Rail control system and/or metho

Abstract

The system 100 can include: a fleet management system, a motion planner, a vehicle controller, and a track data system. The system can optionally include a user interface. However, the system 100 can additionally or alternatively include any other suitable set of components. The system functions to facilitate waypoint-based command, navigation, and/or control of rail vehicles within a rail network. Additionally or alternatively, the system can function to facilitate execution of the method S100 and/or sub-elements thereof.

We claim: 
     
         1 . A method comprising:
 determining a set of semantic features;   determining a motion plan comprising a sequence of commands defined relative to the set of semantic features; and   controlling a vehicle based on the motion plan, comprising:
 transforming each semantic feature of the set of semantic features into a respective set of map coordinates; and 
 autonomously controlling rail vehicle traversal to each set of map coordinates according to the sequence of commands. 
   
     
     
         2 . The method of  claim 1 , wherein the map comprises a graph of track segments. 
     
     
         3 . The method of  claim 2 , wherein each set of coordinates comprises an identifier for a track segment on the graph and a distance along the track segment. 
     
     
         4 . The method of  claim 1 , further comprising: based on the motion plan, reserving infrastructure for the vehicle. 
     
     
         5 . The method of  claim 4 , wherein the infrastructure reservations for the vehicle are determined automatically based the vehicle state and the motion plan. 
     
     
         6 . The method of  claim 4 , wherein autonomously controlling vehicle traversal to a first set of map coordinates comprises: determining an exclusive infrastructure reservation based on a current vehicle state and the first set of map coordinates; and granting autonomous proceed authority to the vehicle based on the exclusive track reservation. 
     
     
         7 . The method of  claim 4 , wherein the infrastructure comprises a railroad switch. 
     
     
         8 . The method of  claim 7 , wherein the motion plan crosses the railroad switch twice and requires a change in state of the railroad switch. 
     
     
         9 . The method of  claim 1 , wherein the set of semantic features comprises a semantic tag for a railroad control point. 
     
     
         10 . The method of  claim 1 , wherein the set of semantic features comprises a battery charger name. 
     
     
         11 . A method for rail vehicle navigation comprising:
 determining a semantic destination for a rail vehicle;   determining a route plan comprising a command referenced against the semantic destination; and   controlling the rail vehicle according to the command by transforming the semantic navigational target into a track-relative position.   
     
     
         12 . The method of  claim 11 , further comprising: automatically determining a track reservation for the rail vehicle based on the route plan. 
     
     
         13 . The method of  claim 12 , wherein the track reservation is further determined based on a vehicle state of the rail vehicle. 
     
     
         14 . The method of  claim 12 , wherein controlling the rail vehicle according to the command is responsive to a determination of autonomous proceed authorization for the rail vehicle based on the track reservation. 
     
     
         15 . The method of  claim 11 , wherein the track-relative position comprises a track segment identifier and a distance along the track segment. 
     
     
         16 . The method of  claim 15 , wherein the semantic destination indexes a set of Earth-coordinates, wherein the command is referenced against the set of Earth-coordinates. 
     
     
         17 . The method of  claim 11 , wherein the track-relative position is referenced against a track geometry, wherein the command is independent of the track geometry. 
     
     
         18 . The method of  claim 17 , wherein the track geometry is transitory. 
     
     
         19 . The method of  claim 17 , further comprising: after determining the route plan and prior to controlling the rail vehicle according to the command, updating the track geometry. 
     
     
         20 . The method of  claim 11 , wherein the route plan comprises a sequence of semantic features.