Guideway mounted vehicle localization system

• US 9,327,743 B2
• Filed: 03/05/2015
• Issued: 05/03/2016
• Est. Priority Date: 12/19/2013
• Status: Active Grant

• Current Assignee: Ground Transportation Systems Canada Incorporated
• Original Assignee: Thales Canada Incorporated (Thales SA)
• Inventors: Whitwam, Firth, Dimmer, David, Green, Alon, Ignatius, Rodney, Kinio, Walter, Georgescu, Mircea
• Primary Examiner(s): Smith, Jason C
• Application Number:
  US14/639,290
• Publication Number:
  US 20150239482A1
• Time in Patent Office: 425 Days
• US Class Current: 1/1
• CPC Class Codes: B61L 15/0063 Multiple on-board control systems, e.g. "2 out of 3"-systems
• CPC Class Codes: B61L 23/041 Obstacle detection
• CPC Class Codes: B61L 25/021 Measuring and recording of train speed
• CPC Class Codes: B61L 25/023 Determination of driving direction of vehicle or train
• CPC Class Codes: B61L 25/026 Relative localisation, e.g. using odometer
• CPC Class Codes: B61L 25/028 Determination of vehicle position and orientation within a train consist, e.g. serialisation

Abstract

A system comprises a speed detector, a marker sensor, a controller, a sensor unit, and a processor. The speed detector is configured to generate speed data associated with a movement of a vehicle. The marker sensor is configured to generate marker data based on a detection of an object along a wayside of a guideway. The controller is configured to calculate a distance the vehicle moved, generate location information, and generate an indication the vehicle is stationary. The sensor unit comprises an accelerometer, a gyroscope, and a magnetometer. The sensor unit is configured to generate sensor data based on information gathered by one or more of the accelerometer, the gyroscope, or the magnetometer. The processor is configured to process the sensor data to determine a vehicle position based on the sensor data and the location information. The controller is further configured to compare the location information with the vehicle position.

Claims

1. A system, comprising:

a speed detector configured to generate speed data associated with a movement of a vehicle;

a marker sensor configured to generate marker data based on a detection of an object along a wayside of a guideway along which the vehicle is configured to move;

a controller coupled with the speed detector and the marker sensor, the controller being configured to (1) calculate a distance the vehicle moved based on the speed data and the marker data, (2) generate location information based on the distance the vehicle moved and the marker data, and (3) generate an indication the vehicle is stationary based on the speed data;

a sensor unit comprising an accelerometer, a gyroscope, and a magnetometer, the sensor unit being configured to generate sensor data based on information gathered by one or more of the accelerometer, the gyroscope, or the magnetometer; and

a processor coupled with the sensor unit and the controller, the processor being configured to process the sensor data to determine a vehicle position based on the sensor data and the location information,

wherein the controller is configured to compare the location information with the vehicle position to determine if a difference between the location information and the vehicle position is within a predetermined threshold range.

2. The system of claim 1, wherein the controller is configured to update the location information based on the vehicle position and to determine a direction the vehicle moved based on the updated location information.

3. The system of claim 2, wherein the controller is configured to compare the direction the vehicle moved with an expected direction of travel based on guideway data stored in a memory, and the controller is configured to determine the vehicle is off the guideway based on a change in the direction the vehicle moved from the expected direction of travel if the change in the direction the vehicle moved occurred within a predetermined period of time.

4. The system of claim 1, wherein

the sensor data comprises orientation data associated with an orientation of the vehicle with respect to the guideway,

the processor is configured to determine the orientation of the vehicle based on the orientation data,

the controller is configured to compare the orientation of the vehicle with an expected orientation of the vehicle, the expected orientation of the vehicle being one or more of a current orientation of the vehicle determined by the processor or a stored orientation of the vehicle associated with the guideway, and

the controller is configured to determine the vehicle is off the guideway based on a change in the orientation of the vehicle from the expected orientation of the vehicle to the orientation of the vehicle determined by the processor if the change in the orientation of the vehicle occurred within a predetermined period of time.

5. The system of claim 4, wherein the controller is configured to determine the vehicle is off the guideway based on the change in the orientation of the vehicle and a decrease in acceleration based on the sensor data.

6. The system of claim 1, wherein if the difference is outside the threshold range, the controller is configured to prevent transmission of the location information to the processor.

7. The system of claim 6, wherein the controller is configured to generate an indication that a slip or slide condition has occurred based on the difference being outside the threshold range.

8. The system of claim 7, wherein the marker data is based on a first object detected by the marker sensor, and the controller is configured to determine the location information based only on the vehicle position if a slip or slide condition is determined to have occurred until a second object is detected by the marker sensor.

9. The system of claim 1, wherein

if the difference is within the threshold range, the controller is configured to calibrate a diameter of a wheel of the vehicle based on the vehicle position, the marker data, and the speed data, and

the controller is configured to determine the location information based on the speed data and the calibrated diameter of the wheel.

10. The system of claim 1, wherein the controller is configured to determine the vehicle is in a slide condition based on the indication the vehicle is stationary based on the speed data and a change in vehicle position based on the sensor data from a first position to a second position different from the first position.

11. A method, comprising:

detecting a speed of a vehicle using a speed detector configured to generate speed data associated with the vehicle;

detecting an object along a wayside of a guideway along which the vehicle is configured to move using a marker sensor configured to generate marker data based on the detection of the object;

calculating, using a controller, a distance the vehicle moved based on the speed data and the marker data;

generating location information based on the distance the vehicle moved and the marker data;

generating sensor data based on information gathered by one or more of an accelerometer, a gyroscope, or a magnetometer;

processing the sensor data using a processor to determine a vehicle position based on the sensor data and the location information; and

comparing the location information with the vehicle position to determine if a difference between the location information and the vehicle position is within a predetermined threshold range.

12. The method of claim 11, further comprising:

updating the location information based on the vehicle position; and

determining a direction the vehicle moved based on the updated location information.

13. The method of claim 12, further comprising:

comparing the direction the vehicle moved with an expected direction of travel based on guideway data stored in a memory; and

determining the vehicle is off the guideway based on a change in the direction the vehicle moved from the expected direction of travel if the change in the direction the vehicle moved occurred within a predetermined period of time.

14. The method of claim 11, wherein the sensor data further comprises orientation data associated with an orientation of the vehicle with respect to the guideway, and the method further comprises:

processing the orientation data to determine an orientation of the vehicle with respect to the guideway,

comparing the orientation of the vehicle with an expected orientation of the vehicle, the expected orientation of the vehicle being one or more of a current orientation of the vehicle determined by the processor or a stored orientation of the vehicle associated with the guideway; and

determining the vehicle is off the guideway based on a change in the orientation of the vehicle from the expected orientation of the vehicle to the orientation of the vehicle determined by the processor if the change in the orientation of the vehicle occurred within a predetermined period of time.

15. The method of claim 14, further comprising:

determining the vehicle is off the guideway based on the change in the orientation of the vehicle and a decrease in acceleration based on the sensor data.

16. The method of claim 11,

determining the vehicle is in a slip or slide condition based on the difference being outside the threshold range;

and

preventing transmission of the location information to the processor based on the determined slip or slide condition.

17. The method of claim 16, wherein the marker data is based on a first object detected by the marker sensor, and the method further comprises:

determining the location information based only on the vehicle position if a slip or slide condition is determined to have occurred; and

detecting a second object is detected by the marker sensor.

18. The method of claim 11, further comprising:

calibrating a diameter of a wheel of the vehicle based on the vehicle position, the marker data, and the speed data,

wherein the location information is based on the speed data and the calibrated diameter of the wheel if the difference is within the threshold range.

19. The method of claim 11, further comprising:

generating an indication the vehicle is stationary based on the speed data,

wherein the controller is configured to determine the vehicle is in a slide condition based on the indication the vehicle is stationary based on the speed data and a change in vehicle position based on the sensor data from a first position to a second position different from the first position.

20. A system, comprising:

a tachometer configured to generate rotation data associated with a rotation of a wheel of a vehicle;

a marker sensor configured to generate marker data based on a detection of an object along a wayside of a guideway along which the vehicle is configured to move;

a controller coupled with the tachometer and the marker sensor, the controller being configured to (1) calculate a speed at which the vehicle moves based on the rotation data and a diameter of a wheel of the vehicle, (2) calculate a distance the vehicle moved based on the speed data and the marker data, and (3) generate location information based on the distance the vehicle moved and the marker data; and

a navigation unit comprising a processor, an accelerometer, a gyroscope, and a magnetometer, the navigation unit being configured to generate a vehicle position based on sensor data and the location information, the sensor data being gathered by one or more of the accelerometer, the gyroscope, or the magnetometer,

wherein the controller is further configured to determine if a difference between the location information and the vehicle position is within a predetermined threshold range, and calibrate the diameter of the wheel based on the vehicle position, the marker data and the speed data if the difference is within the threshold range.