Methods and apparatus for very close following train movement

• US 6,580,976 B1
• Filed: 12/29/2000
• Issued: 06/17/2003
• Est. Priority Date: 12/30/1999
• Status: Expired due to Term

• Current Assignee: GE Global Sourcing LLC (Westinghouse Air Brake Technologies Corporation)
• Original Assignee: GE Harris Railway Electronics, LLC (GE Aerospace)
• Inventors: Belcea, John Martin
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Hernandez, Olga
• Application Number:
  US09/752,108
• Time in Patent Office: 900 Days
• Field of Search: 701/20, 701/200, 701/96, 701/93, 701/301, 340/988, 180/170
• US Class Current: 701/20
• CPC Class Codes: B60T 13/665 the systems being specially adapted for transferring two or more command signals, e.g. railway systems B60T13/662 takes precedence
• CPC Class Codes: B60T 17/18 Safety devices; Monitoring
• CPC Class Codes: B60T 17/228 for railway vehicles
• CPC Class Codes: B60T 7/128 Self-acting brakes of different types for railway vehicles B60T7/12 takes precedence; self-acting brakes in general F16D59/00
• CPC Class Codes: B61L 15/0062 On-board target speed calculation or supervision
• CPC Class Codes: B61L 23/34 for indicating the distance between vehicles or trains by the transmission of signals therebetween
• CPC Class Codes: B61L 27/20 Trackside control of safe travel of vehicle or train, e.g. braking curve calculation

Abstract

A method for increasing efficiency of operation of trains includes operating a plurality of trains as a moving sequence and regulating distances between the trains to eliminate distances in excess of safe minimum distances between the trains. Distance between a preceding train and a following train is regulated by varying speed of the following train to minimize an excess distance between the two trains. A safe minimum distance includes a safe braking distance for the following train. In a further embodiment the safe braking distance is determined based on train weight distribution. Distributed weight is determined using measurements of train position, speed, acceleration and tractive effort to estimate forces affecting the train. The forces are related to one another to obtain a matrix equation expressing the forces in terms of car weight and train weight. The equation is solved to determine car weight and train weight.

Claims

1. A method for increasing efficiency of operation of trains wherein two successive trains in the sequence include a preceding train and a following train, said method comprising:

operating a plurality of trains as a moving sequence;

determining a minimum safe distance based on a safe braking distance and a guard distance;

varying speed of the following train based on the minimum safe distance between the following train and the preceding train; and

regulating distances between the trains to eliminate distances in excess of the minimum safe distance between the trains.

2. A method in accordance with claim 1 wherein said step of determining a minimum safe distance comprises adding the safe braking distance and the guard distance to determine the minimum safe distance.

3. A method in accordance with claim 1 further comprising the step of determining the guard distance based on the safe braking distance.

4. A method in accordance with claim 1 further comprising the step of determining the guard distance based on data transmission rates of a train operating system implementing said method.

5. A method in accordance with claim 1 wherein any separation distance in excess of the minimum safe distance between the following train and the preceding train constitutes an excess distance, said method further comprises using positions and speeds of the two successive trains to determine the minimum safe distance and any excess distance between the two trains.

6. A method in accordance with claim 1 wherein the plurality of trains includes a lead train and following trains, said operating a plurality of trains as a moving sequence further comprises:

operating the lead train using an engineer;

communicating to the following trains via a wireless communications link; and

automating operation of the following trains based on data received from the wireless communications link.

7. A method in accordance with claim 6 wherein the trains are operated on tracks, said step of operating a plurality of trains further comprises the step of the lead train engineer observing track signals.

8. A method in accordance with claim 1 wherein the trains are operated on tracks, said operating a plurality of trains as a moving sequence comprises:

determining track speed restrictions for the path of travel of the trains;

communicating track speed restrictions to each of the plurality of trains; and

observing, by each of the plurality of trains, the track speed restrictions.

9. A method in accordance with claim 8 wherein said communicating track speed restrictions comprises:

downloading the speed restrictions to a computer for each train; and

updating the speed restrictions during train operation.

10. A method in accordance with claim 1 wherein said operating a plurality of trains as a moving sequence comprises operating each train using a single locomotive on each train.

11. A method in accordance with claim 1 wherein said operating a plurality of trains as a moving sequence further comprises moving at least two of the trains into the sequence on a single track from positions on at least two generally parallel tracks.

12. A method in accordance with claim 1 wherein said regulating distances between the trains comprises determining the minimum safe distance between two successive trains at various times using reports of position and speed of the two trains.

13. A method for increasing efficiency of operation of trains wherein two successive trains in the sequence include a preceding train and a following train and any separation distance in excess of a minimum safe distance between the following train and the preceding train constitutes an excess distance, said method comprising:

operating a plurality of trains as a moving sequence;

determining current positions of the two successive trains using a positioning system;

using the positions and speeds of the two successive trains to determine the minimum safe distance and any excess distance between the two trains;

varying speed of the following train based on the minimum safe distance between the following train and the preceding train; and

regulating distances between the trains to eliminate distances in excess of the minimum safe distance between the trains.

14. A method for increasing efficiency of operation of trains wherein two successive trains in the sequence include a preceding train and a following train and any separation distance in excess of a minimum safe distance between the following train and the preceding train constitutes an excess distance, said method comprising:

operating a plurality of trains as a moving sequence;

reporting current position and speed of the preceding train to the following train;

using positions and speeds of the two successive trains to determine the minimum safe distance, based on a safe braking distance and a guard distance, and any excess distance between the two trains;

varying speed of the following train based on the minimum safe distance between the following train and the preceding train; and

regulating distances between the trains to eliminate distances in excess of the minimum safe distance between the trains.

15. A method for increasing efficiency of operation of trains wherein two successive trains in the sequence include a preceding train and a following train and any separation distance in excess of a minimum safe distance between the following train and the preceding train constitutes an excess distance, said method comprising:

operating a plurality of trains as a moving sequence;

reporting current position and speed of the following train to the preceding train;

using the report to determine a time for a next report by the preceding train for transmission to the following train;

using positions and speeds of the two successive trains to determine the minimum safe distance and any excess distance between the two trains;

varying speed of the following train based on the minimum safe distance between the following train and the preceding train; and

regulating distances between the trains to eliminate distances in excess of the minimum safe distance between the trains.

16. A method for increasing efficiency of operation of trains wherein two successive trains in the sequence include a preceding train and a following train and any separation distance in excess of a minimum safe distance between the following train and the preceding train constitutes an excess distance, said method comprising:

operating a plurality of trains as a moving sequence;

using position and speed of the following train to determine a distribution of weight of the following train;

using positions and speeds of the two successive trains to determine the minimum safe distance and any excess distance between the two trains;

varying speed of the following train based on the minimum safe distance between the following train and the preceding train; and

regulating distances between the trains to eliminate distances in excess of the minimum safe distance between the trains.

17. A method in accordance with claim 16 wherein said step of using position and speed of the following train to determine a distribution of weight of the following train further comprises the steps of:

determining a grade force in accordance with;

$\mathrm{Grade\_force}=\underset{\mathrm{number\_of}<br><br>\mathrm{\_cars}}{\sum <br><br>}<br><br>{\mathrm{\theta <br><br>}}_i<br><br>w_i$

where θ

_i represents a grade under an i^th car and w_i represents a weight in tons of the i^th car;

determining a curve force in accordance with;

18. A method in accordance with claim 17 further comprising the steps of:

using track curvature and front and rear positions of the following train to determine a length of the following train; and

using the train length to estimate the number of cars and the number of axles.

19. A method in accordance with claim 18 wherein said step of using track curvature and front and rear positions of the following train further comprises the step of obtaining the track curvature and front and rear positions using a positioning system.

20. A method in accordance with claim 17 further comprising the step of maintaining track curvature and grade in a track database.

21. A method for estimating distributed weight of a moving train including at least one car, the at least one car including a locomotive, said method comprising the steps of:

at various times, using measurements of train tractive effort, speed and acceleration to estimate a plurality of frictional and aerodynamic forces affecting the train;

at various times, relating the estimated forces to one another to obtain a matrix equation expressing the forces in terms of car weight and train weight; and

solving the matrix equation to determine car weight and train weight.

22. A method in accordance with claim 21 wherein said step of using measurements of train tractive effort, speed and acceleration further comprises the steps of:

at various times, determining current positions and speeds of the train using a positioning system; and

at various times, determining a track grade using a track database.

23. A method in accordance with claim 22 further comprising the step of determining, at various times, a track curvature using the positioning system.

24. A method in accordance with claim 21 wherein said step of using measurements of train tractive effort, speed and acceleration comprises the steps of:

determining a grade force in accordance with;

$\mathrm{Grade\_force}=\underset{\mathrm{number\_of}<br><br>\mathrm{\_cars}}{\sum <br><br>}<br><br>{\mathrm{\theta <br><br>}}_i<br><br>w_i$

where θ

_i represents a grade under an i^th car and w_i represents a weight in tons of the i^th car;

determining a curve force in accordance with;

25. A method in accordance with claim 24 further comprising the step of maintaining track grade and curvature, as functions of track location, in a track database.

26. A method in accordance with claim 24 wherein said step of relating the estimated forces to one another to obtain a matrix equation comprises the step of substituting the estimated forces into a force balance equation in accordance with:

27. A method in accordance with claim 26 further comprising the step of obtaining a matrix equation in accordance with:

$A+\left(\sum <br><br>18<br><br>N_i+\frac{C_i<br><br>a_i<br><br>v^2}{{10}^4}\right)=\frac{\mathrm{Te}}{M}-\underset{\mathrm{number\_of}<br><br>\mathrm{\_cars}}{\sum <br><br>}<br><br>\left({\mathrm{\theta <br><br>}}_i+0.17<br><br>\text{\hspace{1em}<br><br>}<br><br>{\mathrm{\phi <br><br>}}_i+1.5+0.03<br><br>\text{\hspace{1em}<br><br>}<br><br>v\right)<br><br>\frac{w_i}{M}$

where Te represents the tractive effort of the train.

28. A method in accordance with claim 26 further comprising the step of minimizing a mean square error in accordance with:

$\underset{\underset{y}{\mathrm{<br><br>}}}{\left[\begin{array}{c}A+\sum <br><br>18<br><br>N_i+\frac{C_i<br><br>a_i<br><br>v^2}{{10}^4}\\ \mathrm{⋮<br><br>}\end{array}\right]}=\underset{\underset{A}{\mathrm{<br><br>}}}{\left[\begin{array}{ccccc}{\mathrm{Te}}^1& b_1^1& b_2^1& \mathrm{\dots <br><br>}& b_{\mathrm{″<br><br>}}^1\\ {\mathrm{Te}}^2& b_1^2& b_2^2& \mathrm{\dots <br><br>}& b_{\mathrm{″<br><br>}}^2\\ \text{\hspace{1em}<br><br>}& \text{\hspace{1em}<br><br>}& \mathrm{⋮<br><br>}& \text{\hspace{1em}<br><br>}& \text{\hspace{1em}<br><br>}\end{array}\right]}<br><br>\underset{\underset{y}{\mathrm{<br><br>}}}{\left[\begin{array}{c}\frac{1}{M}\\ \frac{w_1}{M}\\ \frac{w_2}{M}\\ \mathrm{⋮<br><br>}\\ \frac{w_n}{M}\end{array}\right]}+\mathrm{Error}<br><br>\text{\hspace{1em}<br><br>}$

where;

29. A method in accordance with claim 28 wherein the step of solving the matrix equation to determine car weight and train weight comprises the step of determining car weight and train weight in accordance with:

30. A method in accordance with claim 29 wherein the train includes a plurality of cars, said method further comprising the steps of:

dividing the train into blocks of cars; and

reducing a number of computations for determining car weight and train weight.

31. A train operating system for operating a convoy of trains, wherein two successive trains in the convoy include a preceding train and a following train, said train operating system comprising:

for each train, a processor configured to interface with speed controls of the train and determine a distance between two successive trains based on speeds and positions of the two successive trains;

a communications system configured to interface with each said processor; and

a positioning system configured to interface with each said processor;

said train operating system configured to;

determine a minimum safe distance between the following train and the preceding train using distributed weight of one of the trains;

vary speed of the following train based on a minimum safe distance; and

eliminate distances in excess of safe minimum distances between the trains.

32. A train operating system in accordance with claim 31 further configured to determine distributed weight of one of the trains in accordance with:

$\underset{\underset{y}{\mathrm{<br><br>}}}{\left[\begin{array}{c}A+\sum <br><br>\text{\hspace{1em}<br><br>}<br><br>18<br><br>N_i+\frac{C_i<br><br>a_i<br><br>v^2}{{10}^4}\\ \mathrm{⋮<br><br>}\end{array}\right]}=\underset{\underset{A}{\mathrm{<br><br>}}}{\left[\begin{array}{ccccc}{\mathrm{Te}}^1& b_1^1& b_2^1& \mathrm{\cdots <br><br>}& b_n^1\\ {\mathrm{Te}}^2& b_1^2& b_2^2& \mathrm{\cdots <br><br>}& b_n^2\\ \text{\hspace{1em}<br><br>}& \text{\hspace{1em}<br><br>}& \mathrm{⋮<br><br>}& \text{\hspace{1em}<br><br>}& \text{\hspace{1em}<br><br>}\end{array}\right]}<br><br>\underset{\underset{x}{\mathrm{<br><br>}}}{\left[\begin{array}{c}\frac{1}{M}\\ \frac{w_1}{M}\\ \frac{w_2}{M}\\ \mathrm{⋮<br><br>}\\ \frac{w_n}{M}\end{array}\right]}+\mathrm{Error}$

where;

33. A train operating system for operating a convoy of trains, wherein two successive trains in the convoy include a preceding train and a following train, said train operating system comprising:

for each train, a processor configured to interface with speed controls of the train, determine a distance between two successive trains based on speeds and positions of the two successive trains, and determine a minimum safe distance between the following train and the preceding train based on a safe braking distance and a guard distance;

a communications system configured to interface with each said processor; and

a positioning system configured to interface with each said processor;

said train operating system configured to;

vary speed of the following train based on a minimum safe distance; and

eliminate distances in excess of safe minimum distances between the trains.

34. A train operating system in accordance with claim 33 wherein said processor further configured to sum the safe braking distance and the guard distance to determine the minimum safe distance.

35. A train operating system in accordance with claim 33 wherein said processor further configured to determine the guard distance based on the safe braking distance.

36. A train operating system for operating a convoy of trains, wherein two successive trains in the convoy include a preceding train and a following train, said train operating system comprising:

for each train, a processor configured to interface with speed controls of the train and determine a distance between two successive trains based on speeds and positions of the two successive trains;

a communications system configured to interface with each said processor; and

a positioning system configured to interface with each said processor;

said train operating system configured to;

vary speed of the following train based on a minimum safe distance between the following train and the preceding train;

vary speed to eliminate an excess distance between the following train and the preceding train; and

eliminate distances in excess of safe minimum distances between the trains.

37. A train operating system in accordance with claim 36 wherein said communications system further comprises a dispatching center configured to process reports from and to the trains.

38. A train operating system in accordance with claim 36 wherein said positioning system comprises a global positioning system.

39. A train operating system in accordance with claim 36 further comprising a track database configured to:

make available track speed restrictions to said processors; and

update the restrictions during train travel.

40. A train operating system in accordance with claim 36 wherein said processor further configured to use a position and speed of the preceding train to determine the excess distance between the following train and the preceding train.

41. A train operating system for operating a convoy of trains, said train operating system comprising:

for each train, a processor configured to interface with speed controls of the train and determine a distance between two successive trains based on speeds and positions of the two successive trains;

a communications system configured to interface with each said processor and report train current positions and speeds to each said processor; and

a positioning system configured to interface with each said processor, said train operating system configured to eliminate distances in excess of safe minimum distances between the trains.

42. A system for determining a safe braking distance for a train having at least one car moving on a track, said system comprising:

a positioning system and a processor, said positioning system configured to transmit information to said processor for determining a current position of the train, said processor configured to determine a braking distance using the current position of the train and distributed weight of the train; and

a communications system and a track database, said communications system configured to transmit information between said track database and said processor for determining distributed weight of the train, said track database configured to maintain information as to track grade for transmission to said processor.

43. A system in accordance with claim 42 wherein said processor further configured to determine distributed weight of the train using measurements of train acceleration, speed and tractive effort.

44. A system in accordance with claim 43 said processor further configured to:

at various times, use the measurements of train tractive effort, speed and acceleration to estimate a plurality of frictional and aerodynamic forces affecting the train;

at various times, relate the estimated forces to one another to obtain a matrix equation expressing the forces in terms of car weight and train weight; and

solve the matrix equation to determine car weight and train weight.

45. A system in accordance with claim 44 wherein said processor further configured to:

at various times, determine current positions and speeds of the train using said positioning system; and

at various times, determine the track grade using said track database.

46. A system in accordance with claim 45 wherein said processor further configured to determine, at various times, a track curvature using said positioning system.

47. A system in accordance with claim 44 wherein said processor further configured to:

determine a grade force in accordance with;

$\mathrm{Grade\_force}=\underset{\mathrm{number\_of}<br><br>\mathrm{\_cars}}{\sum <br><br>}<br><br>\text{\hspace{1em}<br><br>}<br><br>{\mathrm{\theta <br><br>}}_i<br><br>w_i$

where θ

_i represents a grade under an i^th car and w_i represents a weight in tons of the i^th car;

determine a curve force in accordance with;

48. A system in accordance with claim 44 wherein said processor further configured to substitute the estimated forces into a force balance equation in accordance with:

49. A system in accordance with claim 48 wherein said processor further configured to obtain a matrix equation in accordance with:

$A+\left(\sum <br><br>\text{\hspace{1em}<br><br>}<br><br>18<br><br>N_i+\frac{C_i<br><br>a_i<br><br>v^2}{{10}^4}\right)=\frac{\mathrm{Te}}{M}-\underset{\mathrm{number\_of}<br><br>\mathrm{\_cars}}{\sum <br><br>}<br><br>\text{\hspace{1em}<br><br>}<br><br>\left({\mathrm{\theta <br><br>}}_i+0.17<br><br>\text{\hspace{1em}<br><br>}<br><br>{\mathrm{\phi <br><br>}}_i+1.5+0.03<br><br>v\right)<br><br>\frac{w_i}{M}$

where Te represents the tractive effort of the train.

50. A system in accordance with claim 49 wherein said processor further configured to minimize a mean square error in accordance with:

$\underset{\underset{y}{\mathrm{<br><br>}}}{\left[\begin{array}{c}A+\sum <br><br>\text{\hspace{1em}<br><br>}<br><br>18<br><br>N_i+\frac{C_i<br><br>a_i<br><br>v^2}{{10}^4}\\ \mathrm{⋮<br><br>}\end{array}\right]}=\underset{\underset{A}{\mathrm{<br><br>}}}{\left[\begin{array}{ccccc}{\mathrm{Te}}^1& b_1^1& b_2^1& \mathrm{\cdots <br><br>}& b_n^1\\ {\mathrm{Te}}^2& b_1^2& b_2^2& \mathrm{\cdots <br><br>}& b_n^2\\ \text{\hspace{1em}<br><br>}& \text{\hspace{1em}<br><br>}& \mathrm{⋮<br><br>}& \text{\hspace{1em}<br><br>}& \text{\hspace{1em}<br><br>}\end{array}\right]}<br><br>\underset{\underset{x}{\mathrm{<br><br>}}}{\left[\begin{array}{c}\frac{1}{M}\\ \frac{w_1}{M}\\ \frac{w_2}{M}\\ \mathrm{⋮<br><br>}\\ \frac{w_n}{M}\end{array}\right]}+\mathrm{Error}$

where;

51. A system in accordance with claim 50 wherein said processor further configured to determine car weight and train weight in accordance with:

52. A system in accordance with claim 51 wherein the train includes a plurality of cars, said processor further configured to:

divide the train into blocks of cars; and

reduce a number of computations for determining car weight and train weight.

53. A system in accordance with claim 42 wherein said track database further configured to maintain track grade and curvature as functions of track location.