Remote rail monitoring system and/or method

Abstract

The system can include: a vehicle and a remote operator platform. The system can optionally include or be used with a motion planner and a set of remote data systems. However, the system can additionally or alternatively include any other suitable set of components. The system can function to facilitate remote monitoring of a vehicle system(s), such as an unmanned rail vehicle, and/or positive train control (PTC) when operating under speed-restriction rules. Additionally, the system can function to facilitate remote monitoring, tele-operation, and/or exception handling across multiple vehicles/trains by a single operator. Additionally, the system can function to adjust command of a remotely monitored vehicle based on the observability of the environment and/or response capability of a remote monitor/tele-operator (e.g., based on line-of-sight, video latency, etc.).

We claim: 
     
         1 . A method comprising:
 providing a timestamped video frame to a remote operator, the timestamped video frame captured at a rail vehicle;   based on a set of inputs received from the remote operator, determining a first distance for the rail vehicle;   determining a second distance based on the first distance;   determining a set of commands based on the second distance and a timestamp of the timestamped video frame; and   providing the set of commands to the rail vehicle, wherein the rail vehicle autonomously operates based on the set of commands.   
     
     
         2 . The method of  claim 1 , further comprising: based on a second set of inputs from the remote operator, determining a set of halt instructions for the rail vehicle; and providing the set of halt instructions to the rail vehicle. 
     
     
         3 . The method of  claim 1 , further comprising determining a remote operation request based on a set of track rules and a position of the rail vehicle, wherein the timestamped video frame is provided to the remote operator responsive to the remote operation request. 
     
     
         4 . The method of  claim 3 , wherein the remote operation request is responsive to a determination that the rail vehicle is approaching a restricted speed track region. 
     
     
         5 . The method of  claim 1 , wherein the set of commands instruct the rail vehicle to enter a restricted speed track region. 
     
     
         6 . The method of  claim 1 , wherein providing the timestamped video frame to the remote operator further comprises displaying an overlay comprising a first line-of-sight indicator, wherein a position of the first line-of-sight indicator is based on the set of inputs. 
     
     
         7 . The method of  claim 6 , wherein the overlay further comprises a visual representation of a vehicle path plan. 
     
     
         8 . The method of  claim 6 , wherein the first distance is based on the position of the first line-of-sight indicator. 
     
     
         9 . The method of  claim 6 , further comprising: providing a second timestamped video frame and a second line-of-sight indicator to the remote operator, wherein the second line-of-sight indicator is based on the first distance and is overlayed with the second timestamped video frame. 
     
     
         10 . The method of  claim 9 , wherein an arrangement of the second line-of-sight indicator is based on an updated position of the rail vehicle at a second timestamp associated with the second timestamped video frame. 
     
     
         11 . The method of  claim 9 , wherein the second line-of-sight indicator is overlaid with the second timestamped video frame based on an observed track pixel width. 
     
     
         12 . The method of  claim 1 , wherein the timestamped video frame is from a timestamped WebRTC stream. 
     
     
         13 . The method of  claim 1 , wherein the first distance is a line-of-sight distance in an environment depicted in the timestamped video frame. 
     
     
         14 . The method of  claim 13 , wherein the second distance is a proceed authorization distance which constrains autonomous operation of the rail vehicle. 
     
     
         15 . The method of  claim 13 , wherein the second distance is a predetermined fraction of the first distance. 
     
     
         16 . The method of  claim 13 , further comprising adjusting the second distance based on a communication latency between the rail vehicle and the remote operator. 
     
     
         17 . The method of  claim 1 , wherein the autonomous operation of the rail vehicle is based on a set of waypoints. 
     
     
         18 . The method of  claim 1 , further comprising providing video frames to the remote operator at dynamic intervals. 
     
     
         19 . The method of  claim 1 , wherein the first distance is constrained based on an observed position of an environmental feature. 
     
     
         20 . The method of  claim 1 , wherein the second distance is constrained based on a position of a switch.