the plurality of markers and the detected marker of the plurality of markers.

2. The system of claim 1, wherein the controller is further configured to:

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 marker of the plurality of markers with the time the second sensor detected the marker of the plurality of markers; and

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.

3. The system of claim 1, wherein the first inclination angle is different from the second inclination angle.

4. The system of claim 1, wherein markers of the plurality of markers are pairs of markers separated by a distance stored in a memory, and the controller is further configured to:

count a quantity of markers of the plurality of markers detected by the set of sensors during a predetermined duration of time;

search the memory for the stored distance between each pair of markers of the plurality of markers detected by the set of sensors during the predetermined duration of time; and

add the distances between each pair of markers of the plurality of markers for the quantity of markers detected by the set of sensors to determine a distance the vehicle traveled during the predetermined duration of time.

5. The system of claim 4, 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.

6. The system of claim 4, wherein the markers of the plurality of markers are consecutive markers.

7. The system of claim 1, wherein

one or more markers of the plurality of markers comprise a pattern of objects, and

the sensors of the set of sensors are configured to recognize the one or more markers based on the pattern of objects.

8. The system of claim 1, wherein a field of view of the first marker is based on the first inclination angle, a field of view of the second marker is based on the second inclination angle, and the markers of the plurality of markers are spaced along the direction of movement of the vehicle such that the detected marker of the plurality of markers is limited to being within one of the field of view of the first marker or the field of view of the second marker.

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

10. The system of claim 1, wherein the set of sensors further comprises a third sensor, and 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;

activate the third sensor;

compare a third calculated value based on the sensor data generated by the third sensor with the first calculated value and with the second calculated value; and

identify which of the first sensor or the second sensor is faulty based on a determination that the first calculated value matches the third calculated value within the predefined threshold, or the second calculated value matches the third calculated value within the predefined threshold.

11. The system of claim 10, wherein each of the first calculated value and the second calculated value is the identification of leading end of the vehicle, the position of the leading end of the vehicle, a distance the vehicle traveled, or a velocity of the vehicle.

12. The system of claim 1, further comprising:

a set of sensors on the second end of the vehicle, the sensors of the set of sensors on the second end of the vehicle each being configured to generate corresponding sensor data based on the detected marker of the plurality of markers, a third sensor of the set of sensors on the second end of the vehicle has a third inclination angle with respect to the horizon line, and a fourth sensor of the set of sensors on the second end of the vehicle has a fourth inclination angle with respect to the horizon line,

wherein the controller is further configured to

compare a time the third sensor detected the marker of the plurality of markers with a time the fourth sensor detected the marker of the plurality of markers; and

calculate a position of the first end of the vehicle based on a distance between a first marker of the plurality of markers and the detected marker of the plurality of markers.

13. The system of claim 12, 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.

14. The system of claim 13, 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 distance the vehicle traveled, or a velocity of the vehicle.

15. The system of claim 12, wherein the controller is further configured to:

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 marker of the plurality of markers with the time the fourth sensor detected the marker of the plurality of markers; 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.

16. The system of claim 15, 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 the end of the vehicle identified as being the leading end of the vehicle;

calculate a second velocity of the 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 the 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. A method, comprising:

generating sensor data based on a detection of a marker of a plurality of markers along a direction of movement of a vehicle having a first end and a second end using 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 corresponding sensor data, a first sensor of the set of sensors has a first inclination angle with respect to a horizon line, and a second sensor of the set of sensors has a second inclination angle with respect to the horizon line;

comparing a time the first sensor detected the marker of the plurality of markers with a time the second sensor detected the marker of the plurality of markers;

count a quantity of markers of the plurality of markers detected by the set of sensors during a predetermined duration of time;

search a memory for the stored distance between each pair of markers of the plurality of markers detected by the set of sensors during the predetermined duration of time, the memory having stored therein a distance separating pairs of markers of the plurality of markers; and

add the distances between each pair of markers of the plurality of markers for the quantity of markers detected by the set of sensors to determine a distance the vehicle traveled during the predetermined duration of time, wherein the distances between each pair of markers of the plurality of markers is determined based on;

searching a memory for the stored distance between each pair of markers of the plurality of markers detected by the set of sensors during the predetermined duration of time, the memory having stored therein a distance separating pairs of markers of the plurality of markers;

or

counting a quantity of markers of the plurality of markers detected by the set of sensors on the first end of the vehicle within a predetermined duration of time and calculating a distance the vehicle traveled during the predetermined duration of time based on a total quantity of the detected markers and an equal distance between each of the markers of the plurality of markers.

18. The method of claim 17, further comprising:

identifying 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 marker of the plurality of markers with the time the second sensor detected the marker of the plurality of markers; and

calculating 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.

19. The method of claim 17, further comprising:

detecting a pattern of objects on a guideway along which the vehicle moves; and

recognizing the pattern of objects as the detected marker of the plurality of markers based on data stored in a memory comprising information describing the detected marker of the plurality of markers.

20. The method of claim 17, further comprising:

calculating a position of the end of the vehicle that is other than the leading end of the vehicle based on the position of the leading end of the vehicle and a length of the vehicle.

21. The method of claim 17, further comprising:

generating sensor data based on a detection of the marker of the plurality markers using a set of sensors on the second end of the vehicle, wherein each sensor of the set of sensors on the second end of the vehicle is configured to generate corresponding sensor data, a third sensor of the set of sensors on the second end of the vehicle has a third inclination angle with respect to the detected marker of the plurality of markers, and a fourth sensor of the set of sensors on the second end of the vehicle has a second inclination angle with respect to the detected marker of the plurality of markers different from the third inclination angle;

comparing a time the third sensor detected the marker of the plurality of markers with a time the fourth sensor detected the marker of the plurality of markers;

identifying 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 marker of the plurality of markers with the time the fourth sensor detected the marker of the plurality of markers;

calculating 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; and

generating an alarm if the position of the leading end of the vehicle calculated based on the sensor data generated by one of more of the first sensor or the second sensor differs from the position of the leading end of the vehicle calculated based on the sensor data generated by one or more of the third sensor or the fourth sensor by more than a predefined threshold.

22. The method of claim 17, wherein the markers of the plurality of markers are consecutive markers.