AU2007289022B2 - Trip optimization system and method for a train - Google Patents

Abstract

(12) INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT) (19) World Intellectual Property Organization International Bureau (43) International Publication Date (10) International Publication Number 19 June 2008 (19.06.2008) PCT WO 2008/073547 A2 (51) International Patent Classification: (US). DAUM, Wolfgang [US/US]; 5228 Annendale B61L 3/00 (2006.01) Drive, Erie, PA 16506 (US). (21) International Application Number: (74) Agents: CONKLIN, Mark, A. et al.; General Electric PCT/US2007/078026 Company, Global Patent Operation, 187 Danbury Road, Suite 204, Wilton, CT 06897 (US). (22) International Filing Date: (81) Designated States (unless otherwise indicated, for every 10 September 2007 (10.09.2007) kind of national protection available): AE, AG, AL, AM, AT, AU, AZ, BA, BB, BG, BH, BR, BW, BY, BZ, CA, CI, (25) Filing Language: English CN, CO, CR, CU, CZ, DE, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GI, GM, GT, HN, HR, IHU, ID, IL, (26) Publication Language: English IN, IS, JP, KE, KG, KM, KN, KP, KR, KZ, LA, LC, LK, (30) Priority Data: LR, LS, LT, LU, LY, MA, MD, ME, MG, MK, MN, MW, 11/608,066 7 December2006 (07.12.2006) US MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PG, PH, PL, 11/608,257 8 December 2006 (08.12.2006) US PT, RO, RS, RU, SC, SD, SE, SG, SK, SL, SM, SV, SY, 60/894,006 9 March 2007 (09.03.2007) US TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, 11/750,716 18 May 2007 (18.05.2007) US ZM, ZW. (84) Designated States (unless otherwise indicated, for every (71) Applicant (for all designated States except US): GEN- kind of regional protection available): ARIPO (BW, GI, ERAL ELECTRIC COMPANY [US/US]; 1 River Road, GM, KE, LS, MW, MZ, NA, SD, SL, SZ, TZ, UG, ZM, Schenectady, NY 12345 (US). ZW), Eurasian (AM, AZ, BY, KG, KZ, MD, RU, TJ, TM), European (AT, BE, BG, CI, CY, CZ, DE, DK, EE, ES, FI, (72) Inventors; and FR, GB, GR, HU, IE, IS, IT, LT, LU, LV, MC, MT, NL, PL, (75) Inventors/Applicants (for US only): KUMAR, Ajith, PT, RO, SE, SI, SK, TR), OAPI (BF, BJ, CF, CG, CI, CM, Kuttannair [US/US]; 528 Donna Drive, Erie, PA 16509 GA, GN, GQ, GW, ML, MR, NE, SN, TD, TG). [Continued on next page] (54) Title: TRIP OPTIMIZATION SYSTEM AND METHOD FOR A TRAIN 42-, 7 T3 3 40 - j e (57) Abstract: A control system for operating a diesel powered system having at least one diesel-fueled power generating unit, O the system including a mission optimizer that determines at least one setting be used by the diesel-fueled power generating unit, '1a converter that receives at least one of information that is to be used by the diesel-fueled power generating unit and converts the Information to an acceptable signal a sensor to collect at least one operational data from the diesel powered system that is communi Scated to the mission optimizer, and a communication system that provides for a closed control loop between the mission optimizer, converter, and sensor. W O 2008/073547 A2 ||||||||||||||H||||||||||||||||||||||||||I|||HI|||||||||||||I|||||||ID|||||||||||||||||||||| Declarations under Rule 4.17: Published: - as to applicant's entitlement to apply for and be granted a - without international search report and to be republished patent (Rule 4.17(ii)) upon receipt of that report - as to the applicant's entitlement to claim the priority of the earlier application (Rule 4.17(iii))

Description

WO 2008/073547 PCT/US2007/078026 TRIP OPTIMIZATION SYSTEM AND METHOD FOR A TRAIN CROSS-REFERENCE TO RELATED APPLICATIONS [01] This application is based on U.S. Provisional Application No. 60/894,006, and is a Continuation-In-Part of U.S. Application No. 11/385,354 filed on March 20, 2006. FIELD OF THE INVENTION [02] The field of invention relates to optimizing train operations, and more particularly to monitoring and controlling a train's operations to improve efficiency while satisfying schedule constraints. BACKGROUND OF THE INVENTION [03] Diesel powered systems such as, but not limited to, off-highway vehicles, marine diesel powered propulsion plants, stationary diesel powered system and rail vehicle systems, or trains, usually are powered by a diesel power unit. With respect to rail vehicle systems, the diesel power unit is part of at least one locomotive and the train further includes a plurality of rail cars, such as freight cars. Usually more than one locomotive is provided wherein the locomotives are considered a locomotive consist. Locomotives are complex systems with numerous subsystems, with each subsystem being interdependent on other subsystems.

WO 2008/073547 PCT/US2007/078026 [04] An operator is aboard a locomotive to insure the proper operation of the locomotive and its associated load of freight cars. In addition to insuring proper operations of the locomotive the operator also is responsible for determining operating speeds of the train and forces within the train that the locomotives are part of. To perform this function, the operator generally must have extensive experience with operating the locomotive and various trains over the specified terrain. This knowledge is needed to comply with prescribeable operating speeds that may vary with the train location along the track. Moreover, the operator is also responsible for assuring in-train forces remain within acceptable limits. [05] FIG. 11 depicts a prior art block diagram of how a rail vehicle is presently controlled. An operator 649 controls the rail vehicle 653 by manually moving a master controller 651 device to a specific setting. Though a master controller is illustrated, those skilled in the art will readily recognize that other system controlling devices may be used in place of the master controller 651. Therefore the term master controller is not intended to be a limiting term. The operator 649 determines the setting or position of the master controller 651 based a plurality of factors including, but not limited to, current speed, desired speed, emission requirements, tractive effect, desired horse power, information provided remotely, etc. 654. [06] However, even with knowledge to assure safe operation, the operator cannot usually operate the locomotive so that the fuel consumption is minimized for each trip. For example, other factors that must be considered may 2 WO 2008/073547 PCT/US2007/078026 include emission output, operator's environmental conditions like noise/vibration, a weighted combination of fuel consumption and emissions output, etc. This is difficult to do since, as an example, the size and loading of trains vary, locomotives and their fuel/emissions characteristics are different, and weather and traffic conditions vary. Operators could more effectively operate a train if they were provided with a means to determine the best way to drive the train on a given day to meet a required schedule (arrival time) while using the least fuel possible, despite sources of variability. [07] Likewise, owners and/or operators of off-highway vehicles, marine diesel powered propulsion plants, and/or stationary diesel powered systems would appreciate the financial benefits realized when these diesel powered system produce optimize fuel efficiency and emission output so as to save on overall fuel consumption while minimizing emission output while meeting operating constraints, such as but not limited to mission time constraints. BRIEF DESCRIPTION OF THE INVENTION [08] Embodiments of the invention disclose a control system for operating a diesel powered system having at least one diesel-fueled power generating unit. The system includes a mission optimizer that determines at least one setting be used by the diesel-fueled power generating unit. A converter is also disclosed that receives at least one of information that is to be used by the diesel-fueled power generating unit and converts the information to an acceptable signal. A sensor to collect at least one operational data from the 3 WO 2008/073547 PCT/US2007/078026 diesel powered system that is communicated to the mission optimizer is further disclosed. A communication system is provided for establishing a closed control loop between the mission optimizer, converter, and sensor. [09] Another exemplary embodiment of the invention discloses a method for controlling operations of a diesel powered system having at least one diesel-fueled power generating unit. The method includes a step for determining at least one of an optimized setting for the diesel-fueled power generating unit. Another step involves converting at least one optimized setting to an recognizable input signal for the diesel-fueled power generating unit. Yet another step is determining at least one operational condition of the diesel powered system when at least one optimized setting is applied. Another step includes communicating within a closed control loop to an optimizer the at least one operational condition so that the at least operational condition is used to further optimize at least one setting. [010] Another exemplary embodiment discloses a computer software code for operating a diesel powered system having a computer and at least one diesel-fueled power generating unit. The computer software code includes a computer software module for determining at least one of a setting for the diesel fueled power generating unit, and a computer software module for converting at least one setting to an recognizable input signal for the diesel-fueled power generating unit. A computer software module for determining at least one operational condition of the diesel powered system when at least one setting is applied is further disclosed. A computer software module is also disclosed for 4 C \N~PonbI\DCC\W{S\4704319-1 DOC.26/1/2f12 communicating in a closed control loop to an optimizer the at least one operational condition so that the at least operational condition is used to further optimize at least one setting. [01Oa] In another embodiment, there is provided a control system for operating a vehicle, comprising: a mission optimizer on board the vehicle and configured to determine a trip plan for a trip of the vehicle, the trip plan comprising plural speed, power, and/or throttle settings as a function of time and/or distance of the vehicle along a route of the trip, based on information of the vehicle and information of the route, wherein the mission optimizer is configured to determine the trip plan before the vehicle commences a trip along the route, and wherein the mission optimizer is further configured to output signals relating to the plural speed, power, and/or throttle settings for control of an engine system of the vehicle along the route; a sensor on board the vehicle configured to collect operational data of the vehicle, the operational data comprising data of a vehicle speed as the vehicle travels along the route; and a communication system on board the vehicle configured to communicate the operational data to the mission optimizer; wherein the mission optimizer is configured to change the outputted signals relating to the speed, power, and/or throttle settings as the vehicle travels along the route, based in part on the data of the vehicle speed. [010b] In another embodiment, there is provided a method for controlling an engine system of a vehicle comprising: 5 C DNRPvzbI\fCCWS7(O4334.IDOC2611012012 detecting on board the vehicle data related to an operational condition of the vehicle, the operational condition comprising data related to a vehicle speed as the vehicle travels along a route; determining on board the vehicle information related to the route of the vehicle; determining on board the vehicle a trip plan for a trip of the vehicle along the route, the trip plan determined before the vehicle commences the trip and the trip plan comprising at least one of a speed, power and/or throttle settings, and the trip plan determined based on information of the vehicle and the information related to the route of the vehicle; applying the at least one of the speed, power and/or throttle settings to the vehicle to control the vehicle on the trip; and adjusting on board the vehicle one of the speed, power and/or throttle settings as applied for controlling the vehicle, based in part on the data related to the vehicle speed. [010c] In another embodiment, there is provided a control system for operating a vehicle, comprising: a mission optimizer on board the vehicle configured to determine a trip plan for a trip of the vehicle, the trip plan comprising plural speed, power, and/or throttle settings as a function of time and/or distance of the vehicle along a route of the trip, the mission optimizer configured to determine the trip plan before the vehicle commences the trip and based on information of the vehicle and information of the route, and to output first signals relating to the plural speed, power, and/or throttle settings as the vehicle travels along the route; 5A C \NRPonbl\DCC\HFS\ 74339 DOC-210/201 2 a converter module coupled with an engine system of the vehicle, wherein the converter module is configured to receive input signals and to output engine control signals, based on the input signals, for controlling the engine system along the route, wherein the input signals comprise the first signals or wherein the input signals are generated based on the first signals; a sensor on board the vehicle configured to collect operational data of the vehicle, the operational data comprising data of a vehicle speed as the vehicle travels along the route; and a communication system on board the vehicle configured to communicate the operational data to the mission optimizer; wherein the mission optimizer is configured to adjust the first signals based in part on the operational data as the vehicle travels along the route. BRIEF DESCRIPTION OF THE DRAWINGS [011] A more particular description of examples of the invention briefly described above will be rendered by reference to specific embodiments thereof that are illustrated in the appended drawings. Understanding that these drawings depict only typical embodiments of the invention and are not therefore to be considered to be limiting of its scope, the invention will be described and explained with additional specificity and detail through the use of the accompanying drawings in which: [012] FIG. 1 depicts an exemplary illustration of a flow chart of an exemplary embodiment of the present invention; [013] FIG. 2 depicts a simplified model of the train that may be employed; [014] FIG. 3 depicts an exemplary embodiment of elements of an exemplary embodiment of the present invention; [015] FIG. 4 depicts an exemplary embodiment of a fuel-use/travel time 5B C -\RPrb1\DCC\iFSW104339_. DOC-26/10/2012 curve; [016] FIG. 5 depicts an exemplary embodiment of segmentation decomposition for trip planning; [017] FIG. 6 depicts an exemplary embodiment of a segmentation example; 5C WO 2008/073547 PCT/US2007/078026 [0019] FIG. 7 depicts an exemplary flow chart of an exemplary embodiment of the present invention; [0020] FIG. 8 depicts an exemplary illustration of a dynamic display for use by the operator; [0021] FIG. 9 depicts another exemplary illustration of a dynamic display for use by the operator; [0022] FIG. 10 depicts another exemplary illustration of a dynamic display for use by the operator; [0023] FIG. 11 depicts a prior art block diagram of how a rail vehicle is presently controlled; [0024] FIG. 12 depicts an exemplary embodiment of a closed-loop system for operating a rail vehicle; [0025] FIG. 13 depicts the closed loop system integrated with a master control unit; [0026] FIG. 14 depicts an exemplary embodiment of a closed-loop system for operating a rail vehicle integrated with another input operational subsystem of the rail vehicle; [0027] FIG. 15 depicts another exemplary embodiment of the master controller as part of the closed loop control system; and [0028] FIG. 16 depicts an exemplary flowchart of steps for operating a rail vehicle in a closed-loop process. 6 WO 2008/073547 PCT/US2007/078026 DETAILED DESCRIPTION OF THE INVENTION [0029] Reference will now be made in detail to the embodiments consistent with the invention, examples of which are illustrated in the accompanying drawings. Wherever possible, the same reference numerals used throughout the drawings refer to the same or like parts. [0030] Though exemplary embodiments of the present invention are described with respect to rail vehicles, specifically trains and locomotives having diesel engines, exemplary embodiments of the invention are also applicable for other uses, such as but not limited to off-highway vehicles, marine vessels, and stationary units, each which may use a diesel engine. Towards this end, when discussing a specified mission, this includes a task or requirement to be performed by the diesel powered system. Therefore, with respect to railway, marine or off-highway vehicle applications this may refer to the movement of the system from a present location to a destination. In the case of stationary applications, such as but not limited to a stationary power generating station or network of power generating stations, a specified mission may refer to an amount of wattage (e.g., MW/hr) or other parameter or requirement to be satisfied by the diesel powered system. Likewise, operating condition of the diesel-fueled power generating unit may include one or more of speed, load, fueling value, timing, etc. [0031] In one exemplary example involving marine vessels, a plurality of tugs may be operating together where all are moving the same larger vessel, where each tug is linked in time to accomplish the mission of moving the larger 7 WO 2008/073547 PCT/US2007/078026 vessel. In another exemplary example a single marine vessel may have a plurality of engines. Off Highway Vehicle (OHV) may involve a fleet of vehicles that have a same mission to move earth, from location A to location B, where each OHV is linked in time to accomplish the mission. With respect to a stationary power generating station, a plurality of stations may be grouped together collectively generating power for a specific location and/or purpose. In another exemplary embodiment, a single station is provided, but with a plurality of generators making up the single station. [0032] Exemplary embodiments of the invention solves the problems in the art by providing a system, method, and computer implemented method, such as a computer software code, for determining and implementing a driving and/or operating strategy. With respect to locomotives, exemplary embodiments of the present invention are also operable when the locomotive consist is in distributed power operations. [0033] Persons skilled in the art will recognize that an apparatus, such as a data processing system, including a CPU, memory, 1/O, program storage, a connecting bus, and other appropriate components, could be programmed or otherwise designed to facilitate the practice of the method of the invention. Such a system would include appropriate program means for executing the method of the invention. [0034] Also, an article of manufacture, such as a pre-recorded disk or other similar computer program product, for use with a data processing system, could include a storage medium and program means recorded thereon for 8 WO 2008/073547 PCT/US2007/078026 directing the data processing system to facilitate the practice of the method of the invention. Such apparatus and articles of manufacture also fall within the spirit and scope of the invention. [0035] Broadly speaking, the technical effect is determining and implementing a driving and/or an operating strategy of diesel powered system to improve at least certain objective operating criteria parameter requirement while satisfying schedule and speed constraints. To facilitate an understanding, it is described hereinafter with reference to specific implementations thereof. The invention is described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. For example, the software programs that underlie the invention can be coded in different languages, for use with different platforms. In the description that follows, examples of the invention are described in the context of a web portal that employs a web browser. It will be appreciated, however, that the principles that underlie the invention can be implemented with other types of computer software technologies as well. [0036] Moreover, those skilled in the art will appreciate that the invention may be practiced with other computer system configurations, including hand-held devices, multiprocessor systems, microprocessor-based or programmable consumer electronics, minicomputers, mainframe computers, and the like. The invention may also be practiced in distributed computing environments where 9 WO 2008/073547 PCT/US2007/078026 tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices. These local and remote computing environments may be contained entirely within the locomotive, or adjacent locomotives in consist, or off-board in wayside or central offices where wireless communication is used. [0037] Throughout this document the term locomotive consist is used. As used herein, a locomotive consist may be described as having one or more locomotives in succession, connected together so as to provide motoring and/or braking capability. The locomotives are connected together where no train cars are in between the locomotives. The train can have more than one consist in its composition. Specifically, there can be a lead consist, and more than one remote consists, such as midway in the line of cars and another remote consist at the end of the train. Each locomotive consist may have a first locomotive and trail locomotive(s). Though a consist is usually viewed as successive locomotives, those skilled in the art will readily recognize that a consist group of locomotives may also be recognized as a consist even when at least a car separates the locomotives, such as when the consist is configured for distributed power operation, wherein throttle and braking commands are relayed from the lead locomotive to the remote trails by a radio link or physical cable. Towards this end, the term locomotive consist should be not be considered a limiting factor when discussing multiple locomotives within the same train. 10 WO 2008/073547 PCT/US2007/078026 [0038] Referring now to the drawings, embodiments of the present invention will be described. The invention can be implemented in numerous ways, including as a system (including a computer processing system), a method (including a computerized method), an apparatus, a computer readable medium, a computer program product, a graphical user interface, including a web portal, or a data structure tangibly fixed in a computer readable memory. Several embodiments of the invention are discussed below. [0039] FIG. 1 depicts an exemplary illustration of a flow chart of an exemplary embodiment. As illustrated, instructions are input specific to planning a trip either on board or from a remote location, such as a dispatch center 10. Such input information includes, but is not limited to, train position, consist description (such as locomotive models), locomotive power description, performance of locomotive traction transmission, consumption of engine fuel as a function of output power, cooling characteristics, the intended trip route (effective track grade and curvature as function of milepost or an "effective grade" component to reflect curvature following standard railroad practices), the train represented by car makeup and loading together with effective drag coefficients, trip desired parameters including, but not limited to, start time and location, end location, desired travel time, crew (user and/or operator) identification, crew shift expiration time, and route. [0040] This data may be provided to the locomotive 42 in a number of ways, such as, but not limited to, an operator manually entering this data into the locomotive 42 via an onboard display, inserting a memory device such as a hard 11 WO 2008/073547 PCT/US2007/078026 card and/or USB drive containing the data into a receptacle aboard the locomotive, and transmitting the information via wireless communication from a central or wayside location 41, such as a track signaling device and/or a wayside device, to the locomotive 42. Locomotive 42 and train 31 load characteristics (e.g., drag ) may also change over the route (e.g., with altitude, ambient temperature and condition of the rails and rail-cars), and the plan may be updated to reflect such changes as needed by any of the methods discussed above and/or by real-time autonomous collection of locomotive/train conditions. This includes for example, changes in locomotive or train characteristics detected by monitoring equipment on or off board the locomotive(s) 42. [0041] The track signal system determines the allowable speed of the train. There are many types of track signal systems and the operating rules associated with each of the signals. For example, some signals have a single light (on/off), some signals have a single lens with multiple colors, and some signals have multiple lights and colors. These signals can indicate the track is clear and the train may proceed at max allowable speed. They can also indicate a reduced speed or stop is required. This reduced speed may need to be achieved immediately, or at a certain location (e.g., prior to the next signal or crossing). [0042] The signal status is communicated to the train and/or operator through various means. Some systems have circuits in the track and inductive pick-up coils on the locomotives. Other systems have wireless communications 12 WO 2008/073547 PCT/US2007/078026 systems. Signal systems can also require the operator to visually inspect the signal and take the appropriate actions. [0043] The signaling system may interface with the on-board signal system and adjust the locomotive speed according to the inputs and the appropriate operating rules. For signal systems that require the operator to visually inspect the signal status, the operator screen will present the appropriate signal options for the operator to enter based on the train's location. The type of signal systems and operating rules, as a function of location, may be stored in an onboard database 63. [0044] Based on the specification data input into the exemplary embodiment, an optimal plan which minimizes fuel use and/or emissions produced subject to speed limit constraints along the route with desired start and end times is computed to produce a trip profile 12. The profile contains the optimal speed and power (notch) settings the train is to follow, expressed as a function of distance and/or time, and such train operating limits, including but not limited to, the maximum notch power and brake settings, and speed limits as a function of location, and the expected fuel used and emissions generated. In an exemplary embodiment, the value for the notch setting is selected to obtain throttle change decisions about once every 10 to 30 seconds. Those skilled in the art will readily recognize that the throttle change decisions may occur at a longer or shorter duration, if needed and/or desired to follow an optimal speed profile. In a broader sense, it should be evident to ones skilled in the art the profiles provide power settings for the train, either at the train level, consist level 13 WO 2008/073547 PCT/US2007/078026 and/or individual train level. Power comprises braking power, motoring power, and airbrake power. In another preferred embodiment, instead of operating at the traditional discrete notch power settings, the exemplary embodiment is able to select a continuous power setting determined as optimal for the profile selected. Thus, for example, if an optimal profile specifies a notch setting of 6.8, instead of operating at notch setting 7, the locomotive 42 can operate at 6.8. Allowing such intermediate power settings may bring additional efficiency benefits as described below. [0045] The procedure used to compute the optimal profile can be any number of methods for computing a power sequence that drives the train 31 to minimize fuel and/or emissions subject to locomotive operating and schedule constraints, as summarized below. In some cases the required optimal profile may be close enough to one previously determined, owing to the similarity of the train configuration, route and environmental conditions. In these cases it may be sufficient to look up the driving trajectory within a database 63 and attempt to follow it. When no previously computed plan is suitable, methods to compute a new one include, but are not limited to, direct calculation of the optimal profile using differential equation models which approximate the train physics of motion. The setup involves selection of a quantitative objective function, commonly a weighted sum (integral) of model variables that correspond to rate of fuel consumption and emissions generation plus a term to penalize excessive throttle variation. 14 WO 2008/073547 PCT/US2007/078026 [0046] An optimal control formulation is set up to minimize the quantitative objective function subject to constraints including but not limited to, speed limits and minimum and maximum power (throttle) settings. Depending on planning objectives at any time, the problem may be setup flexibly to minimize fuel subject to constraints on emissions and speed limits, or to minimize emissions, subject to constraints on fuel use and arrival time. It is also possible to setup, for example, a goal to minimize the total travel time without constraints on total emissions or fuel use where such relaxation of constraints would be permitted or required for the mission. [0047] Throughout the document exemplary equations and objective functions are presented for minimizing locomotive fuel consumption. These equations and functions are for illustration only as other equations and objective functions can be employed to optimize fuel consumption or to optimize other locomotive/train operating parameters. [0048] Mathematically, the problem to be solved may be stated more precisely. The basic physics are expressed by: dx dx= v;x(O)=0.0;x(Tf) D dt dv d =T,(u,v)-G,(x)- R(v);v(O) =0.0;v(Tf) 0.0 dt where x is the position of the train, v its velocity and t is time (in miles, miles per hour and minutes or hours as appropriate) and u is the notch (throttle) command input. Further, D denotes the distance to be traveled, Tf the desired arrival time at distance D along the track, Te is the tractive effort produced by the locomotive consist, Ga is the gravitational drag which depends on the train length, train 15 WO 2008/073547 PCT/US2007/078026 makeup and terrain on which the train is located, R is the net speed dependent drag of the locomotive consist and train combination. The initial and final speeds can also be specified, but without loss of generality are taken to be zero here (train stopped at beginning and end). Finally, the model is readily modified to include other important dynamics such the lag between a change in throttle, u, and the resulting tractive effort or braking. Using this model, an optimal control formulation is set up to minimize the quantitative objective function subject to constraints including but not limited to, speed limits and minimum and maximum power (throttle) settings. Depending on planning objectives at any time, the problem may be setup flexibly to minimize fuel subject to constraints on emissions and speed limits, or to minimize emissions, subject to constraints on fuel use and arrival time. [0049] It is also possible to setup, for example, a goal to minimize the total travel time without constraints on total emissions or fuel use where such relaxation of constraints would be permitted or required for the mission. All these performance measures can be expressed as a linear combination of any of the following: Tif min F(u(t))dt - Minimize total fuel consumption U~)0 minTf - Minimize Travel Time u(t) n min$ X(u, -ui 1

)

2 - Minimize notch jockeying (piecewise constant input) ui i=2 Tif min f (du/ dt) 2 dt - Minimize notch jockeying (continuous input) 60 16 WO 2008/073547 PCT/US2007/078026 Replace the fuel term F in (1) with a term corresponding to emissions production. Tf For example for emissions min fE(u(t))dt - Minimize total emissions U~)0 consumption. In this equation E is the quantity of emissions in gm/hphr for each of the notches (or power settings). In addition a minimization could be done based on a weighted total of fuel and emissions. [0050] A commonly used and representative objective function is thus Tf Tf mina , fF(u(t))dt+a 3 Tf ±a 2 J(duldt)2dt (OP) U~ 0 0 [0051] The coefficients of the linear combination will depend on the importance (weight) given for each of the terms. Note that in equation (OP), u(t) is the optimizing variable which is the continuous notch position. If discrete notch is required, e.g., for older locomotives, the solution to equation (OP) would be discretized, which may result in less fuel saving. Finding a minimum time solution (a1 and a2 set to zero) is used to find a lower bound on, the preferred embodiment is to solve the equation (OP) for various values of Tf with a3 set to zero. For those familiar with solutions to such optimal problems, it may be necessary to adjoin constraints, e.g., the speed limits along the path 0 ! v SL(x) or when using minimum time as the objective, that an end point constraint must hold, e.g., total fuel consumed must be less than what is in the tank, e.g., via 17 WO 2008/073547 PCT/US2007/078026 Tf 0 < fF(u(t))dt < WF 0 where WF is the fuel remaining in the tank at Tf. Those skilled in the art will readily recognize that equation (OP) can be in other forms as well and that what is presented above is an exemplary equation for use in the exemplary embodiment of the present invention. [0052] Reference to emissions in the context an exemplary embodiment of the present invention is actually directed towards cumulative emissions produced in the form of oxides of nitrogen (NOx), unburned hydrocarbons, and particulates. By design, every locomotive must be compliant to EPA standards for brake specific emissions, and thus when emissions are optimized in the exemplary embodiment this would be mission total emissions on which there is no specification today. At all times, operations would be compliant with federal EPA mandates. If a key objective during a trip mission is to reduce emissions, the optimal control formulation, equation (OP), would be amended to consider this trip objective. A key flexibility in the optimization setup is that any or all of the trip objectives can vary by geographic region or mission. For example, for a high priority train, minimum time may be the only objective on one route because it is high priority traffic. In another example emission output could vary from state to state along the planned train route. [0053] To solve the resulting optimization problem, in an exemplary embodiment the present invention transcribes a dynamic optimal control problem in the time domain to an equivalent static mathematical programming problem with N decision variables, where the number 'N' depends on the frequency at 18 WO 2008/073547 PCT/US2007/078026 which throttle and braking adjustments are made and the duration of the trip. For typical problems, this N can be in the thousands. For example in an exemplary embodiment, suppose a train is traveling a 172-mile stretch of track in the southwest United States. Utilizing the exemplary embodiment, an exemplary 7.6% saving in fuel used may be realized when comparing a trip determined and followed using the an exemplary embodiment of the present invention versus an actual driver throttle/speed history where the trip was determined by an operator. The improved savings is realized because the optimization realized by using the exemplary embodiment produces a driving strategy with both less drag loss and little or no braking loss compared to the trip plan of the operator. [0054] To make the optimization described above computationally tractable, a simplified model of the train may be employed, such as illustrated in FIG. 2 and the equations discussed above. A key refinement to the optimal profile is produced by driving a more detailed model with the optimal power sequence generated, to test if other thermal, electrical and mechanical constraints are violated, leading to a modified profile with speed versus distance that is closest to a run that can be achieved without harming locomotive or train equipment, i.e. satisfying additional implied constraints such thermal and electrical limits on the locomotive and inter-car forces in the train. [0055] Referring back to FIG. 1, once the trip is started 12, power commands are generated 14 to put the plan in motion. Depending on the operational set-up of the exemplary embodiment of the present invention, one command is for the locomotive to follow the optimized power command 16 so as 19 WO 2008/073547 PCT/US2007/078026 to achieve the optimal speed. The exemplary embodiment obtains actual speed and power information from the locomotive consist of the train 18. Owing to the inevitable approximations in the models used for the optimization, a closed-loop calculation of corrections to optimized power is obtained to track the desired optimal speed. Such corrections of train operating limits can be made automatically or by the operator, who always has ultimate control of the train. [0056] In some cases, the model used in the optimization may differ significantly from the actual train. This can occur for many reasons, including but not limited to, extra cargo pickups or setouts, locomotives that fail in route, and errors in the initial database 63 or data entry by the operator. For these reasons a monitoring system is in place that uses real-time train data to estimate locomotive and/or train parameters in real time 20. The estimated parameters are then compared to the assumed parameters used when the trip was initially created 22. Based on any differences in the assumed and estimated values, the trip may be re-planned 24, should large enough savings accrue from a new plan. [0057] Other reasons a trip may be re-planned include directives from a remote location, such as dispatch and/or the operator requesting a change in objectives to be consistent with more global movement planning objectives. More global movement planning objectives may include, but are not limited to, other train schedules, allowing exhaust to dissipate from a tunnel, maintenance operations, etc. Another reason may be due to an onboard failure of a component. Strategies for re-planning may be grouped into incremental and major adjustments depending on the severity of the disruption, as discussed in 20 WO 2008/073547 PCT/US2007/078026 more detail below. In general, a "new" plan must be derived from a solution to the optimization problem equation (OP) described above, but frequently faster approximate solutions can be found, as described herein. [0058] In operation, the locomotive 42 will continuously monitor system efficiency and continuously update the trip plan based on the actual efficiency measured, whenever such an update would improve trip performance. Re planning computations may be carried out entirely within the locomotive(s) or fully or partially moved to a remote location, such as dispatch or wayside processing facilities where wireless technology is used to communicate the plans to the locomotive 42. The exemplary embodiment may also generate efficiency trends that can be used to develop locomotive fleet data regarding efficiency transfer functions. The fleet-wide data may be used when determining the initial trip plan, and may be used for network-wide optimization tradeoff when considering locations of a plurality of trains. For example, the travel-time fuel use tradeoff curve as illustrated in FIG. 4 reflects a capability of a train on a particular route at a current time, updated from ensemble averages collected for many similar trains on the same route. Thus, a central dispatch facility collecting curves like FIG. 4 from many locomotives could use that information to better coordinate overall train movements to achieve a system-wide advantage in fuel use or throughput. [0059] Many events in daily operations can lead to a need to generate or modify a currently executing plan, where it desired to keep the same trip objectives, for when a train is not on schedule for planned meet or pass with 21 WO 2008/073547 PCT/US2007/078026 another train and it needs to make up time. Using the actual speed, power and location of the locomotive, a comparison is made between a planned arrival time and the currently estimated (predicted) arrival time 25. Based on a difference in the times, as well as the difference in parameters (detected or changed by dispatch or the operator), the plan is adjusted 26. This adjustment may be made automatically following a railroad company's desire for how such departures from plan should be handled or manually propose alternatives for the on-board operator and dispatcher to jointly decide the best way to get back on plan. Whenever a plan is updated but where the original objectives, such as but not limited to arrival time remain the same, additional changes may be factored in concurrently, e.g., new future speed limit changes, which could affect the feasibility of ever recovering the original plan. In such instances if the original trip plan cannot be maintained, or in other words the train is unable to meet the original trip plan objectives, as discussed herein other trip plan(s) may be presented to the operator and/or remote facility, or dispatch. [0060] A re-plan may also be made when it is desired to change the original objectives. Such re-planning can be done at either fixed preplanned times, manually at the discretion of the operator or dispatcher, or autonomously when predefined limits, such a train operating limits, are exceeded. For example, if the current plan execution is running late by more than a specified threshold, such as thirty minutes, the exemplary embodiment of the present invention can re-plan the trip to accommodate the delay at expense of increased fuel as described above or to alert the operator and dispatcher how much of the time 22 WO 2008/073547 PCT/US2007/078026 can be made up at all (i.e. what minimum time to go or the maximum fuel that can be saved within a time constraint). Other triggers for re-plan can also be envisioned based on fuel consumed or the health of the power consist, including but not limited time of arrival, loss of horsepower due to equipment failure and/or equipment temporary malfunction (such as operating too hot or too cold), and/or detection of gross setup errors, such in the assumed train load. That is, if the change reflects impairment in the locomotive performance for the current trip, these may be factored into the models and/or equations used in the optimization. [0061] Changes in plan objectives can also arise from a need to coordinate events where the plan for one train compromises the ability of another train to meet objectives and arbitration at a different level, e.g., the dispatch office is required. For example, the coordination of meets and passes may be further optimized through train-to-train communications. Thus, as an example, if a train knows that it is behind in reaching a location for a meet and/or pass, communications from the other train can notify the late train (and/or dispatch). The operator can then enter information pertaining to being late into the exemplary embodiment wherein the exemplary embodiment will recalculate the train's trip plan. The exemplary embodiment can also be used at a high level, or network-level, to allow a dispatch to determine which train should slow down or speed up should a scheduled meet and/or pass time constraint may not be met. As discussed herein, this is accomplished by trains transmitting data to the dispatch to prioritize how each train should change its planning objective. A 23 WO 2008/073547 PCT/US2007/078026 choice could depend either from schedule or fuel saving benefits, depending on the situation. [0062] For any of the manually or automatically initiated re-plans, the exemplary embodiment may present more than one trip plan to the operator. In an exemplary embodiment the present invention will present different profiles to the operator, allowing the operator to select the arrival time and understand the corresponding fuel and/or emission impact. Such information can also be provided to the dispatch for similar consideration, either as a simple list of alternatives or as a plurality of tradeoff curves such as illustrated in FIG. 4. [0063] The exemplary embodiment has the ability of learning and adapting to key changes in the train and power consist which can be incorporated either in the current plan and/or for future plans. For example, one of the triggers discussed above is loss of horsepower. When building up horsepower over time, either after a loss of horsepower or when beginning a trip, transition logic is utilized to determine when desired horsepower is achieved. This information can be saved in the locomotive database 61 for use in optimizing either future trips or the current trip should loss of horsepower occur again. [0064] FIG. 3 depicts an exemplary embodiment of elements of an exemplary embodiment of the present invention. A locator element 30 to determine a location of the train 31 is provided. The locator element 30 can be a GPS sensor, or a system of sensors, that determine a location of the train 31. Examples of such other systems may include, but are not limited to, wayside devices, such as radio frequency automatic equipment identification (RF AEI) 24 WO 2008/073547 PCT/US2007/078026 Tags, dispatch, and/or video determination. Another system may include the tachometer(s) aboard a locomotive and distance calculations from a reference point. As discussed previously, a wireless communication system 47 may also be provided to allow for communications between trains and/or with a remote location, such as dispatch. Information about travel locations may also be transferred from other trains. [0065] A track characterization element 33 to provide information about a track, principally grade and elevation and curvature information, is also provided. The track characterization element 33 may include an on-board track integrity database 36. Sensors 38 are used to measure a tractive effort 40 being hauled by the locomotive consist 42, throttle setting of the locomotive consist 42, locomotive consist 42 configuration information, speed of the locomotive consist 42, individual locomotive configuration, individual locomotive capability, etc. In an exemplary embodiment the locomotive consist 42 configuration information may be loaded without the use of a sensor 38, but is input by other approaches as discussed above. Furthermore, the health of the locomotives in the consist may also be considered. For example, if one locomotive in the consist is unable to operate above power notch level 5, this information is used when optimizing the trip plan. [0066] Information from the locator element may also be used to determine an appropriate arrival time of the train 31. For example, if there is a train 31 moving along a track 34 towards a destination and no train is following behind it, and the train has no fixed arrival deadline to adhere to, the locator 25 WO 2008/073547 PCT/US2007/078026 element, including but not limited to radio frequency automatic equipment identification (RF AEI) Tags, dispatch, and/or video determination, may be used to gage the exact location of the train 31. Furthermore, inputs from these signaling systems may be used to adjust the train speed. Using the on-board track database, discussed below, and the locator element, such as GPS, an exemplary embodiment can adjust the operator interface to reflect the signaling system state at the given locomotive location. In a situation where signal states would indicate restrictive speeds ahead, the planner may elect to slow the train to conserve fuel consumption. [0067] Information from the locator element 30 may also be used to change planning objectives as a function of distance to destination. For example, owing to inevitable uncertainties about congestion along the route, "faster" time objectives on the early part of a route may be employed as hedge against delays that statistically occur later. If it happens on a particular trip that delays do not occur, the objectives on a latter part of the journey can be modified to exploit the built-in slack time that was banked earlier, and thereby recover some fuel efficiency. A similar strategy could be invoked with respect to emissions restrictive objectives, e.g., approaching an urban area. [0068] As an example of the hedging strategy, if a trip is planned from New York to Chicago, the system may have an option to operate the train slower at either the beginning of the trip or at the middle of the trip or at the end of the trip. The exemplary embodiment of the present invention would optimize the trip plan to allow for slower operation at the end of the trip since unknown 26 WO 2008/073547 PCT/US2007/078026 constraints, such as but not limited to weather conditions, track maintenance, etc., may develop and become known during the trip. As another consideration, if traditionally congested areas are known, the plan is developed with an option to have more flexibility around these traditionally congested regions. Therefore, the exemplary embodiment may also consider weighting/penalty as a function of time/distance into the future and/or based on known/past experience. Those skilled in the art will readily recognize that such planning and re-planning to take into consideration weather conditions, track conditions, other trains on the track, etc., may be taking into consideration at any time during the trip wherein the trip plan is adjust accordingly. [0069] FIG. 3 further discloses other elements that may be part of the exemplary embodiment. A processor 44 is provided that is operable to receive information from the locator element 30, track characterizing element 33, and sensors 38. An algorithm 46 operates within the processor 44. The algorithm 46 is used to compute an optimized trip plan based on parameters involving the locomotive 42, train 31, track 34, and objectives of the mission as described above. In an exemplary embodiment, the trip plan is established based on models for train behavior as the train 31 moves along the track 34 as a solution of non-linear differential equations derived from physics with simplifying assumptions that are provided in the algorithm. The algorithm 46 has access to the information from the locator element 30, track characterizing element 33 and/or sensors 38 to create a trip plan minimizing fuel consumption of a locomotive consist 42, minimizing emissions of a locomotive consist 42, 27 WO 2008/073547 PCT/US2007/078026 establishing a desired trip time, and/or ensuring proper crew operating time aboard the locomotive consist 42. In an exemplary embodiment, a driver, or controller element, 51 is also provided. As discussed herein the controller element 51 is used for controlling the train as it follows the trip plan. In an exemplary embodiment discussed further herein, the controller element 51 makes train operating decisions autonomously. In another exemplary embodiment the operator may be involved with directing the train to follow the trip plan. [0070] A requirement of the exemplary embodiment of the present invention is the ability to initially create and quickly modify on the fly any plan that is being executed. This includes creating the initial plan when a long distance is involved, owing to the complexity of the plan optimization algorithm. When a total length of a trip profile exceeds a given distance, an algorithm 46 may be used to segment the mission wherein the mission may be divided by waypoints. Though only a single algorithm 46 is discussed, those skilled in the art will readily recognize that more than one algorithm may be used where the algorithms may be connected together. The waypoint may include natural locations where the train 31 stops, such as, but not limited to, sidings where a meet with opposing traffic, or pass with a train behind the current train is scheduled to occur on single-track rail, or at yard sidings or industry where cars are to be picked up and set out, and locations of planned work. At such waypoints, the train 31 may be required to be at the location at a scheduled time and be stopped or moving with 28 WO 2008/073547 PCT/US2007/078026 speed in a specified range. The time duration from arrival to departure at waypoints is called dwell time. [0071] In an exemplary embodiment, a longer trip is broken down into smaller segments in a special systematic way. Each segment can be somewhat arbitrary in length, but is typically picked at a natural location such as a stop or significant speed restriction, or at key mileposts that define junctions with other routes. Given a partition, or segment, selected in this way, a driving profile is created for each segment of track as a function of travel time taken as an independent variable, such as shown in Figure 4. The fuel used/travel-time tradeoff associated with each segment can be computed prior to the train 31 reaching that segment of track. A total trip plan can be created from the driving profiles created for each segment. The invention distributes travel time amongst all the segments of the trip in an optimal way so that the total trip time required is satisfied and total fuel consumed over all the segments is as small as possible. An exemplary 3 segment trip is disclosed in FIG. 6 and discussed below. Those skilled in the art will recognize however, through segments are discussed, the trip plan may comprise a single segment representing the complete trip. [0072] FIG. 4 depicts an exemplary embodiment of a fuel-use/travel time curve. As mentioned previously, such a curve 50 is created when calculating an optimal trip profile for various travel times for each segment. That is, for a given travel time 49, fuel used 53 is the result of a detailed driving profile computed as described above. Once travel times for each segment are allocated, a power/speed plan is determined for each segment from the previously computed 29 WO 2008/073547 PCT/US2007/078026 solutions. If there are any waypoint constraints on speed between the segments, such as, but not limited to, a change in a speed limit, they are matched up during creation of the optimal trip profile. If speed restrictions change in only a single segment, the fuel use/travel-time curve 50 has to be re-computed for only the segment changed. This reduces time for having to re-calculate more parts, or segments, of the trip. If the locomotive consist or train changes significantly along the route, e.g., from loss of a locomotive or pickup or set-out of cars, then driving profiles for all subsequent segments must be recomputed creating new instances of the curve 50. These new curves 50 would then be used along with new schedule objectives to plan the remaining trip. [0073] Once a trip plan is created as discussed above, a trajectory of speed and power versus distance is used to reach a destination with minimum fuel and/or emissions at the required trip time. There are several ways in which to execute the trip plan. As provided below in more detail, in one exemplary embodiment, a coaching mode displays information to the operator for the operator to follow to achieve the required power and speed determined according to the optimal trip plan. In this mode, the operating information is suggested operating conditions that the operator should use. In another exemplary embodiment, acceleration and maintaining a constant speed are performed by the exemplary embodiment. However, when the train 31 must be slowed, the operator is responsible for applying a braking system 52. In another exemplary embodiment, commands specific to power and braking as required to follow the desired speed-distance path. 30 WO 2008/073547 PCT/US2007/078026 [0074] Feedback control strategies are used to provide corrections to the power control sequence in the profile to correct for such events as, but not limited to, train load variations caused by fluctuating head winds and/or tail winds. Another such error may be caused by an error in train parameters, such as, but not limited to, train mass and/or drag, when compared to assumptions in the optimized trip plan. A third type of error may occur with information contained in the track database 36. Another possible error may involve un-modeled performance differences due to the locomotive engine, traction motor thermal deration and/or other factors. Feedback control strategies compare the actual speed as a function of position to the speed in the desired optimal profile. Based on this difference, a correction to the optimal power profile is added to drive the actual velocity toward the optimal profile. To assure stable regulation, a compensation algorithm may be provided which filters the feedback speeds into power corrections to assure closed-performance stability is assured. Compensation may include standard dynamic compensation as used by those skilled in the art of control system design to meet performance objectives. [0075] The exemplary embodiment allows the simplest and therefore fastest means to accommodate changes in trip objectives, which is the rule, rather than the exception in railroad operations. In an exemplary embodiment to determine the fuel-optimal trip from point A to point B where there are stops along the way, and for updating the trip for the remainder of the trip once the trip has begun, a sub-optimal decomposition method is usable for finding an optimal trip profile. Using modeling methods the computation method can find the trip 31 WO 2008/073547 PCT/US2007/078026 plan with specified travel time and initial and final speeds, so as to satisfy all the speed limits and locomotive capability constraints when there are stops. Though the following discussion is directed towards optimizing fuel use, it can also be applied to optimize other factors, such as, but not limited to, emissions, schedule, crew comfort, and load impact. The method may be used at the outset in developing a trip plan, and more importantly to adapting to changes in objectives after initiating a trip. [0076] As discussed herein, the exemplary embodiment may employ a setup as illustrated in the exemplary flow chart depicted in FIG. 5, and as an exemplary 3 segment example depicted in detail in FIGS. 6. As illustrated, the trip may be broken into two or more segments, T1, T2, and T3. Though as discussed herein, it is possible to consider the trip as a single segment. As discussed herein, the segment boundaries may not result in equal segments. Instead the segments use natural or mission specific boundaries. Optimal trip plans are pre-computed for each segment. If fuel use versus trip time is the trip object to be met, fuel versus trip time curves are built for each segment. As discussed herein, the curves may be based on other factors, wherein the factors are objectives to be met with a trip plan. When trip time is the parameter being determined, trip time for each segment is computed while satisfying the overall trip time constraints. FIG. 6 illustrates speed limits for an exemplary 3 segment 200 mile trip 97. Further illustrated are grade changes over the 200 mile trip 98. A combined chart 99 illustrating curves for each segment of the trip of fuel used over the travel time is also shown. 32 WO 2008/073547 PCT/US2007/078026 [0077] Using the optimal control setup described previously, the present computation method can find the trip plan with specified travel time and initial and final speeds, so as to satisfy all the speed limits and locomotive capability constraints when there are stops. Though the following detailed discussion is directed towards optimizing fuel use, it can also be applied to optimize other factors as discussed herein, such as, but not limited to, emissions. A key flexibility is to accommodate desired dwell time at stops and to consider constraints on earliest arrival and departure at a location as may be required, for example, in single-track operations where the time to be in or get by a siding is critical. [0078] The exemplary embodiment of the present invention finds a fuel optimal trip from distance Do to Dm, traveled in time T, with M-1 intermediate stops at D 1 ,...,DMI., and with the arrival and departure times at these stops constrained by: tj.(i) t,, (Di t_.(i) - Ati ta,,(D,) +At, tdp(Di) t_(i) i =1,...,M -1 where t,,(D,), tdp(Di), and At, are the arrival, departure, and minimum stop time at the ith stop, respectively. Assuming that fuel-optimality implies minimizing stop time, therefore tdp(Di) = ta,,(Di) + Ati which eliminates the second inequality above. Suppose for each i=1,...,M, the fuel-optimal trip from D; 1 to D; for travel time t, T, (i) t T.x (i) , is known. Let F (t) be the fuel-use corresponding to this trip. If the travel time from D 1 to D is denoted T, then the arrival time at D; is given by: 33 WO 2008/073547 PCT/US2007/078026 t,,.(Di)= (T, + Atj_1) jl1 where Ato is defined to be zero. The fuel-optimal trip from Do to Dm for travel time T is then obtained by finding T;, i=1,...,M, which minimize ZF(T) T,(i) &T, T_(i) subject to jl1 Y(Ti + At_1) = T j-1 [0079] Once a trip is underway, the issue is re-determining the fuel-optimal solution for the remainder of a trip (originally from Do to Dm in time T) as the trip is traveled, but where disturbances preclude following the fuel-optimal solution. Let the current distance and speed be x and v, respectively, where D,_ 1 < x D,. Also, let the current time since the beginning of the trip be tact. Then the fuel optimal solution for the remainder of the trip from x to Dm, which retains the original arrival time at Dm, is obtained by finding T ,T j = i+1,...M, which minimize M , V) + , (T ) 34 WO 2008/073547 PCT/US2007/078026 subject to tmin(i) tact + t_ (i) - Ati k ti1 (k) tact,+ + I(T -+ Atj_1,)t_(k) - At k= i+1,..M-1I tee,+i+ (T +_1= tact +±T±Z (Ti +Atj-1) =T j4--1 Here, F,(t,x,v) is the fuel-used of the optimal trip from x to D;, traveled in time t, with initial speed at x of v. [0080] As discussed above, an exemplary way to enable more efficient re planning is to construct the optimal solution for a stop-to-stop trip from partitioned segments. For the trip from D;.

1 to D;, with travel time T;, choose a set of intermediate points Dj , j = 1,...,N -1. Let Dio = D;.

1 and DN, = Di. Then express the fuel-use for the optimal trip from D;.

1 to D; as N F(t)=I fii,(ti, - ti'_1 , v'_1 , v,) where f,(t,v 1,vj) is the fuel-use for the optimal trip from D;; 1 to D;;, traveled in time t, with initial and final speeds of vq.

1 and v;;. Furthermore, ti; is the time in the optimal trip corresponding to distance D;;. By definition, tiN tio =T. Since the train is stopped at Dio and DiN, vi 0 = ViN, = 0. [0081] The above expression enables the function F;(t) to be alternatively determined by first determining the functions f (),1 j N,, then finding rgj,1 j ! N, and vij,1< j < N, which minimize 35 WO 2008/073547 PCT/US2007/078026 N F (t)= f (ri , Vii 1, v ) j-1 subject to N j=1 vmin(i, j)iv~ vma(i, j) j 1..,N -1 io = iN By choosing D;; (e.g., at speed restrictions or meeting points), v. (i,j)-vmin(ij) can be minimized, thus minimizing the domain over which f;() needs to be known. [0082] Based on the partitioning above, a simpler suboptimal re-planning approach than that described above is to restrict re-planning to times when the train is at distance points Dij,1 i ! Mi< j ! N,. At point D;;, the new optimal trip from D;; to Dm can be determined by finding r 1 k ,J < k N,, vk ,J < k < N,, and r,n i<m<M, 1<n<N,vnn, i<m M, 1n<N.,nwhich minimize Ni M Nm krik mi,k-1-ik -I Jfmn(Tmn5Vm,n-1Vmn) k-j+1 m-i+1 n=1 subject to N tmin (i) tat + I rik t. (i) - At k-j+1 Ni n tmin (n) t+t + Iik+ I(Tm +Atm_1) t (n) - Atn n i+1,...,M -1 k-j+1 m i+1 36 WO 2008/073547 PCT/US2007/078026 Ni M act + ik m(+At.

k-j+1 m-i+1 where Nm T= Z 'mn n=1 [0083] A further simplification is obtained by waiting on the re-computation of Tm, i < m ! M, until distance point D; is reached. In this way, at points D;; between D; 1 and D;, the minimization above needs only be performed over rkj<k N,, vk, j < k < Ni. Ti is increased as needed to accommodate any longer actual travel time from D; 1 to D;; than planned. This increase is later compensated, if possible, by the re-computation of Tm, i < m K M, at distance point D;. [0084] With respect to the closed-loop configuration disclosed above, the total input energy required to move a train 31 from point A to point B consists of the sum of four components, specifically difference in kinetic energy between points A and B; difference in potential energy between points A and B; energy loss due to friction and other drag losses; and energy dissipated by the application of brakes. Assuming the start and end speeds to be equal (e.g., stationary), the first component is zero. Furthermore, the second component is independent of driving strategy. Thus, it suffices to minimize the sum of the last two components. 37 WO 2008/073547 PCT/US2007/078026 [0085] Following a constant speed profile minimizes drag loss. Following a constant speed profile also minimizes total energy input when braking is not needed to maintain constant speed. However, if braking is required to maintain constant speed, applying braking just to maintain constant speed will most likely increase total required energy because of the need to replenish the energy dissipated by the brakes. A possibility exists that some braking may actually reduce total energy usage if the additional brake loss is more than offset by the resultant decrease in drag loss caused by braking, by reducing speed variation. [0086] After completing a re-plan from the collection of events described above, the new optimal notch /speed plan can be followed using the closed loop control described herein. However, in some situations there may not be enough time to carry out the segment decomposed planning described above, and particularly when there are critical speed restrictions that must be respected, an alternative is needed. The exemplary embodiment of the present invention accomplishes this with an algorithm referred to as "smart cruise control". The smart cruise control algorithm is an efficient way to generate, on the fly, an energy-efficient (hence fuel-efficient) sub-optimal prescription for driving the train 31 over a known terrain. This algorithm assumes knowledge of the position of the train 31 along the track 34 at all times, as well as knowledge of the grade and curvature of the track versus position. The method relies on a point-mass model for the motion of the train 31, whose parameters may be adaptively estimated from online measurements of train motion as described earlier. 38 WO 2008/073547 PCT/US2007/078026 [0087] The smart cruise control algorithm has three principal components, specifically a modified speed limit profile that serves as an energy-efficient guide around speed limit reductions; an ideal throttle or dynamic brake setting profile that attempts to balance between minimizing speed variation and braking; and a mechanism for combining the latter two components to produce a notch command, employing a speed feedback loop to compensate for mismatches of modeled parameters when compared to reality parameters. Smart cruise control can accommodate strategies in the exemplary embodiment that do no active braking (i.e. the driver is signaled and assumed to provide the requisite braking) or a variant that does active braking. [0088] With respect to the cruise control algorithm that does not control dynamic braking, the three exemplary components are a modified speed limit profile that serves as an energy-efficient guide around speed limit reductions, a notification signal directed to notify the operator when braking should be applied, an ideal throttle profile that attempts to balance between minimizing speed variations and notifying the operator to apply braking, a mechanism employing a feedback loop to compensate for mismatches of model parameters to reality parameters. [0089] Also included in the exemplary embodiment is an approach to identify key parameter values of the train 31. For example, with respect to estimating train mass, a Kalman filter and a recursive least-squares approach may be utilized to detect errors that may develop over time. 39 WO 2008/073547 PCT/US2007/078026 [0090] FIG. 7 depicts an exemplary flow chart an exemplary embodiment of the present invention. As discussed previously, a remote facility, such as a dispatch 60 can provide information to the exemplary embodiment. As illustrated, such information is provided to an executive control element 62. Also supplied to the executive control element 62 is locomotive modeling information database 63, information from a track database 36 such as, but not limited to, track grade information and speed limit information, estimated train parameters such as, but not limited to, train weight and drag coefficients, and fuel rate tables from a fuel rate estimator 64. The executive control element 62 supplies information to the planner 12, which is disclosed in more detail in FIG. 1. Once a trip plan has been calculated, the plan is supplied to a driving advisor, driver or controller element 51. The trip plan is also supplied to the executive control element 62 so that it can compare the trip when other new data is provided. [0091] As discussed above, the driving advisor 51 can automatically set a notch power, either a pre-established notch setting or an optimum continuous notch power. In addition to supplying a speed command to the locomotive 31, a display 68 is provided so that the operator can view what the planner has recommended. The operator also has access to a control panel 69. Through the control panel 69 the operator can decide whether to apply the notch power recommended. Towards this end, the operator may limit a targeted or recommended power. That is, at any time the operator always has final authority over what power setting the locomotive consist will operate at. This includes deciding whether to apply braking if the trip plan recommends slowing the train 40 WO 2008/073547 PCT/US2007/078026 31. For example, if operating in dark territory, or where information from wayside equipment cannot electronically transmit information to a train and instead the operator views visual signals from the wayside equipment, the operator inputs commands based on information contained in track database and visual signals from the wayside equipment. Based on how the train 31 is functioning, information regarding fuel measurement is supplied to the fuel rate estimator 64. Since direct measurement of fuel flows is not typically available in a locomotive consist, all information on fuel consumed so far within a trip and projections into the future following optimal plans is carried out using calibrated physics models such as those used in developing the optimal plans. For example, such predictions may include but are not limited to, the use of measured gross horse power and known fuel characteristics to derive the cumulative fuel used. [0092] The train 31 also has a locator device 30 such as a GPS sensor, as discussed above. Information is supplied to the train parameters estimator 65. Such information may include, but is not limited to, GPS sensor data, tractive/braking effort data, braking status data, speed and any changes in speed data. With information regarding grade and speed limit information, train weight and drag coefficients information is supplied to the executive control element 62. [0093] The exemplary embodiment may also allow for the use of continuously variable power throughout the optimization planning and closed loop control implementation. In a conventional locomotive, power is typically quantized to eight discrete levels. Modern locomotives can realize continuous variation in horsepower which may be incorporated into the previously described 41 WO 2008/073547 PCT/US2007/078026 optimization methods. With continuous power, the locomotive 42 can further optimize operating conditions, e.g., by minimizing auxiliary loads and power transmission losses , and fine tuning engine horsepower regions of optimum efficiency, or to points of increased emissions margins. Example include, but are not limited to, minimizing cooling system losses, adjusting alternator voltages, adjusting engine speeds, and reducing number of powered axles. Further, the locomotive 42 may use the on-board track database 36 and the forecasted performance requirements to minimize auxiliary loads and power transmission losses to provide optimum efficiency for the target fuel consumption/emissions. Examples include, but are not limited to, reducing a number of powered axles on flat terrain and pre-cooling the locomotive engine prior to entering a tunnel. [0094] The exemplary embodiment may also use the on-board track database 36 and the forecasted performance to adjust the locomotive performance, such as to insure that the train has sufficient speed as it approaches a hill and/or tunnel. For example, this could be expressed as a speed constraint at a particular location that becomes part of the optimal plan generation created solving the equation (OP). Additionally, the exemplary embodiment may incorporate train-handling rules, such as, but not limited to, tractive effort ramp rates, maximum braking effort ramp rates. These may incorporated directly into the formulation for optimum trip profile or alternatively incorporated into the closed loop regulator used to control power application to achieve the target speed. 42 WO 2008/073547 PCT/US2007/078026 [0095] In a preferred embodiment of the present invention, it is only installed on a lead locomotive of the train consist. Even though the exemplary embodiment of the present invention is not dependant on data or interactions with other locomotives, it may be integrated with a consist manager, as disclosed in U.S. Patent No. 6,691,957 and Patent Application No. 10/429,596 (owned by the Assignee and both incorporated by reference), functionality and/or a consist optimizer functionality to improve efficiency. Interaction with multiple trains is not precluded as illustrated by the example of dispatch arbitrating two "independently optimized" trains described herein. [0096] Trains with distributed power systems can be operated in different modes. One mode is where all locomotives in the train operate at the same notch command. So if the lead locomotive is commanding motoring - N8, all units in the train will be commanded to generate motoring - N8 power. Another mode of operation is "independent" control. In this mode, locomotives or sets of locomotives distributed throughout the train can be operated at different motoring or braking powers. For example, as a train crests a mountaintop, the lead locomotives (on the down slope of mountain) may be placed in braking, while the locomotives in the middle or at the end of the train (on the up slope of mountain) may be in motoring. This is done to minimize tensile forces on the mechanical couplers that connect the railcars and locomotives. Traditionally, operating the distributed power system in "independent" mode required the operator to manually command each remote locomotive or set of locomotives via a display in the lead locomotive. Using the physics based planning model, train set-up 43 WO 2008/073547 PCT/US2007/078026 information, on-board track database, on-board operating rules, location determination system, real-time closed loop power/brake control, and sensor feedback, the system shall automatically operate the distributed power system in "independent" mode. [0097] When operating in distributed power, the operator in a lead locomotive can control operating functions of remote locomotives in the remote consists via a control system, such as a distributed power control element. Thus when operating in distributed power, the operator can command each locomotive consist to operate at a different notch power level (or one consist could be in motoring and other could be in braking) wherein each individual locomotive in the locomotive consist operates at the same notch power. In an exemplary embodiment of the present invention, it is installed on the train, preferably in communication with the distributed power control element, when a notch power level for a remote locomotive consist is desired as recommended by the optimized trip plan, the exemplary embodiment will communicate this power setting to the remote locomotive consists for implementation. As discussed below, the same is true regarding braking. [0098] The exemplary embodiment may be used with consists in which the locomotives are not contiguous, e.g., with 1 or more locomotives up front, others in the middle and at the rear for train. Such configurations are called distributed power wherein the standard connection between the locomotives is replaced by radio link or auxiliary cable to link the locomotives externally. When operating in distributed power, the operator in a lead locomotive can control operating 44 WO 2008/073547 PCT/US2007/078026 functions of remote locomotives in the consist via a control system, such as a distributed power control element. In particular, when operating in distributed power, the operator can command each locomotive consist to operate at a different notch power level (or one consist could be in motoring and other could be in braking) wherein each individual in the locomotive consist operates at the same notch power. [0099] In an exemplary embodiment, installed on the train, preferably in communication with the distributed power control element, when a notch power level for a remote locomotive consist is desired as recommended by the optimized trip plan, the exemplary embodiment will communicate this power setting to the remote locomotive consists for implementation. As discussed below, the same is true regarding braking. When operating with distributed power, the optimization problem previously described can be enhanced to allow additional degrees of freedom, in that each of the remote units can be independently controlled from the lead unit. The value of this is that additional objectives or constraints relating to in-train forces may be incorporated into the performance function, assuming the model to reflect the in-train forces is also included. Thus the exemplary embodiment may include the use of multiple throttle controls to better manage in-train forces as well as fuel consumption and emissions. [00100] In a train utilizing a consist manager, the lead locomotive in a locomotive consist may operate at a different notch power setting than other locomotives in that consist. The other locomotives in the consist operate at the 45 WO 2008/073547 PCT/US2007/078026 same notch power setting. The exemplary embodiment may be utilized in conjunction with the consist manager to command notch power settings for the locomotives in the consist. Thus based on the exemplary embodiment, since the consist manager divides a locomotive consist into two groups, lead locomotive and trail units, the lead locomotive will be commanded to operate at a certain notch power and the trail locomotives are commanded to operate at another certain notch power. In an exemplary embodiment the distributed power control element may be the system and/or apparatus where this operation is housed. [00101] Likewise, when a consist optimizer is used with a locomotive consist, the exemplary embodiment can be used in conjunction with the consist optimizer to determine notch power for each locomotive in the locomotive consist. For example, suppose that a trip plan recommends a notch power setting of 4 for the locomotive consist. Based on the location of the train, the consist optimizer will take this information and then determine the notch power setting for each locomotive in the consist In this implementation, the efficiency of setting notch power settings over intra-train communication channels is improved. Furthermore, as discussed above, implementation of this configuration may be performed utilizing the distributed control system. [00102] Furthermore, as discussed previously, an exemplary embodiment of the present invention may be used for continuous corrections and re-planning with respect to when the train consist uses braking based on upcoming items of interest, such as but not limited to railroad crossings, grade changes, approaching sidings, approaching depot yards, and approaching fuel 46 WO 2008/073547 PCT/US2007/078026 stations where each locomotive in the consist may require a different braking option. For example, if the train is coming over a hill, the lead locomotive may have to enter a braking condition whereas the remote locomotives, having not reached the peak of the hill may have to remain in a motoring state. [00103] FIGS. 8, 9 and 10 depict exemplary illustrations of dynamic displays for use by the operator. As provided, FIG. 8, a trip profile is provided 72. Within the profile a location 73 of the locomotive is provided. Such information as train length 105 and the number of cars 106 in the train is provided. Elements are also provided regarding track grade 107, curve and wayside elements 108, including bridge location 109, and train speed 110. The display 68 allows the operator to view such information and also see where the train is along the route. Information pertaining to distance and/or estimate time of arrival to such locations as crossings 112, signals 114, speed changes 116, landmarks 118, and destinations 120 is provided. An arrival time management tool 125 is also provided to allow the user to determine the fuel savings that is being realized during the trip. The operator has the ability to vary arrival times 127 and witness how this affects the fuel savings. As discussed herein, those skilled in the art will recognize that fuel saving is an exemplary example of only one objective that can be reviewed with a management tool. Towards this end, depending on the parameter being viewed, other parameters, discussed herein can be viewed and evaluated with a management tool that is visible to the operator. The operator is also provided information about how long the crew has been operating the train. In exemplary embodiments time and distance information may either be 47 WO 2008/073547 PCT/US2007/078026 illustrated as the time and/or distance until a particular event and/or location or it may provide a total elapsed time. [00104] As illustrated in FIG. 9 an exemplary display provides information about consist data 130, an events and situation graphic 132, an arrival time management tool 134, and action keys 136. Similar information as discussed above is provided in this display as well. This display 68 also provides action keys 138 to allow the operator to re-plan as well as to disengage 140 the exemplary embodiment. [00105] FIG. 10 depicts another exemplary embodiment of the display. Data typical of a modern locomotive including air-brake status 72, analog speedometer with digital inset 74, and information about tractive effort in pounds force (or traction amps for DC locomotives) is visible. An indicator 74 is provided to show the current optimal speed in the plan being executed as well as an accelerometer graphic to supplement the readout in mph/minute. Important new data for optimal plan execution is in the center of the screen, including a rolling strip graphic 76 with optimal speed and notch setting versus distance compared to the current history of these variables. In this exemplary embodiment, location of the train is derived using the locator element. As illustrated, the location is provided by identifying how far the train is away from its final destination, an absolute position, an initial destination, an intermediate point, and/or an operator input. [00106] The strip chart provides a look-ahead to changes in speed required to follow the optimal plan, which is useful in manual control, and 48 WO 2008/073547 PCT/US2007/078026 monitors plan versus actual during automatic control. As discussed herein, such as when in the coaching mode, the operator can either follow the notch or speed suggested by exemplary embodiment of the present invention. The vertical bar gives a graphic of desired and actual notch, which are also displayed digitally below the strip chart. When continuous notch power is utilized, as discussed above, the display will simply round to closest discrete equivalent, the display may be an analog display so that an analog equivalent or a percentage or actual horse power/tractive effort is displayed. [00107] Critical information on trip status is displayed on the screen, and shows the current grade the train is encountering 88, either by the lead locomotive, a location elsewhere along the train or an average over the train length. A distance traveled so far in the plan 90, cumulative fuel used 92, where or the distance away the next stop is planned 94, current and projected arrival time 96 expected time to be at next stop are also disclosed. The display 68 also shows the maximum possible time to destination possible with the computed plans available. If a later arrival was required, a re-plan would be carried out. Delta plan data shows status for fuel and schedule ahead or behind the current optimal plan. Negative numbers mean less fuel or early compared to plan, positive numbers mean more fuel or late compared to plan, and typically trade-off in opposite directions (slowing down to save fuel makes the train late and conversely). [00108] At all times these displays 68 gives the operator a snapshot of where he stands with respect to the currently instituted driving plan. This 49 WO 2008/073547 PCT/US2007/078026 display is for illustrative purpose only as there are many other ways of displaying/conveying this information to the operator and/or dispatch. Towards this end, the information disclosed above could be intermixed to provide a display different than the ones disclosed. [00109] Other features that may be included in the exemplary embodiment include, but are not limited to, allowing for the generating of data logs and reports. This information may be stored on the train and downloaded to an off-board system at some point in time. The downloads may occur via manual and/or wireless transmission. This information may also be viewable by the operator via the locomotive display. The data may include such information as, but not limited to, operator inputs, time system is operational, fuel saved, fuel imbalance across locomotives in the train, train journey off course, system diagnostic issues such as if GPS sensor is malfunctioning. [00110] Since trip plans must also take into consideration allowable crew operation time, the exemplary embodiment may take such information into consideration as a trip is planned. For example, if the maximum time a crew may operate is eight hours, then the trip shall be fashioned to include stopping location for a new crew to take the place of the present crew. Such specified stopping locations may include, but are not limited to rail yards, meet/pass locations, etc. If, as the trip progresses, the trip time may be exceeded, the exemplary embodiment may be overridden by the operator to meet criteria as determined by the operator. Ultimately, regardless of the operating conditions of the train, such as but not limited to high load, low speed, train stretch conditions, 50 WO 2008/073547 PCT/US2007/078026 etc., the operator remains in control to command a speed and/or operating condition of the train. [00111] Using an exemplary embodiment of the present invention, the train may operate in a plurality of operations. In one operational concept, the exemplary embodiment may provide commands for commanding propulsion, dynamic braking. The operator then handles all other train functions. In another operational concept, the exemplary embodiment may provide commands for commanding propulsion only. The operator then handles dynamic braking and all other train functions. In yet another operational concept, the exemplary embodiment may provide commands for commanding propulsion, dynamic braking and application of the airbrake. The operator then handles all other train functions. [00112] The exemplary embodiment may also be used by notify the operator of upcoming items of interest of actions to be taken. Specifically, the forecasting logic of the exemplary embodiment, the continuous corrections and re-planning to the optimized trip plan, the track database, the operator can be notified of upcoming crossings, signals, grade changes, brake actions, sidings, rail yards, fuel stations, etc. This notification may occur audibly and/or through the operator interface. [00113] Specifically using the physics based planning model, train set-up information, on-board track database, on-board operating rules, location determination system, real-time closed loop power/brake control, and sensor feedback, the system shall present and/or notify the operator of required actions. 51 WO 2008/073547 PCT/US2007/078026 The notification can be visual and/or audible. Examples include notifying of crossings that require the operator activate the locomotive horn and/or bell, notifying of "silent" crossings that do not require the operator activate the locomotive horn or bell. [00114] In another exemplary embodiment, using the physics based planning model discussed above, train set-up information, on-board track database, on-board operating rules, location determination system, real-time closed power/brake control, and sensor feedback, the exemplary embodiment may present the operator information (e.g., a gauge on display) that allows the operator to see when the train will arrive at various locations as illustrated in FIG. 9. The system shall allow the operator to adjust the trip plan (target arrival time). This information (actual estimated arrival time or information needed to derive off-board) can also be communicated to the dispatch center to allow the dispatcher or dispatch system to adjust the target arrival times. This allows the system to quickly adjust and optimize for the appropriate target function (for example trading off speed and fuel usage). [00115] Based on the information provided above, exemplary embodiments of the invention may be used to determine a location of the train 31 on a track, step 18. A determination of the track characteristic may also be accomplished, such as by using the train parameter estimator 65. A trip plan may be created based on the location of the train, the characteristic of the track, and an operating condition of at least one locomotive of the train. Furthermore, an optimal power requirement may be communicated to train wherein the train 52 WO 2008/073547 PCT/US2007/078026 operator may be directed to a locomotive, locomotive consist and/or train in accordance with the optimal power, such as through the wireless communication system 47. In another example instead of directing the train operator, the train 31, locomotive consist 18, and/or locomotive may be automatically operated based on the optimal power setting. [00116] Additionally a method may also involve determining a power setting, or power commands 14, for the locomotive consist 18 based on the trip plan. The locomotive consist 18 is then operated at the power setting. Operating parameters of the train and/or locomotive consist may be collected, such as but not limited to actual speed of the train, actual power setting of the locomotive consist, and a location of the train. At least one of these parameters can be compared to the power setting the locomotive consist is commanded to operated at. [00117] In another embodiment, a method may involve determining operational parameters 62 of the train and/or locomotive consist. A desired operational parameter is determined based on determined operational parameters. The determined parameter is compared to the operational parameter. If a difference is detected, the trip plan is adjusted, step 24. [00118] Another embodiment may entail a method where a location of the train 31 on the track 34 is determined. A characteristic of the track 34 is also determined. A trip plan, or drive plan, is developed, or generated in order to minimize fuel consumption. The trip plan may be generated based on the location of the train, the characteristic of the track, and/or the operating condition 53 WO 2008/073547 PCT/US2007/078026 of the locomotive consist 18 and/or train 31. In a similar method, once a location of the train is determined on the track and a characteristic of the track is known, propulsion control and/or notch commands are provided to minimize fuel consumption. [00119] FIG. 12 depicts an exemplary embodiment of a closed-loop system for operating a rail vehicle. As illustrated, a trip optimizer 650, converter 652, rail vehicle 653, and at least one output 654 such as, but not limited to, speed, emissions, tractive effort, horse power, sand, etc., are part of the closed loop control communication system 657. The output 654 may be determined by a sensor 656 which is part of the rail vehicle 653, or in another exemplary embodiment independent of the rail vehicle 653. For example, with respect to sand a determination is made, such as with a sensor, as to an amount of sand released to assist a rail wheel not to slip. Those skilled in the art will readily recognize that similar consideration is applicable for the other outputs identified above. Information initially derived from information generated from the trip optimizer 650 and/or a regulator is provided to the rail vehicle 653 through the converter 652. Locomotive data gathered by the sensor 654 from the rail vehicle is then communicated through a network, either wired and/or wireless, 657 back to the optimizer 650. In an exemplary embodiment, the optimizer 650 may utilize any variable and use that variable in determining at least one of speed, power, and/or notch setting. For example, the optimizer may be at least one of an optimizer for fuel, time, emissions, and/or a combination thereof. 54 WO 2008/073547 PCT/US2007/078026 [001201 The optimizer 650 determines operating characteristics for at least one factor that is to be regulated, such as but not limited to speed, fuel, emissions, etc. The optimizer 650 determines at least one of a power and/or torque setting based on a determined optimized value. The converter 652 is provided to convert the power, torque, speed, emissions, sanding, setup, configurations etc., and/or control inputs for the rail vehicle 653, usually a locomotive. Specifically, this information or data about power, torque, speed, emissions, sanding, setup, configurations etc., and/or control inputs is converted to an electrical signal. [00121] FIG. 13 depicts the closed loop system integrated with a master control unit. As illustrated in further detail below, the converter 652 may interface with any one of a plurality of devices, such as but not limited to a master controller, remote control locomotive controller, a distributed power drive controller, a train line modem, analog input, etc. The converter, for example, may disconnect the output of the master controller 651. The master controller 651 is normally used by the operator to command the locomotive, such as but not limited to power, horsepower, tractive effort, sanding, braking (including at least one of dynamic braking, air brakes, hand brakes, etc.), propulsion, etc. levels to the locomotive. Those skilled in the art will readily recognize that the master controller may be used to control both hard switches and software based switches used in controlling the locomotive. The converter 652 then injects signals into the master controller 651. The disconnection of the master controller 55 WO 2008/073547 PCT/US2007/078026 651 may be electrical wires or software switches or configurable input selection process etc. A switching device 655 is illustrated to perform this function. [00122] As discussed above, the same technique may be used for other devices, such as but not limited to a control locomotive controller, a distributed power drive controller, a train line modem, analog input, etc. Though not illustrated, those skilled in the art readily recognize that the master controller similarly could use these devices and their associated connections to the locomotive and use the input signals. The communication system 657 for these other devices may be either wireless or wired. [00123] FIG. 14 depicts an exemplary embodiment of a closed-loop system for operating a rail vehicle integrated with another input operational subsystem of the rail vehicle. For example the distributed power controller 659 may receive inputs from various sources 661, such as but not limited to the operator, train lines and/or locomotive controllers, and transmit the information to locomotives in the remote positions. The converter 652 may provide information directly to input of the DP controller 659 (as an additional input) or break one of the input connections and transmit the information to the DP controller 659. A switch 655 is provided to direct how the converter 652 provides information to the DP controller 659 as discussed above. The switch 655 may be a software-based switch and/or a wired switch. Additionally, the switch 655 is not necessarily a two-way switch. The switch may have a plurality of switching directions based on the number of signals it is controlling. 56 WO 2008/073547 PCT/US2007/078026 [001241 In another exemplary embodiment the converter may command operation of the master controller, as illustrated in FIG. 15. The converter 652 has a mechanical means for moving the master controller 651 automatically based on electrical signals received from the optimizer 650. [00125] Sensors 654 are provided aboard the locomotive to gather operating condition data, such as but not limited to speed, emissions, tractive effort, horse power, etc. Locomotive output information 654 is then provided to the optimizer 650, usually through the rail vehicle 653, thus completing the closed loop system. [00126] FIG. 16 depicts an exemplary flowchart of steps for operating a rail vehicle in a closed-loop process. The flowchart 660 includes a step for determining an optimized setting for a locomotive consist, step 662. The optimized setting may include a setting for any setup variable such as but not limited to at least one of power level, optimized torque, emissions, number axles cut in, other locomotive configurations, etc. Another step provides for converting the optimized power level and/or the torque setting to a recognizable input signal for the locomotive consist, step 664. At least one operational condition of the locomotive consist is determined when at least one of the optimized power level and the optimized torque setting is applied, step 667. Another step involves communicating within a closed control loop to an optimizer the at least one operational condition so that the at least operational condition is used to further optimize at least one of power level and torque setting, step 668. 57 C:\NRPonb\DCC\HFSW704 _13'l DOC-2NIO/2012 [00127] As disclosed above, steps illustrated in this flowchart 660 may be performed using a computer software code. Therefore for rail vehicles that may not initially have the ability to perform the steps disclosed herein, electronic media containing the computer software modules may be accessed by a computer on the rail vehicle so that at least of the software modules may be loaded onto the rail vehicle for implementation. Electronic media is not to be limiting since any of the computer software modules may also be loaded through an electronic media transfer system, including a wireless and/or wired transfer system, such as but not limited to using the Internet to accomplish the installation. [00128] While the invention has been described in what is presently considered to be a preferred embodiment, many variations and modifications will become apparent to those skilled in the art. Accordingly, it is intended that the invention not be limited to the specific illustrative embodiment but be interpreted within the full spirit and scope of the appended claims. [00129] Throughout this specification and the claims which follow, unless the context requires otherwise, the word "comprise", and variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated integer or step or group of integers or steps but not the exclusion of any other integer or step or group of integers or steps. [00130] The reference in this specification to any prior publication (or information derived from it), or to any matter which is known, is not, and should not be taken as an acknowledgment or admission or any form of suggestion that that prior publication (or information derived from it) or known matter forms part of the common general knowledge in the field of endeavour to which this specification relates. 58

Claims (12)

1. A control system for operating a vehicle, comprising: a mission optimizer on board the vehicle and configured to determine a trip plan for a trip of the vehicle, the trip plan comprising plural speed, power, and/or throttle settings as a function of time and/or distance of the vehicle along a route of the trip, based on information of the vehicle and information of the route, wherein the mission optimizer is configured to determine the trip plan before the vehicle commences a trip along the route, and wherein the mission optimizer is further configured to output signals relating to the plural speed, power, and/or throttle settings for control of an engine system of the vehicle along the route; a sensor on board the vehicle configured to collect operational data of the vehicle, the operational data comprising data of a vehicle speed as the vehicle travels along the route; and a communication system on board the vehicle configured to communicate the operational data to the mission optimizer; wherein the mission optimizer is configured to change the outputted signals relating to the speed, power, and/or throttle settings as the vehicle travels along the route, based in part on the data of the vehicle speed.

2. The control system of claim 1, wherein the mission optimizer is configured to re-determine, at a point along the route, the trip plan based on the information of the vehicle and the information of the route and the operational data. 59 C \NRPonbIDCC\HFSU704339 I DOC-26/10/2012

3. The control system of claim 1 or 2, further comprising a converter coupled to the mission optimizer and the communication system, the converter configured to convert the signals output from the mission optimizer to electrical signals for controlling the engine system of the vehicle.

4. The control system of claim 3, further comprising a master controller coupled to the converter and the vehicle for controlling the engine system of the vehicle, the master controller including at least one switch operable by an operator of the vehicle.

5. The control system of any one of claims 1 to 4, wherein the speed, power and/or throttle settings are determined in part based on minimizing fuel consumption.

6. The control system of any one of claims 1 to 5, wherein the speed, power and/or throttle settings are determined in part based on time considerations.

7. The control system of any one of claims 1 to 6, wherein the speed, power and/or throttle settings are determined in part based on emissions output.

8. A method for controlling an engine system of a vehicle comprising: detecting on board the vehicle data related to an operational condition of the vehicle, the operational condition comprising data related to a vehicle speed as the vehicle travels along a route; determining on board the vehicle information related to the route of the vehicle; 60 C NRPobl\DCC\HFSWA704f39_ LDOC-26/10/12102 determining on board the vehicle a trip plan for a trip of the vehicle along the route, the trip plan determined before the vehicle commences the trip and the trip plan comprising at least one of a speed, power and/or throttle settings, and the trip plan determined based on information of the vehicle and the information related to the route of the vehicle; applying the at least one of the speed, power and/or throttle settings to the vehicle to control the vehicle on the trip; and adjusting on board the vehicle one of the speed, power and/or throttle settings as applied for controlling the vehicle, based in part on the data related to the vehicle speed.

9. The method according to claim 8, further comprising re-determining at a point along the route, the trip plan based on the information related to the route of the vehicle and the operational condition data.

10. A control system for operating a vehicle, comprising: a mission optimizer on board the vehicle configured to determine a trip plan for a trip of the vehicle, the trip plan comprising plural speed, power, and/or throttle settings as a function of time and/or distance of the vehicle along a route of the trip, the mission optimizer configured to determine the trip plan before the vehicle commences the trip and based on information of the vehicle and information of the route, and to output first signals relating to the plural speed, power, and/or throttle settings as the vehicle travels along the route; a converter module coupled with an engine system of the vehicle, wherein the converter module is configured to receive input signals and to output engine 61 C:NRPorbl\DCC\HFS4'lD4339_1 DOC-26/10/12012 control signals, based on the input signals, for controlling the engine system along the route, wherein the input signals comprise the first signals or wherein the input signals are generated based on the first signals; a sensor on board the vehicle configured to collect operational data of the vehicle, the operational data comprising data of a vehicle speed as the vehicle travels along the route; and a communication system on board the vehicle configured to communicate the operational data to the mission optimizer; wherein the mission optimizer is configured to adjust the first signals based in part on the operational data as the vehicle travels along the route.

11. A control system for operating a vehicle, the control system being substantially hereinbefore described with reference to the accompanying figures.

12. A method for controlling an engine system of a vehicle, the method being substantially hereinbefore described with reference to the accompanying figures. 62