System and method of estimating values for commands to cause vehicles to follow a trajectory in a complex track network

• US 9,731,735 B1
• Filed: 12/12/2011
• Issued: 08/15/2017
• Est. Priority Date: 12/10/2010
• Status: Active Grant

• Current Assignee: Cybertron International Incorporated
• Original Assignee: Cybertron International Incorporated
• Inventors: Nishinaga, Eugene Iwao, Nishinaga, Kevin Kohei, Lee, Mark
• Primary Examiner(s): Smith, Jelani
• Application Number:
  US13/323,779
• Time in Patent Office: 2,073 Days
• Field of Search: 701 2, 701 22, 701 41, 701 42, 701467, 701408, 701 314, 701301, 701117, 701 93, 318430, 345442, 446456
• CPC Class Codes: B60W 50/00 Details of control systems for road vehicle drive control not related to the control of a particular sub-unit , e.g. process diagnostic or vehicle driver interfaces
• CPC Class Codes: B61L 15/0058 On-board optimisation of vehicle or vehicle train operation
• CPC Class Codes: B61L 15/0062 On-board target speed calculation or supervision
• CPC Class Codes: B61L 15/0072 On-board train data handling
• CPC Class Codes: B61L 25/00 Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
• CPC Class Codes: B61L 25/025 Absolute localisation, e.g. providing geodetic coordinates
• CPC Class Codes: B61L 3/00 Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal

Abstract

The invention relates to systems and methods that provide a higher degree of precision and a greater coordination of vehicle movement than is possible in conventional systems. A control system is designed to enforce vehicle movement along a route to a position versus time trajectory. The control system includes control equipment on the vehicle that reports its location on the track periodically. The controlling computer receives the report, and knowing where the vehicle should be and how fast it should be traveling at that point in time via a run definition table prepared for the route, calculates a position and velocity error, then calculates and sends a tractive effort adjustment command to the vehicle that attempts to reduce the position and velocity error. The invention includes a method for providing an estimated force command for a given target velocity and acceleration that can be used in the overall control methodology.

Claims

1. A method of controlling a vehicle in a transportation system, comprising:

receiving a table that defines a trajectory for the vehicle;

developing a target acceleration for the vehicle based on the trajectory;

determining, for a motor of the vehicle, a first plurality of command estimates for a corresponding plurality of acceleration values; and

using, by a computer associated with the vehicle, the target acceleration and the determined first plurality of command estimates to develop a particular command estimate to cause the vehicle to follow the defined trajectory.

2. The method according to claim 1, wherein the table comprises a plurality of jerk values for a corresponding plurality of times.

3. The method according to claim 1, wherein the determining step further includes determining a second plurality of command estimates for a corresponding plurality of velocity values, and wherein the using step includes:

obtaining a current velocity for the vehicle; and

developing the particular command estimate using the target acceleration and current velocity and the first and second pluralities of command estimates.

4. The method according to claim 1, wherein the command estimates comprise PWM command estimates that are used to control a motor of the vehicle.

5. The method according to claim 3, wherein developing the particular command estimate includes looking up PWM values associated with the target acceleration and current velocity in a predefined table.

6. The method according to claim 3, wherein determining the first and second pluralities of command estimates includes:

collecting vehicle performance data;

creating a mathematical representation of acceleration vs. velocity using the collected data;

expressing coefficients as a function of PWM values from the mathematical representation;

expressing acceleration as a function of PWM and velocity using the coefficients;

solving for PWM given a selected acceleration and velocity; and

populating a matrix of PWM values using the solution.

7. The method according to claim 6, wherein for certain command estimates, the determining further comprises:

developing a polynomial expression for certain velocity and acceleration values;

developing a continuous functions of PWM coefficients using the polynomial expression; and

using the expressions for the PWM coefficients to create a function that yields PWM values for continuous values of velocity and acceleration.

8. A system for controlling a vehicle in a transportation system, comprising:

a master computer, remote from the vehicle, that creates a table that defines a trajectory for the vehicle; and

a computer remote from the master computer that;

develops a target acceleration for the vehicle based on the trajectory;

determines, for a motor of the vehicle, a first plurality of command estimates for a corresponding plurality of acceleration values; and

uses the target acceleration and the determined first plurality of command estimates to develop a particular command estimate to cause the vehicle to follow the defined trajectory.

9. The system according to claim 8, wherein the table comprises a plurality of jerk values for a corresponding plurality of times.

10. The system according to claim 8, wherein the remote computer further determines a second plurality of command estimates for a corresponding plurality of velocity values, and wherein the remote computer develops the particular command estimate by:

obtaining a current velocity for the vehicle; and

developing the particular command estimate using the target acceleration and current velocity and the first and second pluralities of command estimates.

11. The system according to claim 8, wherein the command estimates comprise PWM command estimates that are used to control a motor of the vehicle.

12. The system according to claim 10, wherein developing the particular command estimate includes looking up PWM values associated with the target acceleration and current velocity in a predefined table.

13. The system according to claim 8, wherein the remote computer is entirely implemented in a system that is remote from the vehicle.

14. The system according to claim 8, wherein certain portions of the remote computer are implemented in a system that is remote from the vehicle, and certain other portions are implemented in the vehicle.