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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
First Claim
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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.

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