Collision avoidance system for rail line vehicles

• US 8,812,227 B2
• Filed: 05/17/2012
• Issued: 08/19/2014
• Est. Priority Date: 05/19/2011
• Status: Active Grant

• Current Assignee: Metrom Rail, LLC
• Original Assignee: Metrom Rail, LLC
• Inventors: Carlson, Richard C., Gunther, Kurt A., Cygnus, Marc W.
• Primary Examiner(s): Black, Thomas
• Assistant Examiner(s): PAYNE, ROBERT T
• Application Number:
  US13/474,428
• Publication Number:
  US 20120296562A1
• Time in Patent Office: 824 Days
• Field of Search: 342/53, 342/115, 342/118, 342/125, 342/70, 340/905, 701/408, 701/301, 701/29.6, 701/34.3, 701/36, 701/19, 701/13, 701/23, 701/4, 701/117, 701/468, 701/409, 701/63, 701/28, 701/1, 701/116, 701/500, 701/2, 701/46
• US Class Current: 701/301
• CPC Class Codes: B61L 15/0027 Radio-based, e.g. using GSM-R
• CPC Class Codes: B61L 2205/04 Satellite based navigation systems, e.g. global positioning system [GPS]
• CPC Class Codes: B61L 23/06 for warning men working on the route
• CPC Class Codes: B61L 23/34 for indicating the distance between vehicles or trains by the transmission of signals therebetween
• CPC Class Codes: B61L 25/025 Absolute localisation, e.g. providing geodetic coordinates
• CPC Class Codes: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A collision avoidance system (CAS) is described that includes one or more sensor technologies, including, for example, an Ultra Wideband (UWB) sensing technology. The collision avoidance system is designed to reliably track the location and speed of vehicles and the distance between vehicles over a wide variety of track and terrain. The collision avoidance system may utilize information from a variety of sensor technologies to determine whether one or more vehicles violate speed and/or separation criteria, and may generate a warning.

Claims

1. A collision avoidance system comprising:

one or more vehicle mounted modules, each vehicle mounted module mountable on a rail vehicle, each vehicle mounted module comprising;

a transponder sensor module operable to send and receive data wirelessly, the transponder module comprising a first ultra wideband unit and a first antenna;

a control electronics module comprising a processor in communication with at least the transponder sensor module unit; and

a user interface module including a user interface, the user interface being operable to provide rail vehicle information to a vehicle operator and to receive input from the vehicle operator; and

wherein each vehicle mounted module is operable to communicate with at least one other vehicle mounted module mounted on at least one other rail vehicle, and wherein each vehicle mounted module is operable to apply a time of flight technique to determine a separation distance between the rail vehicles.

2. The collision avoidance system of claim 1, further comprising a central tracking unit in communication with the first vehicle mounted module and the second vehicle mounted module, wherein the central tracking unit is operable to track the location of at least the first vehicle mounted module and the second vehicle mounted module.

3. The collision avoidance system of claim 2, wherein the central tracking unit is distributed among a plurality of rail vehicles, including at least the first and second rail vehicles, wherein the first vehicle mounted module comprises a first central tracking unit component.

4. The collision avoidance system of claim 2, wherein the central tracking unit is located in a discreet housing.

5. The collision avoidance system of claim 1, wherein the first vehicle mounted module further comprises an auxiliary transponder sensor module, the auxiliary transponder sensor module mounted on the first rail vehicle with an offset with respect to the transponder sensor module, and

wherein the user interface is operable to provide calibration information related to the length of the first rail vehicle, the mounting location of the first transponder sensor module, and the mounting location of the auxiliary transponder sensor module.

6. The collision avoidance system of claim 5, wherein the auxiliary transponder sensor module comprises an auxiliary antenna, the auxiliary antenna being connected to at least one of the first ultra wideband unit or an auxiliary ultra wideband unit, and

wherein the auxiliary antenna is mounted on the first rail vehicle with an offset with respect to the first antenna.

7. The collision avoidance system of claim 1, wherein the first vehicle mounted module further comprises a global positioning system unit, the global positioning system unit operable to receive information from one or more satellites to determine an absolute position of the rail vehicle, wherein the global positioning system unit is in communication with the control electronics module.

8. The collision avoidance system of claim 7, wherein the first vehicle mounted module receives information generated by the global positioning system unit and the first ultra wideband unit to determine whether one or more vehicle separation criteria are violated, and generates a warning signal when one or more vehicle separation criteria are violated.

9. The collision avoidance system of claim 1, wherein the first vehicle mounted module is operable to execute a progressive warning signal if one or more vehicle separation criteria are violated, and

wherein the progressive warning signal increases in at least one of signal rate, signal frequency, signal prominence, signal volume, or signal severity as the violation of the vehicle separation criteria approaches or extends beyond a vehicle separation threshold.

10. The collision avoidance system of claim 9, wherein the first vehicle mounted module executes an adaptive threshold feature that modifies one or more vehicle separation thresholds based on the speed of the first rail vehicle and the speed of the second rail vehicle.

11. The collision avoidance system of claim 1, further comprising at least one ground speed detection module operable to determine the speed of the rail vehicle, wherein the first vehicle mounted module communicates with the at least one ground speed detection module.

12. The collision avoidance system of claim 1, further comprising an inertial measurement unit in communication with at least the control electronics module, the inertial measurement unit being operable to detect changes in the speed of the first rail vehicle.

13. The collision avoidance system of claim 12, wherein the inertial measurement unit comprises at least one of an accelerometer or a gyroscope.

14. The collision avoidance system of claim 1 wherein the ultra wideband unit is adapted to transmit and receive signals with varying center frequencies.

15. The collision avoidance system of claim 1, wherein the first vehicle mounted module is operable to execute a stopping distance calibration feature that measures a stopping distance under existing conditions, wherein the stopping distance measures the distance between the point where the brakes are engaged to the point where the vehicle comes to a stop under the existing conditions.

16. The collision avoidance system of claim 15, wherein the first vehicle mounted module executes a progressive warning signal if one or more vehicle separation criteria are violated, wherein the progressive warning signal increases in at least one of signal rate, signal frequency, signal prominence, signal volume, or signal severity as the violation of the vehicle separation criteria approaches or extends beyond a vehicle separation threshold, and wherein the first vehicle mounted module executes an adaptive threshold feature that modifies one or more vehicle separation thresholds based on the measured stopping distance.

23. The collision avoidance system of claim 16, further comprising an inertial measurement unit in communication with at least the control electronics module, the inertial measurement unit being operable to detect changes in the speed of the first rail vehicle.

17. A rail vehicle module mountable on a rail vehicle, the module comprising:

a transponder sensor module comprising;

a radio communication unit operable to employ time of flight techniques to detect a distance between the rail vehicle and at least one other vehicle;

a wireless communications antenna operable to send and receive data over the air; and

a global positioning system unit operable to receive information from one or more satellites to determine an absolute position of the rail vehicle;

a control electronics module comprising a processor in communication with at least the first transponder sensor module; and

a user interface module including a user interface operable to provide rail vehicle information to a vehicle operator and to receive input from the vehicle operator;

wherein the rail vehicle module communicates with at least one other module mounted on at least one other vehicle to detect a separation distance between the rail vehicle and the at least one other vehicle.

18. The rail vehicle module of claim 17, wherein the radio communication unit comprises an ultra wideband unit configured to send and receive ultra wideband signals.

19. The rail vehicle module of claim 18, wherein the ultra wideband unit is adapted to transmit and receive signals with varying center frequencies.

20. The rail vehicle module of claim 17, further comprising a second wireless communications antenna mounted on the rail vehicle with an offset with respect to the first antenna, wherein the rail vehicle module is operable to receive calibration information related to the length of the rail vehicle, the mounting location of the first wireless communications antenna and the mounting location of the second wireless communications antenna.

21. The rail vehicle module of claim 17, wherein the rail vehicle module is operable to utilize information generated by the radio communication unit and the global positioning system unit to determine whether one or more vehicle separation criteria are violated, and generate a progressive warning signal if one or more vehicle separation criteria are violated, wherein the progressive warning signal increases in at least one of signal rate, signal frequency, signal prominence, signal volume, or signal severity as the violation of the vehicle separation criteria approaches or extends beyond a vehicle separation threshold.

22. The rail vehicle module of claim 17, further comprising a central tracking unit component, wherein the central tracking unit component is in communication with a central tracking unit component mounted on the at least one other vehicle.

24. A collision avoidance system comprising

one or more vehicle mounted modules, each vehicle mounted module mountable on a rail vehicle, each vehicle mounted module comprising:

a transponder sensor module comprising;

a radio communication unit operable to employ time of flight techniques to detect a distance between rail vehicles; and

a global positioning system unit operable to receive information from one or more satellites to determine an absolute position of the rail line vehicle;

a control electronics module comprising a processor, the control electronics module being in communication with at least the transponder sensor module; and

a user interface operable to provide rail vehicle information to a vehicle operator and to receive input from the vehicle operator;

wherein each of the two or more rail vehicle modules communicate to determine a separation distance between each rail vehicle, and wherein each rail vehicle module is operable to use information provided by the radio communication unit and the global positioning system unit to determine whether one or more vehicle separation criteria are violated, and to generate a warning signal if one or more vehicle separation criteria are violated.

25. The collision avoidance system of claim 24, wherein each radio communication unit comprises an ultra wideband unit.

26. The collision avoidance system of claim 24, wherein the progressive warning signal increases in at least one of signal rate, signal frequency, signal prominence, signal volume, or signal severity as the violation of the vehicle separation criteria approaches or extends beyond a vehicle separation threshold.

27. The collision avoidance system of claim 24, further comprising a central tracking unit in communication with each rail vehicle module, the central tracking unit operable to track the location of each rail vehicle module.

28. The collision avoidance system of claim 27, wherein the central tracking unit is distributed among the rail vehicle modules, wherein each of the one or more rail vehicle modules includes a central tracking unit component, each central tracking unit component being in communication with the control electronics module of the rail vehicle module.