System and/or method for platooning

Abstract

In variants, the system can include a set of vehicles, cooperatively capable of forming a platoon. Each vehicle within the platoon can be configured to operate based on feedback from other vehicles within the platoon. In examples, a vehicle can selectively brake based on feedback from other vehicles within the platoon.

We claim: 
     
         1 . A self-propelled railcar comprising:
 a body structure; and   a pair of bogies supporting the body structure, at least one bogie of the pair comprising:
 a powertrain mechanically coupled to the body structure; 
 a bumper; 
 a sensor coupled to the bumper and configured to measure contact force at the bumper; and 
 a controller onboard the bogie and communicatively coupled to the sensor, the controller configured to control the powertrain based on a platoon control target and measurements from the sensor. 
   
     
     
         2 . The self-propelled railcar of  claim 1 , wherein the powertrain comprises a battery-electric powertrain. 
     
     
         3 . The self-propelled railcar of  claim 2 , wherein controlling the powertrain comprises regeneratively braking with the battery-electric powertrain. 
     
     
         4 . The self-propelled railcar of  claim 1 , wherein the sensor comprises a load cell. 
     
     
         5 . The self-propelled railcar of  claim 1 , wherein the sensor comprises a displacement sensor. 
     
     
         6 . The self-propelled railcar of  claim 1 , wherein the bumper is mechanically coupled to the bogie with a set of springs. 
     
     
         7 . The self-propelled railcar of  claim 1 , wherein the controller is further configured to control a brake system responsive to a determination of a coordinated braking event. 
     
     
         8 . The self-propelled railcar of  claim 7 , wherein the brake system comprises a pneumatic brake system coupled to a plurality of railcars. 
     
     
         9 . The self-propelled railcar of  claim 7 , wherein the coordinated braking event is determined based on a wireless signal received by the controller. 
     
     
         10 . The self-propelled railcar of  claim 7 , wherein the controller is further configured to control the brake system based on measurements from the sensor. 
     
     
         11 . A system comprising:
 a plurality of railcars, wherein a first railcar of the plurality which is at a first end of the plurality, comprising:
 a bumper configured to compressively contact an adjacent vehicle of a platoon; 
 a force sensor coupled to the bumper and configured to measure a compressive contact force at the bumper; and 
 a controller coupled to the force sensor, the controller configured to autonomously control a brake system of the plurality of railcars, based on the compressive contact force, to maintain compressive contact at the bumper. 
   
     
     
         12 . The system of  claim 11 , wherein the brake system comprises a respective set of brakes of each railcar of the plurality of railcars. 
     
     
         13 . The system of  claim 12 , wherein the brake system is a pneumatic brake system. 
     
     
         14 . The system of  claim 12 , wherein the controller is configured to autonomously control the brake system responsive to a determination of a coordinated braking event for the platoon. 
     
     
         15 . The system of  claim 14 , wherein the coordinated braking event is determined at the controller based on receipt of a wireless signal. 
     
     
         16 . The system of  claim 11 , wherein the railcars of the plurality of railcars are mechanically coupled in series. 
     
     
         17 . A system comprising:
 a railcar comprising a body structure and a pair of bogies supporting the body structure, the railcar further comprising:
 a powertrain mounted to a bogie of the pair; 
 a bumper; 
 a sensor coupled to the bumper and configured to measure contact force at the bumper; and 
 a controller onboard the bogie and communicatively coupled to the sensor, the controller configured to control the powertrain based on a platoon control target and measurements from the sensor. 
   
     
     
         18 . The system of  claim 17 , wherein the controller is further configured to:
 autonomously control the electric powertrain based on the compressive contact force to achieve a platoon control target for a platoon; and   control a brake system responsive to a determination of a coordinated braking event for the platoon.   
     
     
         19 . The system of  claim 18 , wherein the brake system comprises a pneumatic brake system coupled to a plurality of railcars. 
     
     
         20 . The system of  claim 18 , wherein the controller is further configured to control the brake system based on the contact force measurements from the sensor.