CN101378942B - Trip optimization system and method for a vehicle - Google Patents

Abstract

A system for operating a vehicle including an engine operating on at least one type of fuel is provided. The system includes a locator element to determine a location of the vehicle, a characterization element to provide information about a terrain of the vehicle, a database to store characteristic information for each type of fuel, and a processor operable to receive information from the locator element, the characterization element, and the database. An algorithm is embodied within the processor with access to the information for creating a trip plan that optimizes performance of the vehicle in accordance with one or more operational criteria for the vehicle.

Description

The trip optimization system and the method that are used for the vehicle

The cross reference of related application

The preceence of No. the 60/870562nd, the U. S. application of pending trial when the application requires on December 18th, 2006 to submit to, and related to returning with it.In addition, the application is the part continuation application of No. the 11/385354th, the U. S. application of pending trial when submitting on March 20th, 2006.

Technical field

The field of the invention relates to optimizes vehicle operation, and more specifically, relates to and keeping watch on and the operation of the control vehicle, when satisfying schedule constraints, to improve efficient.

Background technology

Locomotive is the complication system with a plurality of subsystems, and each subsystem is independent of other subsystem.The operator is on the locomotive car, with the association load of the proper operation of guaranteeing locomotive and loading space thereof.Except the proper operation of guaranteeing locomotive, the operator also is responsible for confirming the operating speed of train and comprising that locomotive is as the power in its a part of train.In order to carry out this function, the operator generally must have the rich experiences of making locomotive and various trains in specific landform drilling.Need this knowledge, with follow can along with train along the place of track and the predetermined operation speed that changes.In addition, the operator is responsible for also guaranteeing that train internal force (in-trainforces) remains in the acceptable boundary.

Yet even have the knowledge of guaranteeing safe in operation, the operator generally can not operate locomotive, makes that the consumption of fuel in each travelling minimizes.For example, the other factors that must consider can comprise the weighted array that the operator's of discharging output, for example noise/vibration environmental conditions, consumption of fuel and discharging are exported etc.Be difficult to do like this, because as an example, the size of train and load variations, locomotive and fuel thereof/discharge characteristics is different, and weather and transportation condition variation.If to the operator be provided for confirming at given day driving train best mode, with the scheduling (time of advent) that meets the demands, use possible minimum fuel simultaneously and no matter variable source, then the operator can more effectively operate train.

Except having train according to the locomotive of single-fuel type operations, utilize have according to the train/locomotive of the engine of the pluralities of fuel operation that comprises at least a diesel oil fuel and at least a replacement fuel with comprise that other vehicle of OHV (cross-country car) and marine traffic instrument will be favourable.Except the cost and available interests of replacement fuel; At the best mode of confirming each vehicle of operation, with the scheduling that meets the demands, for example make that the total amount of fuel that uses is minimum simultaneously or make total discharging output hour, can be incorporated in each kind of fuel and the characteristic of relative mixture thereof in the operation of each vehicle.

Summary of the invention

One embodiment of the present of invention disclose a kind of system that is used to operate the train with one or more locomotive marshallings, and each locomotive marshalling comprises one or more locomotives.In example embodiment, this system comprises the locator element in the place that is used for definite this train.The track characteristic element of the information that is used to provide relevant track also is provided.This system also has treater, is operable as from locator element and track characteristic element and receives information.The algorithm that is embedded in this treater also is provided, and visit information is to create the itinerary of optimizing the performance of locomotive marshalling according to one or more operating standards of this train.

Another embodiment of the present invention also discloses the method that a kind of operation has the train of one or more locomotive marshallings, and each locomotive marshalling comprises one or more locomotives.This method comprises confirms train place in orbit.This method is also confirmed the characteristic of track.This method also according at least one operating standard of train, based on the operating conditions of train place, track characteristic and locomotive marshalling, is created itinerary.

Another embodiment of the present invention also discloses a kind of computer software code, is used to operate the train with computer processor and the marshalling of one or more locomotive, and each locomotive marshalling comprises one or more locomotives.This computer software code comprises the software module of creating itinerary according at least one operating standard of train based on the operating conditions of train place, track characteristic and locomotive marshalling.

Another embodiment of the present invention also discloses the method that a kind of operation has the train of one or more locomotives marshalling, and each locomotive marshalling comprises and wherein designed itinerary for this train by one or more locomotives.This method comprises the power setting of confirming the locomotive marshalling based on this itinerary.This method is also according to this locomotive marshalling of this power setting operation.Collect the actual speed of train, the actual power setting of locomotive marshalling and/or the place of train.The actual speed of train, the actual power setting of locomotive marshalling and/or place and this power setting of train are made comparisons.

Another embodiment of the present invention also discloses the method that a kind of operation has the train of one or more locomotive marshallings; The marshalling of each locomotive comprises one or more locomotives, has wherein designed itinerary based on the hypothesis operating parameter of this train and/or locomotive marshalling for this train.This method comprises estimates train operating parameter and/or locomotive operation parameter.This method also comprises makes comparisons the train operating parameter of the train operating parameter of estimating and/or locomotive marshalling operating parameter and hypothesis and/or locomotive marshalling operating parameter.

Another embodiment of the present invention also discloses the method that a kind of operation has the train of one or more locomotive marshallings, and each locomotive marshalling comprises one or more locomotives, has wherein designed itinerary based on the parameter of expecting for this train.This method comprises the operating parameter of confirming train and/or locomotive marshalling, confirms the expectation parameter based on determined operating parameter, and more determined parameter and operating parameter.If there are differences through more determined parameter and operating parameter, then this method also comprises the step of adjusting itinerary.

Another embodiment of the present invention also discloses the method that a kind of operation has the railway system of one or more locomotive marshallings, and wherein each locomotive marshalling comprises one or more locomotives.This method comprises the characteristic of confirming train place in orbit and confirming track.This method also comprises the characteristic of place based on this railway system, track and/or the operating conditions of locomotive marshalling, generates at least one the driving plan in the locomotive, so that make the consumption of fuel of this railway system minimize.

Another embodiment of the present invention also discloses the method that a kind of operation has the railway system of one or more locomotive marshallings, and wherein each locomotive marshalling comprises one or more locomotives.For this reason, this method comprises the characteristic of confirming train place in orbit and confirming track.This method also is included as the locomotive marshalling propelling control is provided, so that make the consumption of fuel of this railway system minimize.

In another embodiment of the present invention, a kind of system of operating the vehicle is provided, wherein these vehicle comprise the driving engine with at least a fuel handling.This system comprises: locator element is used for confirming the place of these vehicle; With the track characteristic element, be used to provide information about the landform of these vehicle.More specifically, this system comprises: data bank is used to store the characteristic information of each kind of fuel; And treater, be operable as from said locator element, feature member and data bank and receive information.Algorithm is embedded in this treater, visits this information, to create the itinerary of optimizing the performance of the said vehicle according to one or more operating standards of the said vehicle.

In another embodiment of the present invention, a kind of method of operating the vehicle is provided, wherein these vehicle comprise the driving engine with at least a fuel handling.Said method comprises: confirm the place of the vehicle, the information of the landform of relevant these vehicle is provided, and stores the characteristic information of each kind of fuel.More specifically, this method comprises the itinerary of establishment according to the performance of one or more these vehicle of operating standards optimization of these vehicle.

In another embodiment of the present invention, a kind of computer-readable medium that comprises the programmed instruction of the method that is used to operate the vehicle is provided.These vehicle comprise the driving engine with at least a fuel handling.Said method comprises: confirm the place of the vehicle, the information of the landform of relevant these vehicle is provided, and stores the characteristic information of each kind of fuel.More specifically, this computer-readable medium comprises the computer program code of establishment according to the itinerary of the performance of one or more these vehicle of operating standards optimization of these vehicle.

Description of drawings

Through with reference to graphic its specific embodiment in the accompanying drawings, will present (rendered) above concise and to the point describe of the present invention and describe more specifically.Should be understood that these figure have only described exemplary embodiments of the present invention, and therefore should not be considered to restriction, will utilize supplementary features and details to describe and explain the present invention through using accompanying drawing to its scope, wherein:

Fig. 1 has described the exemplary illustration of the diagram of circuit of one embodiment of the invention;

Fig. 2 has described the simplified model of adoptable train;

Fig. 3 has described the example embodiment of element of the present invention;

Fig. 4 has described the example embodiment of fuel use/traveling time curve;

Fig. 5 has described the example embodiment of the segmentation decomposition of itinerary;

Fig. 6 has described the example embodiment of fragmentation example;

Fig. 7 has described the example flow chart of one embodiment of the invention;

Fig. 8 has described the exemplary illustration of the dynamic display of operator's use;

Fig. 9 has described another exemplary illustration of the dynamic display of operator's use;

Figure 10 has described another exemplary illustration of the dynamic display of operator's use;

Figure 11 has described the example embodiment of element of the present invention;

Figure 12 has described the exemplary illustration of the dynamic display of operator's use;

Figure 13 has described another exemplary illustration of the dynamic display of operator's use;

Figure 14 has described another exemplary illustration of the dynamic display of operator's use; With

Figure 15 is the example embodiment of method of the present invention.

The specific embodiment

Now will be in detail with reference to the embodiment according to the invention that illustrates its example in the accompanying drawings.As long as maybe, the same reference numerals of using among the figure is represented identical or similar part all the time.

Embodiments of the invention solve the problems of the prior art through a kind of system, method and computer implemented method of driving strategy that is used for confirming and realizes having the train of locomotive marshalling is provided; Wherein confirm such scheme; The operation of keeping watch on and controlling train is satisfied scheduling and constraint of velocity simultaneously to improve some object run canonical parameter demand.When the locomotive marshalling was in the disperse power operation, embodiments of the invention also can be operated.Those skilled in the art will recognize that; Can programme or design otherwise to the equipment of the for example data processing system that comprises CPU, memory device, I/O, program storage, connecting bus and other suitable assembly, to promote the practice of method embodiment of the present invention.Such system will comprise the suitable procedure parts that are used to move method embodiment of the present invention.

And; With data processing system use for example in advance the manufacture of indicator or other similar computer program can comprise such storage medium with its on the program recorded parts, be used to make that data processing system promotes the practice of method embodiment of the present invention.Such equipment and manufacture also fall within the spirit and scope of the embodiment of the invention.

Generally speaking; Embodiments of the invention provide a kind of method, equipment and program of driving strategy that is used for confirming and realizes having the train of locomotive marshalling; Wherein confirm such scheme; The operation of keeping watch on and controlling train is satisfied scheduling and constraint of velocity simultaneously to improve some object run canonical parameter demand.To understand embodiments of the invention in order being beneficial to, to describe with reference to its specific implementation below.But in the general context of the computing machine operating instruction of the for example program module of computer run, embodiments of the invention are described.Usually, program module comprises the routine carrying out particular task or realize particular abstract, program, object, assembly, data structure etc.For example, the software program that becomes embodiment of the invention basis can be encoded with different language, to be used for different platforms.In ensuing description, the example of the embodiment of the invention is described in the context of the Web portal website of adopting Web-browser.Yet, will be appreciated that the principle that becomes embodiment of the invention basis also can realize with other type computer software technology.

In addition; Skilled person will appreciate that; Can utilize other computer system configurations to put into practice the embodiment of the invention, comprise hand-held device, microprocessor system, based on microprocessor or programmable consumables electronics package, small-size computer, giant brain etc.Also can be therein by putting into practice embodiments of the invention in the DCE of executing the task through the teleprocessing device of linked.In DCE, program module can be arranged in this locality and the remote computer storage media that comprises memorizer memory devices.These are local can all to be included in the locomotive with the remote computation environment or in the adjacent locomotives in organizing into groups or in the roadside or central office of the use radio communication under the car.

The locomotive that in the document, uses a technical term all the time marshalling.As used herein, the locomotive marshalling can be described to have and connect together one by one so that one or more locomotives of driving and/or braking potential are provided.Locomotive connects together, and between locomotive, does not have railway carriage.Train can have more than a marshalling in it is formed.Specifically, can have leading marshalling and more than a long-range marshalling, for example in the delegation compartment midway with in another long-range marshalling of train one end.Each locomotive marshalling can have first locomotive and (a plurality of) follow-up (trail) locomotive.Although marshalling is counted as continuous locomotive usually; But those skilled in the art will readily appreciate that; Even for example when marshalling is arranged to the power distribute type operation; When at least one car separated locomotive, the marshalling of one group of locomotive also can be identified as marshalling, wherein through radio link or physics cable from leading locomotive to remote locomotive relaying throttling (throttle) and brake command.For this reason, when a plurality of locomotive in the same train of discussion, the marshalling of term locomotive should not be counted as limiting factor.

With reference now to accompanying drawing,, embodiment of the present invention will be described.Embodiments of the invention can be realized in many ways; Comprise system's (comprising computer processing system), method (comprising computerized method), equipment, computer-readable medium, computer program, graphical user interface, comprise Web portal or tangible fixing data structure in computer-readable memory.Several embodiments of the present invention are discussed below.

Fig. 1 has described the exemplary illustration of the diagram of circuit of the embodiment of the invention.As shown in the figure, be exclusively used in the instruction of planning travelling onboard or from remote site (for example dispatch center 10) input.Such input information include but not limited to train location, marshalling (for example type of locomotive), railroad traction descriptions, locomotive traction transmission performances, the consumption as the engine fuel of the function of outputting power, air-circulation features, expection itinerary (following " effective gradient " assembly of the curvature of standard railroad practice as effective track grade of the function of mile stone and curvature or reflection) are described, by the train of carriage body construction and load and the representative of effective resistance coefficient, travelling expectation parameter include but not limited to the time opening with place, end place, expect that traveling time, bus attendant (user and/or operator) identify, bus attendant (shift) time expiration and route in shifts.

Can these data be provided to locomotive 42 according to multiple mode, such as but not limited to the operator via Vehicular display device with these data manually type in the locomotive 42, the memory storage that will comprise for example hard card and/or the usb driver of these data inserts in the socket on the locomotive car and via radio communication from the central authorities of for example track signaling arrangement and/or roadside device or place, roadside 41 to locomotive 42 transmission information.Locomotive 42 also can change (for example changing along with height above sea level, ambient temperature and the condition of railway and railcar) with train 31 load characteristics (for example resistance) on route, and renewable plan is to reflect above-mentioned arbitrary method and/or real-time spontaneous collection locomotive/needed change of train condition.This comprises for example through keeping watch on (a plurality of) locomotive 42 cars or the locomotive that equipment detected under the car or the change of train characteristic.

The track signal lamp system is confirmed the permissible speed of train.There are polytype track signal lamp system and the working rule related with each signal lamp.For example, some signal lamps have single lamp (ON/OFF), and some signal lamps have the single-lens of multiple color, and some signal lamps have a plurality of lamps and color.These signal lamps can indicate track and remove, and train can advance with maximum permissible speed.They also can indicate and need underspeed or stop.The speed of this reduction possibly need to realize at once, or realize (for example, before next signal lamp or sluice gate) in certain place.

Through various means this signal lamp state transfer is arrived train and/or operator.Some systems have circuit and the inductive pickup coils on the locomotive in the track.Other system has wireless communication system.Lamp system also can require visually observation signal lamp and take suitable action of operator.

Signaling system can be docked with the cab signal lamp system, and adjusts locomotive speed according to input and suitable working rule.For requiring the visually lamp system of observation signal lamp state of operator, operator's screen will present the appropriate signals lamp option that supplies the operator to key in based on the train place.Can in vehicle-mounted data storehouse 63, store type and the working rule of this lamp system function as the place.

Based on the specification data that is input in the embodiment of the invention, the optimal planning that minimizes the discharging that fuel uses and/or produce receives along the restriction of the speed limit of this route, and calculation expectation start and end time, to produce travelling distribution graph (profile) 12.This distribution graph comprises optimum speed that the train that is expressed as distance and/or the function of time will follow and power (gear: notch) be provided with, and such train performance constraint includes but not limited to maximum gear power and brake setting and as the speed limit of the function in place with expect the fuel of use and the discharging of generation.In example embodiment, select to be used for the value that gear is provided with, obtaining approximately, throttling once in per 10 to 30 seconds changes judgement.It will be readily appreciated by those skilled in the art that if desired and/or the optimum speed distribution graph is followed in expectation that then throttling changes judgement and can take place according to longer or shorter interval.On wider meaning, it will be understood by those skilled in the art that distribution graph provides the power setting of train in train level (level), marshalling level and/or independent locomotive level.Power comprises brake power, drives power and air-lock power.In another preferred embodiment, not according to conventional discrete gear power setting operation, embodiments of the invention can be selected to be confirmed as for the best continuous power setting of the distribution graph of selecting.Thus, for example, if optimum distribution figure stipulates 6.8 gear setting, rather than according to 7 gear setting operation, then locomotive 42 can be according to 6.8 operations.Allow such intermediate power setting that following added efficiency benefit can be provided.

The process that is used for the calculating optimum distribution graph can be to be used to calculate drive train 31 so that receive locomotive operation with the fuel of schedule constraints and/or discharge the minimized power method of the arbitrary number of (power sequence) in proper order, and this will summarize below.In some cases, because the similarity of train configuration, route and environmental conditions makes that the optimum distribution figure that requires can be enough close with the previous distribution graph of confirming.In these cases, possibly be enough to from data bank 63, search driving locus and also attempt following this track.When not having previous plan of calculating suitable, the method for calculating new plan includes but not limited to utilize the Differential Equation Model of approximate train physical motion to come direct calculating optimum distribution graph.This setting relates to selects the quantitative objective function, be generally that weighted sum (integration) with the cooresponding model variable of discharging of specific consumption of fuel and generation adds that the too much throttling of punishment changes.

Set up the optimal control formula, include but not limited to speed limit and quantitative objective the function minimization minimum and constraint that maximum power (throttling) is provided with so that receive.The planned target that depends on random time can be provided with such problem flexibly, and the feasible fuel that receives the constraint of discharging and speed limit minimizes or makes the discharging that receives fuel use and the constraint of the time of advent minimize.Also such target possibly is set, the for example feasible time minimization of always advancing, and do not retrain total discharging or fuel use, wherein allow or require loosening of such constraint for this task.

In the document, present demonstration equation and objective function all the time, be used to minimize railroad fuel consumption.These equations and function only are used for diagram, because can adopt other equation and objective function, optimize consumption of fuel or optimize other locomotive/train operating parameter

Arithmetically, can illustrate the problem that will solve more accurately.This basic physical property is expressed as following formula:

Wherein x is a train location, and v is a train speed, t be the time (when suitable, for mile, mile hourly and minute or hour), and u is gear (throttling) order input.In addition, the distance that D indicates to advance, T _fBe expected approach time along the distance B place of track, T _eBe the draw power that the locomotive marshalling produces, G _aBe terrestrial attraction (it depends on train length, the landform that train constitutes and train is positioned at), and R is the resistance by the net velocity decision of locomotive marshalling and train combination.The initial sum final velocity also can be specified, but is assigned therein as zero (train that when beginning and end, stops) here especially.Finally, can this model easily be revised as and comprise other important motivity factor, for example the hysteresis between the change of throttling u and draw power that obtains or braking.Utilize this model, the optimal control formula is set, include but not limited to speed limit and quantitative objective the function minimization minimum and constraint that maximum power (throttling) is provided with so that receive.The planned target that depends on random time can be provided with such problem flexibly, and the feasible fuel that receives the constraint of discharging and speed limit minimizes or makes the discharging that receives fuel use and the constraint of the time of advent minimize.

Also for example such target possibly is set, the feasible time minimization of always advancing, and do not retrain total discharging or fuel use, wherein allow or require loosening of such constraint for this task.All these performance metrics can be expressed as following any linear combination:

1. -minimize total consumption of fuel

2.

-minimize traveling time

3.

-minimize gear position operation (segmentation continues input)

-minimize gear position operation (input continuously) to use and discharge the cooresponding fuel item F who comes in alternative (1) of generation.For example; For discharging,

-minimize total discharging consumption.In this equation, E is the discharging quantity for the gm/hphr of each gear (or power setting).In addition, can minimize based on the weighted sum of fuel and discharging.

Normally used representative objective function is thus:

$\underset{u\left(t\right)}{\min }{\mathrm{\α}}_1\underset{0}{\overset{T_f}{\∫}}F\left(u\left(t\right)\right)\mathrm{dt}+{\mathrm{\α}}_3{T}_f+{\mathrm{\α}}_2\underset{0}{\overset{T_f}{\∫}}{(\mathrm{du}/\mathrm{dt})}^2\mathrm{dt}---\left(\mathrm{OP}\right)$

The coefficient of this linear combination will depend on the importance (weight) that gives each.When the vehicle during according to the pluralities of fuel type operations, fuel item F is the linear and combination of the fuel efficiency of each fuel type of using of these vehicle, as following discussing in more detail.It should be noted that in equation (OP) u (t) is the optimization variable as continuous gear positions.Discrete if desired gear for example is used for old locomotive, makes that then separating of equation (OP) is discrete, and this can cause than the low fuel saving.The minimum time that use obtains is separated (α ₁And α ₂Be set to zero) obtain lower bound, preferred embodiment utilizes α ₃Be set to zero, come to each value T _f(OP) solves an equation.For the people of the solution of being familiar with so best problem, maybe additional constraint, for example along the speed limit in this path:

0≤v≤SL(x)

Perhaps when with minimum time when the target, must keep the end point constraint, for example: total fuel of consumption must be less than the fuel in the fuel tank, for example:

$0<\underset{0}{\overset{T_f}{\&Integral;}}F\left(u\left(t\right)\right)\mathrm{dt}{\&le;W}_F$

W wherein _FBe T _fThe time in fuel tank remaining fuel.It will be readily appreciated by those skilled in the art that also and can present equation (OP) with other form, and more than what appear is the demonstration equation that uses in embodiments of the present invention.

In fact the discharging of in the context of example embodiment of the present invention, mentioning refers to oxides of nitrogen (NO _X), carbonoxide (CO _X), the accumulation discharging that produces of unburned hydro-carbon (HC) and particulate matter forms such as (PM).Yet other discharging can include but not limited to be used for the maxim of the electromagnetism discharging of measuring with watt of the corresponding frequencies of locomotive emission, for example for the restriction of radio frequency (RF) power output.Another form of discharging is the noise that locomotive produces, and measures with decibel (dB) usually.Emissions requirements can be based on Time of Day, year and/or the atmospheric conditions of the levels of contamination in weather or the atmosphere and variable for example.Discharge regulation (regulation) can be crossed the railway system and on geography, change.For example, the emissions object that can have regulation such as the operating area of city or state (state), and adjacent area can have different emissions objects, for example littler permissible discharge amount or the more high cost that given rank discharging is collected.

Therefore, the discharging distribution graph of a certain geographic area can be made as the maximum discharge value that comprises each the adjustment discharging that is used for comprising in this distribution graph, to satisfy the predetermined emissions object that this zone requires.Typically, for locomotive, these discharging parameters are confirmed by being not limited to power (gear) setting, environmental conditions, engine control etc.Through design, each locomotive must meet the EPA effluent standard, and thus in the embodiments of the invention of optimizing discharging, this can refer to not exist general assignment (mission-total) discharging of current EPA standard.Locomotive operation according to optimizing itinerary always meets the EPA effluent standard.Those of ordinary skills will readily appreciate that, because in other is used, use diesel motor, so can use Else Rule.For example, in international treaties, consider the CO2 discharging.

If the common-denominator target during the travelling task is to reduce discharging, then revise optimal control formula (equation (OP)) to consider this travelling target.Crucial alerting ability during optimization is provided with is any or the target of all travelling can change according to geographic region or task.For example, for the high priority train, because it is the high priority traffic, so minimum time can only be a target on the route.In another example, discharging output can not change between Tonzhou along the train route of planning.

In order to solve resulting optimization problem; In example embodiment; The present invention is converted into the equivalent static arithmetic programming problem with N judgment variables with the dynamic optimal control problem of time domain, and wherein number " N " depends on the frequency and travelling time length of carrying out throttling and brake adjusting.For the representative type problem, N can be several thousand.For example, in example embodiment, suppose that train is just at advance 172 miles track section of Southwestern United Stares.Utilize one embodiment of the present of invention, when will utilize one embodiment of the invention confirm with the travelling of following when wherein confirming that by the operator the actual chaufeur throttling/speed history of travelling is compared, the 7.6% use consumption of fuel of can realizing demonstrating.Because compare with operator's itinerary, the optimization that utilizes one embodiment of the invention to realize produce have more slight drag loss with seldom or do not have the driving strategy of brake loss, so realized improved saving.

In order to make above-mentioned optimization control (tractable) easily calculably, can adopt the simplified model of train, for example shown in Figure 2 and in above-mentioned equation, propose.Through deriving the more detailed model that generates the best power source order; Produce the key improvements of optimum distribution figure; Whether violate other temperature, electric and mechanical constraint with test, this causes the distribution graph revised, wherein speed than distance near attainable operation; And do not damage locomotive or train equipment, promptly satisfy additional implicit constraint to the for example temperature and the electrical limitations of the power between the compartment in locomotive and the train.

Return with reference to figure 1, in case begin travelling, just generate power commands, to begin plan 14 12.The operation setting that depends on one embodiment of the invention, an order makes locomotive follow the power commands of optimization 16, so that realize optimum speed.One embodiment of the present of invention obtain actual speed and dynamic Information in the 18 locomotive marshallings from train.Because in the inevitable approximate value of the model that is used for optimizing, so obtain to optimizing the closed loop calculating that power is proofreaied and correct, to follow the tracks of the optimum speed of expectation.The correction of such train performance constraint can be carried out automatically, perhaps can be undertaken by the operator who always finally controls train.

In some cases, the model that is used to optimize can be according to actual trains and significantly different.This possibly caused by many reasons, includes but not limited to the data item mistake that extra goods picks up or arrange locomotive, the mistake in the initial data base 63 or the operator of (setouts), route failure to cause.Because these reasons, supervisory system 20 in the position of using real-time train data, with real-time estimation locomotive and/or train parameter.22, the hypothesis parameter of estimated parameter and the use of initial creation whilst on tour is made comparisons.If can realize enough practicing thrift, then, can replan travelling 24 based on any difference between value hypothesis and that estimate according to new plan.

Other reason that can replan travelling comprise from the remote site of for example dispatch center and/or operator, request and a plurality of overall moving projection congruences ground changes the indication of target.Overall moving projection target like this can include but not limited to other train scheduling, allow from pipeline and disperse waste gas, attended operation etc.Another reason can be owing to fault on the car of assembly.The strategy of replanning can be depending on the order of severity of destruction and is grouped into increase and main adjustment, and this will discuss below in more detail.In general, " newly " plan must be from derivation the separating of above-mentioned optimization problem equation (OP), but usually can obtain numerical solution faster, as described herein.

In operation, locomotive 42 will continue supervisory system efficient, and continue to upgrade itinerary based on the efficient of actual measurement, as long as such renewal can improve the travelling performance.Replanning calculating can carry out in (a plurality of) locomotive fully, or can all or part ofly move to remote site, for example wherein uses wireless technology with dispatch center or the roadside treatment facility of scheduled transfer to locomotive 42.One embodiment of the present of invention also can generate the efficient trend that is used to develop locomotive fleet (fleet) data of relevant efficient transition function.When confirming initial itinerary, can use this fleet's width data, and when considering the place of a plurality of trains, it is compromise to use this fleet's width data to be used for network-wide optimization.For example, traveling time fuel shown in Figure 4 uses compromise curve to reflect the ability of the train of current time on a certain route, and it upgrades according to the collected population mean of many similar train on the same route and obtains.Thus, central authorities' equipment of sending of collecting to take pride in the curve shown in Figure 4 of multimachine car can use this information, moves to coordinate overall train better, thereby realizes that fuel uses or the system-wide advantage of loading and unloading capacity.

Many incidents in the regular job can cause requiring train can not as plan, run on time or through another train and therefore must remedy the time time, generation or revise the plan of current executed, its desired keeps identical travelling target.Utilize actual speed, power and the place of locomotive, the time of advent of plan and the time of advent of current estimation (prediction) are made comparisons 25.Based on the difference of the parameter of this time difference and (detect or change), at 26 plans for adjustment through dispatch center or operator.Can follow the wish how to dispose the plan of running counter to of railroad and carry out this adjustment automatically, perhaps according to the operator on the car and dispatch center cascading judgement return this plan preferred plan the suggestion choice and manually carry out this adjustment.Need only and upgrade plan, keep identical but be such as but not limited to the original object of the time of advent, then can concurrently calculate (factored) additional variation, for example new following speed limit changes, and this can influence the feasibility of recovering original scheme by any way.Under these circumstances, if can not keep the original travel plan, perhaps in other words, train can not satisfy the original travel planned target, discusses then as here, can present (a plurality of) other itinerary to operator and/or remote equipment or dispatch center.

When expectation changes original object, also can replan.Can manually carry out such replanning according to the judgement of operator or dispatch personnel, maybe can work as predefine when restriction that exceeds such train performance constraint, spontaneously carry out such replanning according to the fixing preplanned time.For example; If carrying out, current planning moved greater than defined threshold (for example 30 minutes) evening; Then one embodiment of the present of invention can be replanned this travelling; Under the situation of above-mentioned increase fuel, being in harmonious proportion (accommodate) this delay, or how long alarm operation person and dispatch personnel can compensate (that is, residue minimum time or the maximum fuel that in time-constrain, can practice thrift).The situation that also can form based on the fuel that consumes or power (include but not limited to the time of advent, because the detection of loss of horsepower that equipment fault and/or equipment temporarily malfunctioning (for example operation is too hot or too cold) cause and/or the train that the consumes total set-up error in loading) is envisioned other trigger event of replanning.That is, if should change the defective of the performance of locomotive of the current travelling of reflection, then this can calculate model and/or the equation that uses in the optimization.

The change of planned target also can cause that the plan of one of them train jeopardizes the ability that another train satisfies target owing to the demand of the incident of coordination, and need be in the arbitration of (for example, sending office) not at the same level.For example, can come further to optimize through the communication between train and the train and meet and the coordination of process.Thus, as an example, if train know that it can not arrive as scheduled and meet and/or the place of process, then can notify late train (and/or dispatch center) from the communication of another train.The operator can key in the information in relevant evening then in one embodiment of the invention, this will recomputate the itinerary of train.Also can use embodiments of the invention, confirm that to allow dispatch center which train should slow down or quicken, as long as possibly not satisfy meeting and/or the elapsed time constraint of scheduling at senior or network level.As discuss here, this can realize with the priority of distinguishing each train and how changing its planned target to dispatch center transmission data through train.Depend on situation, select can be depending on scheduling or saving of fuel benefit.

For any manual or automatically actuated replanning, example embodiment of the present invention can appear more than an itinerary to the operator.In example embodiment, the present invention will present different distribution graphs to the operator, select the time of advent to allow the operator, and also understand cooresponding fuel and/or discharging influence.From similar consideration, such information also can offer dispatch center, as the simple list of alternative or as for example a plurality of compromise curve shown in Figure 4.

Example embodiment of the present invention has learning and adapts to the ability that can change in the key of current planning and/or train that merges in the works in the future and power composition.For example, an above-mentioned trigger event is a loss of horsepower.When along with the time increases horse-power-hour, after loss of horsepower,, utilize converter logic to determine when and realized expectation horsepower maybe when the beginning whilst on tour.This information be can in locomotive data storehouse 61, preserve,, following travelling or current travelling are used to optimize with when once more loss of horsepower taking place after a while.

Fig. 3 has described the example embodiment of element of the present invention.The locator element 30 in the place of definite train 31 is provided.Locator element 30 can be to confirm GPS sensor or the system of sensor in the place of train 31.The example of other system like this can include but not limited to the roadside device, and for example the automatic equipment sign of radio frequency (RF AEI) mark, dispatch center and/or video are confirmed.Another system can comprise on the locomotive car (a plurality of) revolution counter and with the distance calculation of R point.Like previous discussion, also wireless communication system 47 can be provided, with allow between the train and/or with the communicating by letter of remote site (for example dispatch center).Also can be from the information in other relevant place of advancing of train transmission.

Track characteristic element 33 also being provided, being used to provide the information of relevant track, is the gradient, height above sea level and curvature information on the principle.Track characteristic element 33 can comprise Rail Detection integrity data storehouse 36.Throttling setting, the locomotive that sensor 38 is used to measure draw power 40 that locomotive marshalling 42 applies, locomotive marshalling 42 organized into groups the speed of 42 configuration informations, locomotive marshalling 42, configuration of locomotives information, locomotive ability etc. separately separately.In example embodiment, can need not to use sensor 38 to load locomotive and organize into groups 42 configuration informations, organize into groups 42 configuration informations but import locomotive through above-mentioned other scheme.In addition, the situation of the locomotive in also can considering to organize into groups.For example, if a locomotive in the marshalling can not be operated, then when optimizing itinerary, use this information on power gear level 5.

Also can use the suitable time of advent of confirming train 31 from the information of locator element.For example; If have the train 31 that moves to the destination along track 34 and do not follow train in its back; And train does not have the fixing arrival time limit that will satisfy, then can use to include but not limited to that locator element that the automatic equipment sign of radio frequency (RF AEI) mark, dispatch center and/or video are confirmed comes the accurate place of accurate measurement (gage) train 31.In addition, can use from the input of these signaling systems and adjust train speed.Utilize following Rail Detection data bank and the locator element of GPS for example, embodiments of the invention can be adjusted operator interface to be reflected in the signaling system state at place, given locomotive place.The signal lamp state indicates under the situation that has surpassed speed limit therein, and the planer can determine to make train to slow down, with fuel saving consumption.

Also can use information to change planned target as the function of distance to destination from locator element 30.For example, because the relevant inevitable uncertainty of blocking up along this route, " comparatively fast " time target conduct that can be employed in the early part of this route prevents to add up the measure of the delay that takes place after a while.If such delay does not take place in a certain travelling, then can be modified in the target of the later stage part of this travelling, with exploitation early gather (banked) in build loose (slack) time, and recover some fuel efficiencies thus.Can be directed against emission limit set target (for example near metropolitan district) and call similar strategy.

As the example that prevents the measure strategy, if itinerary from New York to Chicago, then this system can have the option of operating train slower latter stage in travelling beginning, travelling mid-term or travelling.Embodiments of the invention will be optimized itinerary, operate more slowly latter stage in travelling with permission, because can develop and become known during travel such as but not limited to the unknown constraint of weather condition, track maintenance etc.As another consideration, if known traditional congestion regions then utilizes option to develop this plan, to have near the more alerting abilitys such tradition is blocked up the area.So embodiments of the invention also can be thought of as weight/punishment the function of time/distance in future and/or based on the experience in known/past.It will be readily appreciated by those skilled in the art that and to consider the plan of other train etc. on such consideration weather condition, track condition, the track and replan in during travel any time, wherein therefore adjusted itinerary.

Fig. 3 also discloses other element of the part that can be the embodiment of the invention.Treater 44 is provided, is operable as from locator element 30, track characteristic element 33 and sensor 38 reception information.Algorithm 46 is worked in treater 44.Use algorithm 46, with the parameter based on the target that relates to above-described locomotive 42, train 31, track 34 and task, the itinerary that comes calculation optimization.In example embodiment, based on setting up itinerary when the model of the train behavior of train 31 when track 34 moves, this model is separating of the nonlinear difference equation of deriving in the physical property of the hypothesis that from simplify this algorithm, provides.Algorithm 46 visits are from the information of locator element 30, track characteristic element 33 and/or sensor 38; To create such itinerary, it makes the consumption of fuel of locomotive marshalling 42 minimize, make the discharging of locomotive marshalling 42 to minimize, set up the hourage of expectation and/or guarantee and organizes into groups the correct bus attendant operating time on 42 cars at locomotive.In example embodiment, chaufeur or controller component 51 are provided also.As discuss here, controller component 51 is used to control train and follows itinerary.In the example embodiment of here further discussing, the controller component 51 spontaneous trains of making are operated judgement.In another example embodiment, the operator can relate to the guiding train and follow this itinerary.

The demand of embodiments of the invention is initial creation and (on the fly) quick ability of any plan of just carrying out of modification awing.This comprise when relate to long apart from the time create original plan because the complexity of planning optimization algorithm.When the total length of travelling distribution graph exceeds to set a distance, can use algorithm 46 with the task segmentation, be a plurality of way points (waypoints) wherein with task division.Although single algorithm 46 only has been discussed, it will be readily appreciated by those skilled in the art that and can use more than a kind of algorithm, wherein can these algorithms be connected together.Said way point can comprise the natural place that train 31 stops; Such as but not limited to, be used to be scheduling on the single track railway take place to meet with approaching traffic or make the train process after the current train by-track (sidings) or pick up and arrange field, station (yard) by-track in compartment or the place of industry and schedule work.In such way point, can require train 31 according to time of scheduling be in a place, parking or according to the rules the speed in the scope move.Be called as length of the halt from reaching the time length that leaves the way point.

In example embodiment, embodiments of the invention can will be decomposed into than segment than long travelling according to the particular system mode.The length of each section can be random a little, but its critical importance upright stone tablet place that is generally selected in the place, natural place of for example parking or important speed limit or is selected in the point of crossing of definition and other route.Givenly cut apart or segmentation, create for each section track and drive distribution graph according to what this mode was selected, as the function of the traveling time of regarding independent variable as, for example shown in Figure 4.Can be before train 31 arrive this orbital segment, it is compromise to calculate the use fuel/traveling time related with each section.Can be according to creating total itinerary for the driving distribution graph of each section establishment.Example of the present invention is distributed traveling time according to best mode between all sections of this travelling, make and satisfy required overall travel time, and make that total fuel of all sections consumption is as far as possible little.Disclose 3 sections travellings of demonstration among Fig. 6, and discussed below.Yet, those skilled in the art will recognize that although these sections have been discussed, itinerary can comprise single section of the complete travelling of representative.

Fig. 4 has described the example embodiment of fuel use/traveling time curve.As discussed previously, when travelling distribution graph, create such curve 50 to each traveling time calculating optimum of each section.That is, for given traveling time 51, the fuel 52 of use is the result of the detailed driving distribution graph of aforementioned calculation.In case distributed the traveling time of each section, just according to the previous power/speed plan of separating definite each section of calculating.If between section, there is any way point constraint of velocity,, then during creating best travelling distribution graph, they are mated such as but not limited to the change of speed limit.If constraint of velocity only changes in single section, then have to only recomputate fuel use/traveling time curve 50 to the section that changes.This has reduced more parts or the required time of section of having to recomputate travelling.If great change takes place along this route in locomotive marshalling or train, for example lose locomotive or picked up or arranged the compartment, then must recomputate all driving distribution graphs with back segment, create the new instance of curve 50.Use these new curves 50 together with new regulation goal then, with the travelling of plan residue.

In case created itinerary as stated, then the track of operating speed and power relative distance arrives the destination to have minimum fuel in the hourage that requires and/or to discharge ground.There are several kinds of modes carrying out itinerary.Provide in more detail as following, in an example embodiment, the training of the embodiment of the invention (coaching) pattern shows that to the operator information follows for the operator, with the power and the speed of the needs realizing confirming according to this best itinerary.In this pattern, operation information is the suggestion operations condition that the operator should use.In another example embodiment, embodiments of the invention are carried out and are quickened and keep constant speed.Yet when train 31 was slowed down, the operator was responsible for brake application system 52.In another example embodiment, power and braking are ordered in the present invention order as required, with the speed of following expectation-apart from the path.

Use feedback control strategy, so that the correction for the order of the power control in the distribution graph to be provided, to proofread and correct such as but not limited to against the wind and/or the incident of the train load variations that causes with the wind by fluctuation.Compare with the hypothesis in optimizing itinerary, another such error can be caused by the error such as but not limited to the train parameter of train quality and/or resistance.The error of the 3rd type can occur owing to the information that comprises in the track database 36.Another possible error can relate to because locomotive engine, traction motor pyrolysis remove the performance difference of the not modeling that dispensing and/or other factors cause.Feedback control strategy compares as the speed among the optimum distribution figure of the actual speed of function of position and expectation.Based on this difference, add correction, to drive this actual speed rate towards this optimum distribution figure to the best power source distribution graph.In order to ensure stable regulation, the algorithm that can afford redress wherein filters (filters) with feedback speed and proofreaies and correct for power, to guarantee closed-loop characteristic stability.Compensation can comprise that the those of ordinary skill in Control System Design field is in order to satisfy the employed standard dynamic compensation of performance objective.

Embodiments of the invention allow the simplest and therefore the fastest means to be in harmonious proportion the change of travelling target, and it is the rule except the exception in the rail operations.In example embodiment, for definite optimum fuel travelling that wherein has a plurality of stations on the way, and, can use the suboptimum decomposition method, to obtain best travelling distribution graph in case the beginning of travelling is travelled with regard to travelling to upgrade to residue from an A to a B.Utilize modeling method, method of calculating can obtain having specifies traveling time and itinerary initial and final velocity, when having a plurality of station with box lunch, satisfy all speed limits and the locomotive ability retrains.Although following discussion is used to optimizing fuel, it also may be used on optimizing other factors, includes but not limited to discharging, scheduling, bus attendant is comfortable and load impact.Can develop this method of bringing into use of itinerary, and more importantly, adapt to the change of the target after starting travelling.

As discuss here, example embodiment of the present invention can adopt diagram in the example flow chart of describing among Fig. 5 and the setting of 3 sections examples of demonstration of depicted in greater detail in Fig. 6.As shown in the figure, can travelling be divided into two sections or multistage T1, T2 and T3.Although discuss, possibly regard travelling as single section here.As described here, segment boundary possibly not cause isometric section.Substituted is that these sections use nature or the specific border of task.For the best itinerary of each section preliminary evaluation.If it is the travelling target that will satisfy that fuel uses relative hourage, then set up the fuel curve of relative hourage for each section.As described here, this curve can be based on other factors, and wherein these factors are targets that itinerary will meet with.When be the parameter of confirming hourage, when satisfying overall constraint hourage, the hourage of calculating each section.Fig. 6 illustrates the speed limit 97 of the 3 sections 200 miles travellings that are used to demonstrate.The gradient that also illustrates in 200 miles travellings changes 98.Also show the combination chart 99 of diagram along with the curve of the employed fuel of each section travelling of traveling time.

Utilize aforementioned optimal control setting, this method of calculating can obtain such itinerary, and it has the traveling time of appointment and initial sum final velocity, to satisfy all speed limits and the constraint of locomotive ability when having a plurality of station.Although following detailed description is used to optimizing fuel, it also may be used on optimizing the other factors of discussing here, such as but not limited to discharging.Crucial alerting ability is to be in harmonious proportion the expectation length of the halt at place, station, and if desired (for example, get into therein or the single track operation through be pressed for time (critical) of by-track in), can consider to arrive the earliest and leave the constraint in place.

Embodiments of the invention obtain in time T from distance B ₀Advance to D _MThe best travelling of fuel, M-1 intermediate stopping station D wherein ₁..., D _M-1, and the arrival and the time departure at these stations limit following formula:

t _min(i)≤t _arr(D _i)≤t _max(i)-Δt _i

t _arr(D _i)-Δt _i≤t _dep(D _i)≤t _max(i)i＝1.....M-1

T wherein _Arr(D _i), t _Dep(D _i) and Δ t _iBe respectively the i station arrival, leave and minimum parking period.Suppose that fuel optimality hint makes parking period minimize, so t _Dep(D _i)=t _Arr(D _i)+Δ t _i, this has eliminated above second inequality.Suppose for each i=1 ..., M, known traveling time t from D _I-1To D _iThe best travelling of fuel, T wherein _Min(i)≤t≤T _Max(i).Suppose F _i(t) be to use with this cooresponding fuel of travelling.If use T _jExpression is from D _J-1To D _jTraveling time, D then _iProvided by following formula the time of advent at place:

$t_{\mathrm{arr}}\left(D_i\right)=\underset{j=1}{\overset{i}{\mathrm{\&Sigma;}}}(T_j+\mathrm{\&Delta;}{t}_{j-1})$

Δ t wherein ₀Be defined as zero.Then through obtaining T _iAnd obtain in the time T of advancing from D ₀To D _MThe best travelling of fuel, wherein i=1 ..., M, it is under following condition

$t_{\min }\left(i\right)\&le;\underset{j=1}{\overset{i}{\mathrm{\&Sigma;}}}(T_j+\mathrm{\&Delta;}{t}_{j-1}){\&le;t}_{\max }\left(i\right)-{\mathrm{\&Delta;t}}_i,i=1.....M-1$

$\underset{j=1}{\overset{M}{\mathrm{\&Sigma;}}}(T_j+{\mathrm{\&Delta;t}}_{j-1})=T$

Make following formula minimize

$\underset{i=1}{\overset{M}{\mathrm{\&Sigma;}}}{F}_i\left(T_i\right),T_{\min }\left(i\right)\&le;T_i\&le;T_{\max }\left(i\right)$

In case travelling is carried out, then problem be when advance, again confirm to be used for residue travel (originally, in time T from D ₀To D _M) fuel preferred plan, follow this fuel preferred plan but disturb to stop.Suppose that current distance and speed are respectively x and v, wherein D _I-1＜x≤D _iAnd, supposed that the current time since the travelling beginning is t _ActThen through obtaining

And obtain to be used for from x to D _MResidue travelling (it is at D _MThe place keeps the original time of advent) fuel preferred plan, this is under following condition

$t_{\min }\left(i\right){\&le;t}_{\mathrm{act}}+{\tilde{T}}_i\&le;t_{\max }\left(i\right)-{\mathrm{\&Delta;t}}_i$

$t_{\min }\left(k\right)\&le;t_{\mathrm{act}}+{\tilde{T}}_i+\underset{j=i+1}{\overset{k}{\mathrm{\&Sigma;}}}(T_j+\mathrm{\&Delta;}{t}_{j-1})\&le;t_{\max }\left(k\right)-\mathrm{\&Delta;}{t}_k,k=i+1.....M-1$

$t_{\mathrm{act}}+{\tilde{T}}_i+\underset{j=i-1}{\overset{M}{\mathrm{\&Sigma;}}}(T_j+\mathrm{\&Delta;}{t}_{j-1})=T$

Make following formula minimize

Here,

Be in time t, advance from x to D _iThe best employed fuel of travelling, wherein have rate of onset v at the x place.

As stated, enable the preferred plan of the more effective demonstration mode of replanning according to the travelling of section structure from the station to the station of dividing.For having traveling time T _iFrom D _I-1To D _iTravelling, select one group of intermediate point D _Ij, j=1 ..., N _i-1.Suppose D _I0=D _I-1And $D_{i{N}_i}=D_i.$ Then will be from D _I-1To D _iThe fuel of the best travelling use and be expressed as

$F_i\left(t\right)=\underset{j=1}{\overset{N_i}{\mathrm{\&Sigma;}}}{f}_{\mathrm{ij}}(t_{\mathrm{ij}}-t_{i,j-1},v_{i,j-1},v_{\mathrm{ij}})$

F wherein _Ij(t, v _{I, j-1}, v _Ij) be in time t, advance from D _{I, j-1}To D _IjThe fuel of the best travelling use, the initial sum final velocity is v _{I, j-1}And v _IjIn addition, t _IjBe and distance B _IjTime in the cooresponding best travelling.Through definition, $t_{{\mathrm{IN}}_i}-{\mathrm{<figure-callout\; id="0"\; label="t\; i"\; filenames="S2007800014445E00051.png,S2007800014445E00071.png"\; state="\{\{state\}\}">t</figure-callout>}}_i=T_i.$ Because at D _I0And D _INiLocate this train and stop, so $v_{i0}=v_{i{N}_i}=0.$

Above expression formula is through at first confirming function f _Ij(), 1≤j≤N _i, obtain τ then _Ij, 1≤j≤N _iAnd v _Ij, 1≤j＜N _i, and make it possible to replace definite function F _i(t), this is under following condition

$\underset{j=1}{\overset{N_i}{\mathrm{\&Sigma;}}}{\mathrm{\&tau;}}_{\mathrm{ij}}=T_i$

v _min(i，j)≤v _ij≤v _max(i，j)j＝1.....N _i-1

$v_{i0}=v_{i{N}_i}=0$

Make following formula minimize

$F_i\left(t\right)=\underset{j=1}{\overset{N_i}{\mathrm{\&Sigma;}}}{f}_{\mathrm{ij}}({\mathrm{\&tau;}}_{\mathrm{ij}},v_{i,j-1},v_{\mathrm{ij}})$

Through selecting D _Ij(for example, in speed limit or satisfy a little) can make v _Max(i, j)-v _Min(i j) minimizes, and makes thus and need know f _IjThe territory of () minimizes.

Cut apart based on above-mentioned, replan scheme than above-mentioned simpler suboptimum and will replan and be restricted to wherein train at range points D _Ij, 1≤i≤M, 1≤j≤N _iTime.At a D _Ij, can be through obtaining τ _Ik, j＜k≤N _i, v _Ik, j＜k＜N _iAnd τ _Mn, i＜m≤M, 1≤n≤N _m, v _Mn, i＜m≤M, 1≤n＜N _m, and confirm from D _IjTo D _MNew best travelling, this is under following condition

$t_{\min }\left(i\right)\&le;t_{\mathrm{act}}+\underset{k=j+1}{\overset{N_i}{\mathrm{\&Sigma;}}}{\mathrm{\&tau;}}_{\mathrm{ik}}\&le;t_{\max }\left(i\right)-\mathrm{\&Delta;}{t}_i$

$t_{\min }\left(n\right)\&le;t_{\mathrm{act}}+\underset{k=j+1}{\overset{N_i}{\mathrm{\&Sigma;}}}{\mathrm{\&tau;}}_{\mathrm{ik}}+\underset{m=i+1}{\overset{n}{\mathrm{\&Sigma;}}}(T_m+\mathrm{\&Delta;}{t}_{m-1})\&le;t_{\max }\left(n\right)-\mathrm{\&Delta;}{t}_n,n=i+1.....M-1$

$t_{\mathrm{act}}+\underset{k=j-1}{\overset{N_i}{\mathrm{\&Sigma;}}}{\mathrm{\&tau;}}_{\mathrm{ik}}+\underset{m=i+1}{\overset{M}{\mathrm{\&Sigma;}}}(T_m+\mathrm{\&Delta;}{t}_{m-1})=T$

Make following formula minimize

$\underset{k=j-1}{\overset{N_i}{\mathrm{\&Sigma;}}}{f}_{\mathrm{ik}}({\mathrm{\&tau;}}_{\mathrm{ik}},v_{i,k-1},v_{\mathrm{ik}})+\underset{m=i-1}{\overset{M}{\mathrm{\&Sigma;}}}\underset{n=1}{\overset{N_m}{\mathrm{\&Sigma;}}}{f}_{\mathrm{mn}}({\mathrm{\&tau;}}_{\mathrm{mn}},v_{m,n-1},v_{\mathrm{mn}})$

Wherein

$T_m=\underset{n=1}{\overset{N_m}{\mathrm{\&Sigma;}}}{\mathrm{\&tau;}}_{\mathrm{mn}}$

Through waiting for T _m(i＜m≤M) recomputates up to arriving range points D _iTill, and obtain further to simplify.By this way, at D _I-1And D _iBetween some D _IjThe place only need be for τ _Ik, j＜k≤N _i, v _Ik, j＜k＜N _iMinimize more than the execution.If desired, then increase T _iTo be in harmonious proportion any longer than plan from D _I-1To D _IjActual traveling time.If possible, can pass through at range points D after a while _iRecomputate T _m(i＜m≤M), compensate this increase.

For above disclosed closed loop configurations; Train 31 is moved to the required total input energy of a B from an A comprise four component sums; Specifically be, the kinetic energy between some A and the B is poor, the potential energy difference between some A and the B, because waste of power that friction force and other resistance loss cause and the energy that dissipates owing to brake application.Suppose that beginning and end speed are (for example, the fixing) that equates, then first component is zero.In addition, second component is independent of and drives strategy.Thus, it is just enough to make that said latter two component sum minimizes.

Following the constant speed distribution graph makes resistance loss minimize.Following the constant speed distribution graph also makes and minimizes when not braking the gross energy of importing when keeping constant speed.Yet constant speed is kept in braking if desired, and brake activation increases needed gross energy to keep constant speed with most probable, because need to replenish the energy that (replenish) braking is dissipated.Have such possibility, if the skew that i.e. additional brake loss reduces greater than the result of the resistance loss that is caused by braking, then through variations that underspeed, in fact some brakings can reduce the gross energy use.

Through collect above-mentioned incident accomplish replan after, new best gear/speed plan is followed in closed loop control described herein capable of using.Yet, possibly there be not the enough time to carry out under the certain situation of plan of above-mentioned decomposition section, particularly when having the critical speed restriction that must consider, need alternative.The embodiments of the invention utilization is called the algorithm of " intelligent cruise control " and realizes it.This intelligent cruise control algorithm is the effective means that is used for generating Energy Efficient (therefore, fuel is effective) the suboptimum regulation that is used for driving train 31 on known landform awing.This algorithm hypothesis is known the position of train 31 on track 34 always, and the gradient and the curvature of knowing track are to the position.This method depends on point mass (point-mass) model of the motion that is used for train 31, and its parameter can come according to the on-line measurement of aforementioned train movement to estimate adaptively.

This intelligent cruise control algorithm has three fundamental components, specifically: serve as the speed limit distribution graph that speed limit reduces the modification of Energy Efficient guiding on every side; Attempt making the desirable throttling or the dynamic brake that minimize balance between velocity variations and the braking that distribution graph is set; And make up latter two component to produce the gearshift order and to adopt velocity feedback loop to compensate the mechanism of the mismatch of the modeling parameters when with real compared with parameters.Intelligent cruise control can be in harmonious proportion the strategy in the embodiment of the invention, and need not initiatively braking (that is, to the chaufeur give a signal and suppose that it provides necessary braking) or carry out the initiatively variable (variant) of braking.

For the cruising control algorithm of not controlling dynamic brake, three exemplary components be serve as the speed limit distribution graph of the modification of the Energy Efficient guiding of speed limit around reducing, when should brake activation operator notified the notification signal lamp, attempt making the desirable throttling distribution graph that minimizes balance between velocity variations and the operator notified brake activation, be used to compensate mechanism with respect to the feedback loop of the mismatch of the model parameter of real parameter.

What also comprise in embodiments of the present invention is the scheme that is used to identify the key parameter value of train 31.For example, for estimating the train quality, Kalman filter capable of using and recursive least square scheme are to detect the error that can develop in time.

Fig. 7 has described the example flow chart of the embodiment of the invention.As discussed previously, for example the remote equipment of dispatch center 60 can provide information to the embodiment of the invention.As graphic, such information offered to carry out control element 62.Also to be supplied to what can carry out control element 62 be locomotive modeling information database 63, such as but not limited to the information from track database 36 of track grade information and speed limiting information, such as but not limited to the estimation train parameter of train weight and drag coefficient and from the fuel ratio form of fuel ratio estimator 64.Can carry out control element 62 information is supplied to planner 12, this has carried out more detailed open in Fig. 1.In case calculated itinerary, just should supply according to plan to give and drive consultant, chaufeur or controller component 51.Also itinerary is supplied to and can carries out control element 62, make when other new data is provided, it can relatively should be travelled.

As stated, drive consultant 51 and can gear power be set to gear setting or the best gear power continuously set up in advance automatically.Except to the order of locomotive 31 supply rates, telltale 68 is provided, make the operator can browse the content that planner is recommended.The operator is access control plate 69 also.Through control desk 69, the operator can judge whether to use the gear power of recommendation.For this reason, but operator's limited target or recommend power.That is, at any time, the operator always has for the final authority of locomotive marshalling with the power setting of operation.This comprises if itinerary recommends to make train 31 to slow down, judges whether brake application.For example; If in dark landform, operate; Perhaps the information from the roadside equipment can not electric transmission information arrive train; And be replaced by the operator and browse the optical signal lamp from the roadside equipment, then the operator is based on the information that comprises in the track database and from the optical signal lamp of roadside equipment and input command.How to move based on train 31, the information of relevant fuel measurement is supplied to fuel ratio estimator 64.Because the direct measurement of fuel stream is unavailable in the locomotive marshalling usually; So use the physical model of the calibration of for example when the exploitation optimal planning, using, carry out the relevant fuel that in travelling, consumes till this point and all information of the fuel in the optimal planning of following future, planned.For example, such prediction can include but not limited to use the gross horsepower and the known fuel characteristic of measurement, to derive the fuel that accumulation is used.

Train 31 also has the positioner device 30 of for example above-mentioned GPS sensor.Information is fed to train parameter estimator 65.Such information can include but not limited to any change of GPS sensing data, traction/brake action force data, braking mode data, speed and speed data.Utilize the information and the speed limiting information of the relevant gradient, train weight and drag coefficient information are fed to carry out control element 62.

Example embodiment of the present invention also can allow in optimization plan and closed loop control realization, to use continuous variable power all the time.In conventional locomotive, usually amount of power is turned to 8 discrete stages.The continuous variation of the horsepower that merges in the optimization method that modern locomotive can realize formerly describing.Utilize continuous power, locomotive 42 can be for example through minimizing auxiliary burden and power transmission loss and the engine horsepower fine setting reached the zone of optimum efficiency or reaches the point that increases the discharging tolerance limit, and further operation conditions optimization.Example includes but not limited to make the cooling system loss to minimize, adjust alternator voltage, adjustment engine speed and reduces the number of dynamical axis.In addition, locomotive 42 can use the performance requirement of Rail Detection data bank 36 and forecast, so that auxiliary burden and power transmission loss minimize, thereby the optimum efficiency of target consumption of fuel/discharging is provided.Example includes but not limited to reduce the number of the dynamical axis on the subdued topography and before getting into the tunnel, cools off locomotive engine in advance.

Example embodiment of the present invention also can be used the performance of Rail Detection data bank 36 and forecast, with the adjustment performance of locomotive, for example when train during near hill and/or tunnel, guarantees that train has enough speed.For example, this can be expressed as the constraint of velocity in the locality, and this becomes the part that optimal planning that solve an equation (OP) created generates.In addition, embodiments of the invention can merge the rule that train is disposed, such as but not limited to draw power creep speed (ramp rates) and braking limit power creep speed.These can directly merge in the formula of best travelling distribution graph or alternatively merge to and be used for controlling motive use to realize the closed-loop regulator of target velocity.

In a preferred embodiment of the invention, such embodiment only is installed on the leading locomotive of train marshalling.Even embodiments of the invention do not rely on data or with the interaction of other locomotive; It also can be integrated in U.S. Patent number 6691957 and the disclosed marshalling manager of number of patent application 10/429596 (both have and merge by reference by the cessionary), function and/or the marshalling optimizer function, to improve efficient.Example like two " independent optimization " trains of dispatch center arbitration described herein is illustrated, does not get rid of the interaction with a plurality of trains.

Train with disperse power system can be operated with different mode.In a kind of pattern, all locomotives in the train are operated with same notch command.If the leading positive command driven-N8 of locomotive, then all unit in the train are ordered and are generated driving-N8 power.Another operation mode is " independence " control.In this pattern, locomotive that in train, disperses or locomotive crew can operate with different drivings or brake power.For example, when train reached the top of the hill, the leading locomotive of (on the descending on mountain range) can be in braking mode, and the locomotive at the train of (on the upward slope on mountain range) middle part or rear portion can be in drive pattern.So do is in order to make the pulling force on the mechanical hitch that connects railcar and locomotive minimize.Traditionally, operate disperse power system requirements operator via each remote locomotive of telltale manual command or locomotive crew in the leading locomotive with " independence " pattern.Utilization is provided with information, Rail Detection data bank, vehicle-mounted working rule, place based on planning model, the train of physical property and confirms system, real-time closed-loop power/control of braking and sensor feedback, and this disperse power system will be operated automatically with " independence " pattern by this system.

When operating with disperse power, the operator in the leading locomotive can control the operating function of the remote locomotive in the long-range marshalling via the for example control system of disperse power control element.Thus, when operating with disperse power, the operator can order each locomotive marshalling with different gear powered stage operations (perhaps a marshalling can drive, and another marshalling can be braked), and wherein each the independent locomotive in the locomotive marshalling is with identical gear power operation.In example embodiment; Embodiments of the invention are installed aboard; Preferably with the communicating by letter of disperse power control element in; The gear powered stage of the current journey locomotive marshalling of looking in the distance be preferred itinerary recommend the time, embodiments of the invention are delivered to the remote locomotive marshalling with this power setting, are used for realizing.Like following discussion, similar about braking with it.

Example embodiment of the present invention can be used for the marshalling that locomotive does not wherein adjoin, and for example one or more locomotives are preceding, and other locomotive is at train middle part and rear portion.Such configuration is called as disperse power, wherein replaces the standard between the locomotive to connect with radio link or assist with cable, comes the external linkage locomotive.When operating with disperse power, the operator in the leading locomotive can control the operating function of the remote locomotive in the marshalling via the for example control system of disperse power control element.Specifically, when operating with disperse power, the operator can order each locomotive marshalling with different gear powered stage operations (perhaps a marshalling can drive, and another marshalling can be braked), and wherein each the independent locomotive in the locomotive marshalling is with identical gear power operation.

In the example embodiment of the present invention of installing aboard; Preferably with the communicating by letter of disperse power control element in; The gear powered stage of the current journey locomotive marshalling of looking in the distance for optimize that itinerary recommends the time; Embodiments of the invention are delivered to the remote locomotive marshalling with this power setting, are used for realizing.Like following discussion, relevant braking is identical therewith.When operating with disperse power, the previous optimization problem of describing can strengthen to allow additional degree of freedom, because each remote unit can be controlled independently with leading unit.This value is in performance function, to merge additional object or the constraint relevant with train internal force, supposes also to comprise the model of reflection train internal force.Thus, embodiments of the invention can comprise use more piece current control, to manage train internal force and consumption of fuel and discharging better.

In the train that utilizes the marshalling manager, the leading locomotive in the locomotive marshalling can with this marshalling in the different gear power of other locomotive be provided with and operate.Other locomotive in the marshalling is with identical gear power setting operation.Can combine to organize into groups manager and utilize embodiments of the invention, with the gear power setting of the locomotive in the order marshalling.Thus, based on embodiments of the invention, because the marshalling manager is divided into two groups with the locomotive marshalling, leading locomotive and follow-up unit, thus will order leading locomotive with a certain gear power operation, and can order follow-up locomotive with another gear power operation.In example embodiment, the disperse power control element can be wherein to collect (housed) this operated system and/or equipment.

Similarly, when the marshalling optimizer is used for the locomotive marshalling, can combine this marshalling optimizer to use embodiments of the invention, to confirm the gear power of each locomotive in the locomotive marshalling.For example, suppose that the gear power that itinerary recommends locomotive to organize into groups is set to 4.Based on the train place, the marshalling optimizer will obtain this information, and confirm that then the gear power of each locomotive in this marshalling is provided with.In this is realized, improved the efficient that is provided with of the gear power setting on the communication channel in the train.In addition, as stated, dispersing control system capable of using is carried out the realization of this configuration.

In addition; Like previous discussion; Embodiments of the invention can be used for based on interested project on the horizon; Such as but not limited to railway sluice gate (crossings), ramp change, near by-track, near field, station, Railway station (depot yards) and near bunker station, and work as continuous correction that the train marshalling uses glancing impact and replan, each locomotive in wherein organizing into groups can different braking options.For example, if the then leading locomotive braking condition of can having to get into, and the remote locomotive that does not also arrive the mountain peak possibly have to rest in the driving condition left to hill by train.

Fig. 8,9 and 10 has described the exemplary illustration of the dynamic demonstration of operator's use.Like what provided, Fig. 8 provides travelling distribution Figure 72.In this distribution graph, the place 73 of locomotive is provided.For example train length 105 and the information of compartment number 106 in the train are provided.The information of relevant track grade 107, bend and roadside element 108 also is provided, comprises bridge place 109 and train speed 110.Show that 68 permission operators browse such information and also see the position of train on route.Distance and/or the relevant information of ETA Estimated Time of Arrival with the for example place of sluice gate 112, signal lamp 114, speed change lane 116, road sign 118 and destination 120 are provided.The time management instrument 125 that arrives also is provided, confirms the saving of fuel of realizing during travel to allow the user.The operator has the time of advent 127 of change and witnesses the ability how it influences saving of fuel.As discuss here, those skilled in the art will recognize that saving of fuel only is the illustrative example of a target of management tool review capable of using.For this reason, depend on the parameter of browsing, other parameters that the visual management tool of operator capable of using is browsed and estimated to discuss here.The information of the time length of relevant bus attendant operation train also is provided to the operator.In example embodiment, any in time and the range information can be illustrated as time and/or the distance before particular event and/or place, and perhaps it can provide total time spent.

As shown in Figure 9, demonstration shows provides relevant data 130, incident and physical features figure 132, the time of advent management tool 134 and information of action key 136 of organizing into groups.Above-mentioned similar information also is provided in this demonstration.This demonstration 68 also provides action key 138, to allow the operator to replan and to break away from (disengage) 140 embodiments of the invention.

Figure 10 has described another example embodiment that shows.Comprise that air-lock state 72, the typical information of wherein inserting the modern locomotive of the analog rate meter 74 of numeral and the information of the relevant draw power of representing with poundage the traction ampere of DC locomotive (or be used for) are visual.Indicating device 74 is provided, so that calculated current optimum speed and the accelerometer diagram of just carrying out to be shown, with additional mph/ minute read.The important new data that optimal planning is carried out comprises the strip diagram 76 of fluctuating at the center of screen, has optimum speed and the gear setting compared with the current history of these variablees and adjusts the distance.In this example embodiment, utilize locator element to draw the place of train.As shown in the figure, through the sign train how far have apart from its final destination, absolute location, initial destination, intermediate point and/or operator's input, the place is provided.

Bar graph provides following the prediction of the required rapid change of optimal planning, and this is useful in manually controlling, and the plan of during automatic guidance, keeping watch on is to actual conditions.As discuss here, for example when in training mode, the operator can follow gear or the speed that the embodiment of the invention is advised.Vertical line has provided diagram expectation and gear reality, and it also digitally shows below bar graph.When utilizing continuous gear power, as stated, demonstration can be only around immediate discrete equivalent, and this demonstration can be that simulation shows, makes display simulation equivalent or percentum or true horse power/draw power.

The critical message of relevant travelling state is presented on the screen, and shows the current gradient 88 that train runs into, and by leading locomotive, run into along the place, other places of train, or is run into by the aviation value of train length.Also disclose the current of the distance 90 of advancing so far in the works, the place that accumulates the fuel 92 that uses, next station of plan or distance 94, the next stop and planned 96 expeced times of the time of advent.Show that 68 also show under the available situation of the plan of calculating the most-likely time of destination.Arrive a little later if desired, then carry out and replan.The Delta Project data show fuel and the dispatch state before or after the current optimal planning.Negative number representation is compared still less fuel or more early with plan, positive number representes to compare with plan more fuel or evening more, and typically, these parameters compromise in opposite direction (slow down and make train evening that with saving fuel vice versa).

These show that 68 give the operator Short Description (snapshot) about the position that he was positioned at of the driving plan of current formulation always.This demonstration only is for graphic purpose, because there are multiple other modes to operator and/or this information of dispatch center demonstration/transmission that are used for.For this reason, disclosed information above can mixing is to provide the demonstration different with those disclosed.

Other characteristics that can comprise in embodiments of the present invention include but not limited to allow to generate data logging and report.The system under the car that downloads to can be stored aboard and put at a time to this information.This download can be via manual and/or transmission over radio and is taken place.This information also can be browsed by the operator via engine display.These data can comprise such as but not limited to the fuel imbalance between the locomotive in the fuel of operator's input, exercisable time of system, saving, the train, not in the information of the system diagnostics problem of the train route of specified process, for example GPS sensor fault.

Because itinerary also must be considered the permission bus attendant operating time,, embodiments of the invention consider such information so can working as the plan whilst on tour.For example, if the maximum time that bus attendant can be worked is eight hours, then travelling will be formed and comprise and be used for the parking site that new bus attendant is replaced current bus attendant.Specific parking site like this can include but not limited to rail yard, meets/place of process etc.When carrying out whilst on tour, if can exceed hourage, then the operator can ignore embodiments of the invention, to satisfy the standard that the operator confirms.Finally, no matter such as but not limited to the operating conditions of the train of high load capacity, low velocity, train stretching, extension condition etc., the operator keeps in control, to order the speed and/or the operating conditions of train.

Utilize embodiments of the invention, train can be operated in a plurality of operations.In an operation design, embodiments of the invention can be provided for the order of order propelling and dynamic brake.The operator disposes every other train function then.In another operation design, embodiments of the invention can be provided for only ordering the order of propelling.The operator disposes dynamic brake and every other train function then.In another operation design, embodiments of the invention can be provided for the order of order propelling, dynamic brake and application air-lock.The operator disposes every other train function then.

Although describe example embodiment of the present invention to railway traffic instrument (train and the locomotive that particularly have diesel engine); But example embodiment of the present invention also may be used on other purposes, all can use the cross-country car of diesel engine, marine naval vessel and fixed cell such as but not limited to each.For this reason, when appointed task was discussed, this comprised work (task) or demand that diesel powered system will be carried out.So for railway, boats and ships or cross-country vehicular applications, this can refer to system's moving from current place to the destination.Under the situation such as but not limited to the fixation application of stationary power generation station or power house network, appointed task can refer to the watt quantity that diesel powered system will satisfy (for example, MW/hr) or other parameter or demand.Similarly, be that the operating conditions of the generator unit of fuel can comprise one or more in speed, load, fuel value, the timing etc. with diesel oil.

In relating to an illustrative example on marine naval vessel, a plurality of towboats can be operated together, and wherein all towboats move same big naval vessel, and wherein each towboat in time links, to accomplish the task of moving big naval vessel.In another illustrative example, single marine naval vessel can have a plurality of driving engines.Cross-country car (OHV) can comprise having from the place A to the fleet that place B moves the same task of earth, and wherein each OHV link in time is to accomplish this task.

Embodiments of the invention also can be used for the action that maybe will take to the interested project on the horizon of operator notification.Particularly, the continuation of the forecast logic of the embodiment of the invention, optimization itinerary is proofreaied and correct and is replanned, track database can be to operator notification sluice gate on the horizon, signal lamp, gradient change, braking maneuver, by-track, rail yard, bunker station etc.These notices can be listened ground and/or taken place through operator interface.

Particularly; Utilization is provided with on information, Rail Detection data bank, the car working rule, place based on planning model, the train of physical property and confirms system, real-time closed-loop power/control of braking and sensor feedback, and system will present and/or notify the action of needs to the operator.This notice can be visual and/or can listen.Example comprises that the notice request operator activates the sluice gate of engine number and/or bell and does not require that the operator activates " noiseless " sluice gate of engine number or bell.

In another example embodiment; Utilize above-mentioned planning model, train that working rule, place are set on information, Rail Detection data bank, the car and confirm system, real-time closed-loop power/control of braking and sensor feedback based on physical property; Embodiments of the invention can appear and allow the operator (for example to observe operator message that when train will arrive each place; Scale on the telltale), as shown in Figure 9.System allows the operator to adjust itinerary (the target time of advent).Also can this information (need deriving the car actual estimated time of advent or information down) be delivered to dispatch center, adjust this target time of advent to allow dispatchers or dispatch system.This allows system's quick adjusting and optimizes suitable objective function (for example, compromise speed and fuel use).

Figure 11 illustrates the another embodiment of the present invention that comprises the system 10 ' that is used to operate the vehicle 31 '.These vehicle can comprise that Figure 11 is graphic to have train 31 ', cross-country car (OHV), the marine traffic instrument of one or more locomotives marshalling 42 ' or comprises any similar vehicle with the driving engine of pluralities of fuel type operations.Said pluralities of fuel type comprises one or more fuel and one or more replacement fuel based on diesel oil.More specifically, each replacement fuel can comprise one of biodiesel (biodiesel), palm oil and rapeseed oil.Therefore, be used for the system 10 ' that operation has the train 31 ' of one or more locomotive marshallings 42 ' although Figure 11-14 illustrates, this system can be applied to OHV ' and marine traffic instrument similarly.

Although describe example embodiment of the present invention to railway traffic instrument (train and the locomotive that particularly have diesel engine); But example embodiment of the present invention also may be used on other purposes, all can use the cross-country car of diesel engine, marine naval vessel and fixed cell such as but not limited to each.For this reason, when appointed task was discussed, this comprised work or demand that diesel powered system will be carried out.So for railway, boats and ships or cross-country vehicular applications, this can refer to system's moving from current place to the destination.Under the situation such as but not limited to the fixation application of stationary power generation station or power house network, appointed task can refer to the watt quantity that diesel powered system will satisfy (for example, MW/hr) or other parameter or demand.Similarly, be that the operating conditions of the generator unit of fuel can comprise one or more in speed, load, fuel value, the timing etc. with diesel oil.

In relating to an illustrative example on marine naval vessel, a plurality of towboats can be operated together, and wherein all towboats move same big naval vessel, and wherein each towboat in time links, to accomplish the task of moving big naval vessel.In another illustrative example, single marine naval vessel can have a plurality of driving engines.Cross-country car (OHV) can comprise having from the place A to the fleet that place B moves the same task of earth, and wherein each OHV link in time is to accomplish this task.

System comprises the locator element 30 ' in the place of confirming locomotive marshalling 42 '.Locator element 30 ' can be to confirm GPS sensor or the system of sensor in the place of train 31 '.The example of other system like this can include but not limited to the roadside device, and for example the automatic equipment sign of radio frequency (RF AEI) mark, dispatch center and/or video are confirmed.Another system can comprise on the locomotive car (a plurality of) revolution counter and with the distance calculation of R point.Also wireless communication system 47 ' can be provided, with allow between the train and/or with the communicating by letter of remote site (for example dispatch center).Also can be from the information in the relevant place of advancing of other train transmission.

System 10 ' also comprises feature member 33 ', is used to provide the information of the landform 34 ' (being track) of closing locomotive marshalling 42 '.Track characteristic element 33 ' can comprise Rail Detection integrity data storehouse 36 '.Sensor 38 ' is used to measure the speed of throttling setting, locomotive marshalling 42 ' configuration information, the locomotive marshalling 42 ' of draw power 40 ' that locomotive marshalling 42 ' applies, locomotive marshalling 42 ', configuration of locomotives, locomotive ability etc. separately separately.In example embodiment, can need not to use sensor 38 ' to load locomotive marshalling 42 ' configuration information, in this case, can pass through input media load configurations information.Input media can couple with treater 44 ', to transmit the characteristic information of each fuel type in a plurality of fuel types to treater, comprises at least one in fuel efficiency, discharge characteristics, corresponding oil tank volume, cost availability and the ground point availability.Input media can provide each the characteristic information in a plurality of fuel types through manual input by one of remote site, roadside device and user.The characteristic information of each in a plurality of fuel types, the locomotive situation in also can considering to organize into groups.For example, if a locomotive in the marshalling can not be operated (when utilizing particular type fuel) on power gear level 5, then when optimizing itinerary, use this information.

Also can use the suitable time of advent of confirming train 31 ' from the information of locator element 30 '.For example; If have the train 31 ' that moves to the destination along track 34 ' and do not follow train in its back; And train does not have the fixing arrival time limit that will adhere to, then can use the accurate place of locator element 30 ' the come accurate measurement trains 31 ' that include but not limited to that the automatic equipment sign of radio frequency (RF AEI) mark, dispatch center and/or video are confirmed.In addition, can use from the input of these signaling systems and adjust train speed.Utilize following Rail Detection data bank and the locator element of GPS for example, embodiments of the invention can be adjusted operator interface to be reflected in the signaling system state at place, given locomotive place.The signal lamp state will indicate under the situation that has surpassed speed limit therein, and the planer can determine to make train to slow down, with fuel saving consumption.

Also can use information to change planned target as the function of distance to destination from locator element 30 '.For example, because the relevant inevitable uncertainty of blocking up along this route, " comparatively fast " time target conduct that can be employed in the early part of this route prevents to add up the measure of the delay that takes place after a while.If happen to be in such delay not taking place in a certain travelling, then can be modified in the target of the later stage part of this travelling, with exploitation early gather (banked) in build loose (slack) time, and recover some fuel efficiencies thus.Can be directed against emission limit set target (for example near metropolitan district) and call similar strategy.

As the example that prevents the measure strategy, if itinerary from New York to Chicago, then this system can have the option of operating train slower latter stage in travelling beginning or travelling mid-term or travelling.Embodiments of the invention will be optimized itinerary, operate more slowly latter stage in travelling with permission, because can develop and become known during travel such as but not limited to the unknown constraint of weather condition, track maintenance etc.As another consideration, if known traditional congestion regions then utilizes option to develop this plan, to have near the more alerting abilitys such tradition is blocked up the area.So embodiments of the invention also can be thought of as weight/punishment the function of time/distance in future and/or based on the experience in known/past.It will be readily appreciated by those skilled in the art that and to consider the plan of other train etc. on such consideration weather condition, track condition, the track and replan in during travel any time, wherein therefore adjusted itinerary.

The graphic data bank 36 ' of Figure 11 also can be used for storing each the characteristic information in a plurality of fuel types.The characteristic information of each kind of fuel of each locomotive marshalling like this comprise fuel efficiency, emission index, corresponding oil tank volume, cost availability and ground point availability and with any further feature of performance-relevant each kind of fuel of optimizing the locomotive marshalling in one or more.

Figure 11 also illustrates to be operable as from locator element 30 ', track characteristic element 33 ' and data bank 36 ' and receives information processing device 44 '.In case treater 44 ' receives this information, the algorithm 46 ' that is embedded in this information of visit in the treater 44 ' is created the itinerary of optimizing the performance of locomotive marshalling 42 ' according to the one or more operating standards that are used for the locomotive marshalling.Such operating standard can comprise time departure, the time of advent, along the speed limit constraint of locomotive marshalling track, along emission index and the constraint of mileage rate and any other standard relevant of locomotive marshalling track with this travelling.Algorithm 46 ' is used for the parameter based on the target that relates to locomotive 42 ', train 31 ', track 34 ' and task, comes the calculation optimization itinerary.Algorithm 46 ' can be based on setting up itinerary when the model of the train behavior of train 31 ' when track 34 ' moves, and this model is separating of the nonlinear difference equation of deriving in the physical property of the hypothesis that from simplify this algorithm, provides.Algorithm 46 ' visit is from the information of locator element 30 ', track characteristic element 33 ', data bank 36 ' and/or sensor 38 '.

For the marine traffic instrument, treater 44 ' will not considered the information from track characteristic element 33 ', because the track physical features not may be used on the path of marine traffic instrument.Yet data bank 36 ' can comprise based on the sound from each place that comprises hatch and non-hatch square of the location information of locator element 30 ' and distributes restriction.The algorithm 46 ' of marine traffic instrument can for example be created and be used for making that the sound that stands each zone distributes the minimized itinerary of total fuel that all fuel types consumed of restriction.For cross-country car, feature member 33 ' can be provided for the information of physical features of the prior defined procedure of cross-country car, and data bank 36 ' can comprise the discharging and the mileage constraint in each place, and the locomotive of this and top discussion is the same.

In example embodiment, algorithm 46 ' is created under the condition of operating standard (for example, comprise in the travelling emission index restriction) of locomotive marshalling, make the minimized itinerary of total fuel that all fuel types consumed of locomotive marshalling 42 '.For example, algorithm 46 ' can be created under the condition of maximum emission rate of the 5.5g/HP-hr except above-mentioned other operating standard, make the minimized itinerary of total fuel that each fuel type consumed of a plurality of fuel types of locomotive marshalling 42 '.More specifically; Algorithm 46 ' is created and is used to make the minimized itinerary of total fuel that each fuel type consumed of a plurality of fuel types, and the total fuel that wherein consumes comprises the weighted sum of the coefficient of weight of each corresponding fuel that each respective type fuel is consumed.According to disclosed equality among the previous embodiment, the equality of total fuel mileage rate capable of using comes total fuel of calculation consumption, and this equality is expressed as:

F＝k ₁*F ₁+k ₂*F ₂+…

Wherein F is total fuel efficiency (time rate) of all a plurality of fuel types, F ₁And F ₂Be the corresponding fuel efficiency of fuel #1 and #2, and k ₁And k ₂It is the respective weight coefficient of fuel #1 and #2.Although provided the fuel efficiency time rate above, it can be exchanged into fuel efficiency apart from rate, and can come total fuel of calculation consumption therefore through on the distance that constitutes total travelling, F being carried out integration.

When making total fuel of each fuel type consumption minimize, algorithm 46 ' confirms to be used to total fuel that a plurality of fuel type consumed each respective weight coefficient minimized itinerary, each corresponding fuel type of making locomotive marshalling 42 '.For example; When locomotive marshalling 42 ' is operated with fuel #1 and #2; Algorithm 46 ' can be through confirming as the coefficient of weight of fuel #1 0.3 and the coefficient of weight of fuel #2 confirmed as 0.7, and create the minimized itinerary of total fuel that makes that locomotive marshalling 42 ' is consumed.Each coefficient of weight of each kind of fuel depends on various factors, comprises corresponding fuel draining rate, the time in 1 year, cost availability, system availability, corresponding tanks volume and ground point availability when with each kind of fuel operation.Coefficient of weight changes along with the fuel draining rate, because specific travelling and operating standard can relate to the specific low or maximum discharge rate restriction based on the place, and therefore when estimating coefficient of weight, considers corresponding fuel draining rate.Considering ground point availability and the time in 1 year, because a kind of special fuel possibly be sufficient in a particular season or specific region, but possibly be deficient in another season or zone.As illustrating among Fig. 3, consider corresponding oil tank volume, because in corresponding tanks 27,37, hold each corresponding fuel, and indicate the residual fuel scope of corresponding fuel with their corresponding volume liquid level 29,39 in those oil tanks that the mileage rate cooperates.Algorithm 46 ' when calculating each coefficient of weight relatively the remaining range of special fuel and apart from the locomotive marshalling future the station distance, and relatively whether this fuel can be used for refilling at each specific station.

In example embodiment, algorithm 46 ' creates making total discharging of each fuel type of a plurality of fuel types of locomotive marshalling 42 ' export minimized itinerary under the condition of the operating standard of the locomotive marshalling that for example comprises the mileage rate restriction in the travelling.For example, except above-mentioned those other operating standards, algorithm 46 ' can be under the condition of the max mileage rate of 10mpg, creates to make the discharging of each fuel type of a plurality of fuel types of locomotive marshalling 42 ' export minimized itinerary.More specifically, algorithm 46 ' is created and is made total discharging of each fuel type of a plurality of fuel types export minimized itinerary, and wherein total discharging output comprises the weighted sum of coefficient of weight of each corresponding discharging output of each respective type fuel.According to disclosed equality among the previous embodiment, the equality of total emission index capable of using calculates total discharging output, and this equality is expressed as

E＝I ₁*E ₁+I ₂*E ₂+…

Wherein E is total emission index (time rate or apart from rate) of all a plurality of fuel types, E ₁And E ₂Be the corresponding emission index of fuel #1 and #2, and I ₁And I ₂It is the respective weight coefficient of fuel #1 and #2.

When making the total discharging output of each fuel type minimize, algorithm 46 ' confirms to be used to make total discharging of a plurality of fuel types of locomotive marshalling 42 ' to export each respective weight coefficient minimized itinerary, each corresponding fuel type.For example, when locomotive marshalling 42 ' with fuel #1 during with the #2 operation, algorithm 46 ' can be through confirming as the coefficient of weight of fuel #1 0.8 and the coefficient of weight of fuel #2 confirmed as 0.2, and create the itinerary that makes that total discharging of locomotive marshalling 42 ' is exported.Aspect each place and its original (raw) availability in the range constraint of the discharging constraint that comprises each place; Each coefficient of weight of each kind of fuel depends on various factors, comprises corresponding fuel mileage rate, the time in 1 year, cost availability, fuel availability, corresponding tanks volume and ground point availability.Coefficient of weight changes along with fuel mileage rate, because specific travelling and operating standard can relate to specific low or high fuel mileage restriction, and therefore when estimating coefficient of weight, considers corresponding fuel mileage rate.Considering ground point availability and the time in 1 year, because a kind of special fuel possibly be sufficient in a particular season or specific region, but possibly be deficient in another season or zone.As illustrating among Figure 11; Consider corresponding oil tank volume; Because in corresponding tanks 27 ', 37 ', hold each corresponding fuel, and indicate the residual fuel scope of corresponding fuel with their corresponding volume liquid level 29 ', 39 ' in those oil tanks that the mileage rate cooperates.Algorithm 46 ' when calculating each coefficient of weight relatively the remaining range of special fuel and apart from the locomotive marshalling future the station distance, and relatively whether this fuel can be used for refilling at each specific station.

Although Figure 11 illustrates the corresponding tanks 27 ', 37 ' that is used for corresponding fuel type, each tanks 27 ', 37 ' is used in locomotive different time place during travel and holds the different fuel type.Each tanks 27 ', 37 ' can comprise the sensor that is used for each fuel type.In example embodiment, each sensor is used in which kind of fuel type of different time place sign in each tanks 27 ', 37 '.Sensor can comprise the sensor that identifies the fuel type in each tanks 27 ', 37 ' based on the information that is provided to locomotive 10 ', and this information comprises manual sensor, from the fuel type information of the fuel source electric transmission of for example railway or adjacent locomotives and filling fuel jar 27 ', 37 ' location information.Treater 44 ' can comprise the fuel type information that each place of filling wherein takes place.Sensor also can identify the fuel type in each tanks 27 ', 37 ' based on the character of the fuel type in locomotive detected each jar 27 ', 37 '.Such character can comprise the physical property (for example comprising viscosity and density) of each fuel type or the chemical property (for example comprising fuel value) of each fuel type.Can detect these character of each fuel type through sensor in the locomotive or device.Sensor also can be visited the input and output character of each fuel type of driving engine based on the performance of locomotive characteristic of for example locomotive engine performance simultaneously, identifies the fuel type in each tanks 27 ', 37 '.For example, for locomotive engine produces 1000HP, the fuel adjuster can comprise 200 gallons fuel A input demand of storage and 250 gallons fuel B demand.Therefore, can for example have institute's fuel stored input and output characteristic of locomotive engine characteristic, identify the fuel type in each tanks 27 ', 37 ' through visit.

In case algorithm 46 ' has been created itinerary and confirmed each coefficient of weight of each special fuel of a plurality of fuel types, can each coefficient of weight be stored in the data bank 36 ', be used for retrieving subsequently when locomotive marshalling 42 ' restarts whilst on tour.In addition, can share coefficient of weight with other similar locomotive marshalling of participating in similar travelling, so that the total fuel that consumes minimizes with same a plurality of fuel.

In addition, algorithm 46 ' can be created itinerary, is used for setting up expectation hourage and/or guarantees the correct bus attendant work-hours on the locomotive marshalling 42 ' car.In example embodiment, chaufeur or controller component 51 ' are provided also.As discuss here, controller component 51 ' is used to control train and follows itinerary.In the example embodiment of here further discussing, controller component 51 ' the spontaneous train of making is operated judgement.In another example embodiment, the operator can relate to the guiding train and follow this itinerary.

The characteristic of example embodiment of the present invention is the initial creation and the quick ability of any plan of just carrying out of modification awing.This comprise when relate to long apart from the time create original plan because the complexity of planning optimization algorithm.When the total length of travelling distribution graph exceeds to set a distance, can use algorithm 46 ' with the task segmentation, be a plurality of way points wherein with task division.Although single algorithm 46 ' only has been discussed, it will be readily appreciated by those skilled in the art that and can use more than a kind of algorithm, wherein can these algorithms be connected together.Said way point can comprise the natural place that train 31 ' stops; Such as but not limited to, be used to be scheduling on the single track railway take place to meet with approaching traffic or make the train process after the current train by-track or pick up and arrange field, the station by-track in compartment or the place of industry and schedule work.In such way point, can require train 31 ' according to time of scheduling be in a place, parking or according to the rules the speed in the scope move.Be called as length of the halt from reaching the time length that leaves the way point.

In example embodiment, the present invention can will be decomposed into than segment than long travelling according to the particular system mode.The length of each section is can be a little random, but its critical importance upright stone tablet place that is generally selected in the place, natural place of station for example or important speed limit or is selected in definition and the point of crossing of other route.In case algorithm 46 ' has been created the travelling distribution graph in each section, the coefficient of weight of the wastage in bulk or weight fuel of each fuel in a plurality of fuel in each correspondent section or total discharging output changes along with the length of section.

In addition, graphic like Figure 12-14, user interface elements 68 ' links to each other with treater, and optionally shows the volume of each respective type fuel of a plurality of fuel types.In Figure 12, user interface elements 68 ' selector button 123 ' capable of using is selected in various types of fuel, and is showing that time of advent of 68 ', administrative section 125 ' was browsed the cost savings of each special fuel.In Figure 13, user's selector button 123 ' capable of using is selected in various types of fuel, and is showing that time of advent of 68 ', administrative section 125 ' was browsed the cost savings of being planned of each special fuel.In addition, in Figure 14, which fuel in the optional majority of the user fuel type is main and less important.After having specified main and secondary fuel, the user can push main fuel selector button 79 ', with the planning residue mile 81 ' of browsing the main fuel in its corresponding oil tank and in the main fuel amount of itinerary of the backwardness of Δ fuel meat 82 '/in advance.In addition, the user can push secondary fuel selector button 80 ', with the planning residue mile 81 ' of browsing the secondary fuel in its corresponding oil tank and similarly in the secondary fuel amount of the backwardness/leading itinerary of Δ fuel meat 82 '.In order to browse mainly and the planning of the mixing of secondary fuel, the user can push fuel mix selector button 78 '.Here other element and those elements among the above previous embodiment of the system 10 ' that indicates with main mark (prime notation) that does not have to discuss are similar, and do not need further discussion here.

Those elements in those other elements with main mark in the system 10 ' of the embodiment of the invention, do not discussed and the system 10 of the invention described above embodiment are similar, and do not need further discussion here.

Another embodiment of the present invention discloses a kind of method of operating the vehicle.These vehicle can comprise that Figure 11 is graphic to have train 31 ', cross-country car (OHV), the marine traffic instrument of one or more locomotives marshalling 42 ' or comprises any similar vehicle with the driving engine of polytype fuel handling.Said a plurality of fuel type comprises one or more fuel and one or more replacement fuel based on diesel oil.More specifically, each replacement fuel can comprise one of biodiesel, palm oil and rapeseed oil.Therefore, be used for the method that operation has the train 31 ' of one or more locomotives marshalling 42 ' and can be applied to OHV ' and marine traffic instrument similarly.

The driving engine that each locomotive marshalling 42 ' comprises with the polytype fuel handling.This method comprises the place of confirming locomotive marshalling 42 ', provides the information of the landform (being track) 34 ' of closing locomotive marshalling 42 ', and stores the characteristic information of each kind of fuel.More specifically, this method comprises that establishment is used for optimizing according to one or more operating standards of locomotive marshalling the itinerary of the performance of locomotive marshalling.

The characteristic information of each kind of fuel of each locomotive marshalling comprises at least one in fuel efficiency, discharge efficiency, corresponding oil tank volume, cost availability and the ground point availability.

Create itinerary and comprise that the total fuel that each kind of fuel consumed that makes locomotive organize into groups minimizes.More specifically, make the minimized step of total fuel that each kind of fuel consumed comprise: to make the weighted sum of coefficient of weight of each the corresponding fuel that is consumed minimize with a plurality of fuel types.In addition, this method comprises and confirms to make the respective weight coefficient of the minimized itinerary of total fuel that each kind of fuel consumed of locomotive marshalling.

Figure 15 illustrates the embodiment of the method 200 that is used to operate at least one vehicle 31 ', and wherein each vehicle 31 ' comprises the driving engine with at least one kind of fuel operation.This method begins (piece 201), confirms the place of (piece 202) vehicle, and the information of the landform of (piece 204) relevant each vehicle is provided subsequently.In addition, method 200 comprises the characteristic information of each kind of fuel of storage (piece 206), and creates (piece 208) itinerary according to the performance of one or more each vehicle of operating standards optimization of the vehicle, finishes then (piece 210).

Based on aforementioned description; The example embodiment of the present invention computer programming or the engineering technology of computer software, firmware, hardware or its any combination or subclass of comprising capable of using realizes that wherein technique effect is a performance of optimizing the vehicle according to one or more operating standards.Any program with computer-readable code parts that obtains like this can be implemented in one or more computer-readable mediums or provide, and constitutes the computer program according to the embodiment of the invention thus, i.e. manufacture.Computer-readable medium can be the semiconductor memory of for example fixing (hard disk) actuator, disk, CD, tape, for example read-only memory (ROM) (ROM) etc. or any transmission/receiver media of internet or other communication network or link for example.The manufacture that comprises computer code can be through moving directly code from a medium, will copying another medium from the code of a medium to or transmit code through the internet and make and/or use.

The those of ordinary skill of computer science can easily make up created have suitable general purpose software or special purpose computer hardware (for example microprocessor), create the computer system or the computer subsystem of the method for an embodiment of embodiment of the present invention.The equipment of manufacturing, use or sale one embodiment of the invention can be the one or more disposal systems that include but not limited to central processing unit (CPU), memory device, storage device, communication link and device, server, I/O device, perhaps can be any sub-component of the one or more disposal systems that comprise software, firmware, hardware or its any combination or subclass of embodiment of the present invention example embodiment.

Although in by the current content of regarding preferred embodiment as, described embodiments of the invention, many variations and revise and will become obvious to those skilled in the art.Therefore, the present invention is not intended to be limited to certain illustrative embodiment, but in the full spirit of accompanying claims and scope, makes an explanation.

Claims (32)

1. system that is used to operate at least one vehicle, each vehicle comprise can the pluralities of fuel type operations driving engine, this system comprises:

The parts that are used for the place of definite vehicle;

Be used to provide the parts of information of the landform of relevant said at least one vehicle;

Be used to store each the parts of characteristic information of said pluralities of fuel type;

Be used for creating based on the characteristic information of said information and said each fuel type about landform the parts of itinerary, this itinerary is used for optimizing according to one or more operating standards of said at least one vehicle the performance of said at least one vehicle.

2. according to the system of claim 1, the wherein said vehicle comprise in train, cross-country car (OHV) and the marine traffic instrument with one or more locomotive marshallings.

3. according to the system of claim 2, wherein each said characteristic information of the said pluralities of fuel type of each vehicle comprises at least one in fuel efficiency, discharge efficiency, corresponding oil tank volume, cost availability and the ground point availability.

4. according to the system of claim 3, the wherein said parts that are used to create itinerary comprise being used to create and are used to make the parts of the minimized itinerary of total fuel of consumption of said pluralities of fuel type of said at least one vehicle.

5. according to the system of claim 4, wherein said itinerary is according to the operating standard of said at least one vehicle that comprise at least one emission index restriction, makes total fuel of consumption of said pluralities of fuel type minimize.

6. according to the system of claim 4, wherein said be used to create be used to make the parts of the minimized itinerary of total fuel of consumption of said pluralities of fuel type to comprise: be used for making the minimized parts of weighted sum of coefficient of weight of each the corresponding fuel that is consumed with said pluralities of fuel type.

7. according to the system of claim 6, also comprise:

Be used to confirm to make the parts of each respective weight coefficient of the minimized said itinerary of total fuel of consumption of said pluralities of fuel type of said at least one vehicle.

8. according to the system of claim 7, each of said at least one coefficient of weight of each of wherein said multiple corresponding fuel type depends at least one in the ground point availability of emission index, cost availability, fuel reliability, corresponding tanks volume and each corresponding fuel type.

9. according to Claim 8 system, wherein storage is used for said at least one coefficient of weight of specific travelling and said at least one vehicle, is used for retrieving subsequently when said at least one vehicle restart said whilst on tour.

10. according to the system of claim 9, wherein said travelling comprises a plurality of sections, and wherein said at least one coefficient of weight in each correspondent section changes along with segment length.

11. according to the system of claim 4, the wherein said parts that are used to create itinerary comprise being used to create and are used to make total discharging of said pluralities of fuel type of said at least one vehicle to export the parts of minimized itinerary.

12. according to the system of claim 11, wherein said itinerary is according to the operating standard of said at least one vehicle that comprise at least one fuel mileage rate restriction, makes each total discharging output of said pluralities of fuel type minimize.

13., wherein saidly be used to create the parts that are used to make total discharging of said pluralities of fuel type to export minimized itinerary and comprise: be used for making the minimized parts of weighted sum of coefficient of weight of each corresponding discharging output of each fuel with said pluralities of fuel type according to the system of claim 11;

And said system also comprises and is used to confirm to make each total discharging of said polytype fuel of said at least one vehicle to export the parts of each respective weight coefficient of minimized said itinerary.

14. according to the system of claim 13, each of said at least one coefficient of weight of each of wherein said multiple corresponding fuel type depends at least one in the ground point availability of fuel efficiency, cost availability, fuel reliability, corresponding tanks volume and each corresponding fuel type.

15. according to the system of claim 1, wherein said pluralities of fuel type comprises at least a fuel and at least a replacement fuel based on diesel oil.

16. according to the system of claim 15, wherein said at least a replacement fuel comprises one of biodiesel, brown tung oil and rapeseed oil.

17. the method for at least one vehicle of operation, each vehicle comprise can the pluralities of fuel type operations driving engine, this method comprises:

A) confirm the place of the vehicle;

B) information of the landform of relevant said at least one vehicle is provided;

C) each characteristic information of the said pluralities of fuel type of storage;

D) based on said about the information of landform and the characteristic information of said each fuel type; Create itinerary, this itinerary is used for optimizing according to one or more operating standards of said at least one vehicle the performance of said at least one vehicle.

18. according to the method for claim 17, the wherein said vehicle comprise in train, cross-country car (OHV) and the marine traffic instrument with one or more locomotive marshallings.

19. according to the method for claim 18, wherein each said characteristic information of the said pluralities of fuel type of each vehicle comprises at least one in fuel efficiency, discharge efficiency, corresponding oil tank volume, cost availability and the ground point availability.

20. according to the method for claim 19, the step of wherein said establishment itinerary comprises: make total fuel of consumption of said pluralities of fuel type of said at least one vehicle minimize.

21. according to the method for claim 20, wherein said itinerary is according to the operating standard of said at least one vehicle that comprise at least one emission index restriction, makes total fuel of consumption of said pluralities of fuel type minimize.

22. according to the method for claim 20, the minimized step of total fuel of the wherein said consumption that makes said pluralities of fuel type comprises: make the weighted sum of coefficient of weight of each the corresponding fuel that is consumed minimize with said pluralities of fuel type.

23. the method according to claim 22 also comprises: confirm to make each the said respective weight coefficient of the minimized said itinerary of total fuel of consumption of said pluralities of fuel type of said at least one vehicle.

24. according to the method for claim 23, each of said at least one coefficient of weight of each of wherein said multiple corresponding fuel type depends at least one in the ground point availability of emission index, cost availability, fuel reliability, corresponding tanks volume and each corresponding fuel type.

25. according to the method for claim 24, wherein storage is used for said at least one coefficient of weight of specific travelling and said at least one vehicle, is used for retrieving subsequently when said at least one vehicle restart said whilst on tour.

26. according to the method for claim 25, wherein said travelling comprises a plurality of sections, and wherein said at least one coefficient of weight in each correspondent section changes along with segment length.

27. according to the method for claim 19, wherein said establishment itinerary comprises creating and is used to make total discharging of said pluralities of fuel type of said at least one vehicle to export minimized itinerary.

28. according to the method for claim 27, wherein said itinerary is according to the operating standard of said at least one vehicle that comprise at least one fuel mileage rate restriction, makes each total discharging output of said pluralities of fuel type minimize.

29. according to the method for claim 27, wherein said establishment is used to make total discharging of said pluralities of fuel type to export minimized itinerary and comprises: make the weighted sum of coefficient of weight of each corresponding discharging output of each fuel minimize with said pluralities of fuel type;

And said method also comprises confirms to make each total discharging of said polytype fuel of said at least one vehicle to export each respective weight coefficient of minimized said itinerary.

30. according to the method for claim 29, each of said at least one coefficient of weight of each of wherein said multiple corresponding fuel type depends at least one in the ground point availability of fuel efficiency, cost availability, fuel reliability, corresponding tanks volume and each corresponding fuel type.

31. according to the method for claim 19, wherein said pluralities of fuel type comprises at least a fuel and at least a replacement fuel based on diesel oil.

32. according to the method for claim 31, wherein said at least a replacement fuel comprises one of biodiesel, palm oil and rapeseed oil.

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