Rail authority system and/or method

Abstract

The system 100 can include: a railroad integration system, a motion planner, a vehicle controller, an optional user interface (UI), an optional fleet management system, and an optional track data system. However, the system 100 can additionally or alternatively include any other suitable set of components. The system functions to facilitate vehicle control and/or manage authority within a rail network.

We claim: 
     
         1 . A method, comprising:
 with a first computing system, determining a motion plan for an autonomous rail vehicle based on a set of track rules;   based on the motion plan and a position of the autonomous rail vehicle, dynamically determining an exclusive track reservation for the autonomous rail vehicle;   based on the exclusive track reservation and using a communication system, transmitting a set of commands, wherein the set of commands directs operation of the autonomous rail vehicle;   based on transmission of the set of commands, determining a set of location parameters associated with the autonomous rail vehicle; and   based on the set of location parameters, performing an action at the first computing system.   
     
     
         2 . The method of  claim 1 , wherein the action comprises transmitting an instruction for a second rail vehicle. 
     
     
         3 . The method of  claim 2 , wherein the instruction for the second rail vehicle is determined based on the exclusive track reservation. 
     
     
         4 . The method of  claim 1 , wherein dynamically determining the exclusive track reservation comprises using an predetermined map of signal connectivity. 
     
     
         5 . The method of  claim 1 , wherein determining the exclusive track reservation comprises determining a physical length of the exclusive track reservation. 
     
     
         6 . The method of  claim 5 , wherein the physical length is based on a location of a switch. 
     
     
         7 . The method of  claim 1 , wherein determining the exclusive track reservation comprises determining a temporal duration of the exclusive reservation. 
     
     
         8 . The method of  claim 7 , wherein the temporal duration is based on an expiration parameter. 
     
     
         9 . The method of  claim 7 , wherein the temporal duration is based on the set of track rules. 
     
     
         10 . The method of  claim 1 , wherein the motion plan is based on a track warrant for a railroad authority. 
     
     
         11 . The method of  claim 10 , wherein the exclusive track reservation is spatially a strict subset of the track warrant. 
     
     
         12 . A system comprising:
 a transmitter;   a computing system; and   a non-transitory computer readable medium storing instructions executable by the computing system, wherein, when executed by the computing system, the instructions cause the computing system to perform a set of steps, the set of steps comprising:
 determining a motion plan for a rail vehicle based on a set of track rules; 
 based on the motion plan and a first set of location parameters associated with the rail vehicle, dynamically determining an exclusive track reservation for the rail vehicle; 
 based on the exclusive track reservation, controlling the transmitter to transmit a set of commands for a control system of the rail vehicle; and 
 based on the set of commands, determining a second set of location parameters associated with the rail vehicle. 
   
     
     
         13 . The system of  claim 12 , further comprising a computer memory which persistently stores a set of exclusive track reservations determined by the computing system, wherein dynamically determining the exclusive track reservation comprises updating the set of exclusive track reservations within the computer memory. 
     
     
         14 . The system of  claim 12 , wherein the instructions further comprise commanding a second rail vehicle based on the exclusive track reservation. 
     
     
         15 . The system of  claim 12 , wherein determining the exclusive track reservation comprises determining a spatial length of the exclusive track reservation. 
     
     
         16 . The system of  claim 15 , wherein the spatial length of the exclusive track reservation is based on a position of a switch. 
     
     
         17 . A method comprising:
 at a first time, receiving, at a radio communication system of a rail vehicle, a wireless signal comprising a set of commands for the rail vehicle, wherein the set of commands are associated with a dynamically-sized track reservation for the rail vehicle;   at a computing system of the rail vehicle, autonomously executing the set of commands;   responsive to receiving the set of commands, transmitting a vehicle state via the radio communication system;   at a second time, determining satisfaction of a trigger condition based on receipt of the wireless signal at the first time; and   responsive to satisfaction of the trigger condition, executing a stop command at the computing system of the rail vehicle.   
     
     
         18 . The method of  claim 17 , wherein the trigger condition comprises failing to receive a second set of commands within a period of command validity. 
     
     
         19 . The method of  claim 17 , further comprising: controlling a plurality of follower rail vehicles behind the rail vehicle, wherein the rail vehicle and the plurality of follower rail vehicles cooperatively define a platoon of rail vehicles. 
     
     
         20 . The method of  claim 17 , wherein the trigger condition comprises the rail vehicle crossing a spatial boundary.