KR20160126137A - Sensor system for estimating a radius of curvature for active steering control of railway vehicles - Google Patents

Sensor system for estimating a radius of curvature for active steering control of railway vehicles Download PDF

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Publication number
KR20160126137A
KR20160126137A KR1020150056517A KR20150056517A KR20160126137A KR 20160126137 A KR20160126137 A KR 20160126137A KR 1020150056517 A KR1020150056517 A KR 1020150056517A KR 20150056517 A KR20150056517 A KR 20150056517A KR 20160126137 A KR20160126137 A KR 20160126137A
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KR
South Korea
Prior art keywords
steering control
sensor system
railway vehicle
active steering
sensor
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KR1020150056517A
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Korean (ko)
Inventor
허현무
안다훈
서정원
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한국철도기술연구원
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Priority to KR1020150056517A priority Critical patent/KR20160126137A/en
Publication of KR20160126137A publication Critical patent/KR20160126137A/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/20—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring contours or curvatures, e.g. determining profile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
    • B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
    • B61F5/38—Arrangements or devices for adjusting or allowing self- adjustment of wheel axles or bogies when rounding curves, e.g. sliding axles, swinging axles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations

Abstract

The present invention relates to a sensor system for curvature radius sensing for active steering control for a railway vehicle, An outer tube fixed to the vehicle body of the railway vehicle, an inner passage inserted and guided into the inner tube in a cylinder structure and fixed to the truck frame, a reflection plate mounted inside the inner tube, and a relative displacement And an LM block and an LM guide provided at a contact portion between the inner and outer sheaths.
According to the present invention, the sensor of the sensor system for curvature radius sensing for active steering control for a railway vehicle can be installed inside the inner passage core, and both ends of the inner and outer cylinder can be easily installed in the vehicle body and the bogie frame. It is possible to stably measure the longitudinal relative displacement of the railway vehicle and to estimate the radius of curvature for the active steering control and to prevent wear and noise from occurring both inside and outside of the vehicle even when used for a long time, have.

Description

Technical Field [0001] The present invention relates to a sensor system for curvature radius sensing for active steering control of a railway vehicle,

The present invention relates to a sensor system for curvature radius sensing for active steering control for a railway vehicle, and more particularly, to a sensor system for smoothly steering a railway vehicle in a curved section, the present invention relates to a sensor system for curvature radius sensing for active steering control for a railway vehicle capable of real-time measurement of the longitudinal relative displacement of a railway vehicle in order to estimate a curvature radius of the railway so as to greatly reduce the attack.

Conventionally, there is an angle of attack between the rail and the wheel axle during the running of the curved portion of the railway car, as shown in FIG. 1. This attack angle adversely affects the smooth curve running of the vehicle, The friction between the rail and the rail side causes high noise and accelerates the wear of the wheel and the rail. In severe cases, the wheel and the rail are damaged, and a train accidentally derails.

Accordingly, an active steering system has been proposed to solve such a problem in order to smoothly adapt to the radius of curvature of the curved portion.

As an example of such an active steering system, the present applicant has proposed Patent Registration No. 10-1084157.

The present invention relates to an active steering control apparatus for a railway vehicle, and more particularly, to an active steering control apparatus for a railway vehicle, which comprises a measuring unit for measuring running data of a running railway vehicle, and an estimating unit for estimating a radius of curvature of a curved line, A calculation unit configured to set a target value of a steering axis of a running railway vehicle using a radius of curvature estimated by the estimating unit, and a control unit that compares the target value of the steering axis set in the calculating unit with the actual steering axis, And an actuator for steering the wheel shaft by the steering signal of the control unit.

At this time, the measuring unit may include a relative displacement measuring unit that is installed on one side of the vehicle and measures a relative displacement between the vehicle body and the front / rear vehicle and a relative angle between the vehicle body and the front / rear vehicle, And a GPS (Global Positioning System) installed at the center of the truck.

However, the relative displacement measuring device can measure the relative displacement in the longitudinal direction between the vehicle body and the front / rear vehicle through various types of displacement sensors. However, the concrete configuration of the relative displacement measuring device is not proposed, It is not possible to stably measure the relative displacement occurring between the vehicle body and the bogie due to external dust or interference during driving.

Therefore, there is a need for a relative displacement measuring apparatus suitable for a railway vehicle.

Reference literature: Patent No. 10-1084157

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above problems and it is an object of the present invention to provide a railway vehicle which can be installed simply in a railway vehicle and stably measures a longitudinal relative displacement of a railway vehicle for estimating a radius of curvature of a curved section, And to provide a sensor system for curvature radius sensing for active steering control for a railway vehicle.

In particular, the present invention provides a structure that can safely protect the sensor against disturbance such as rain, dust, and other dirt when installed and operated in a railway vehicle, thereby realizing a stable function. And to provide a sensor system for curvature radius sensing for active steering control for a railway car which is advantageous for maintenance.

In order to solve such a technical problem,

An outer tube fixed to the vehicle body of the railway vehicle, an inner passage inserted and guided into the inner tube in a cylinder structure and fixed to the truck frame, a reflection plate mounted inside the inner tube, and a relative displacement And an LM block and an LM guide provided at a contact portion between the inner and outer sheaths, and a sensor system for curvature radius sensing for active steering control for a railway vehicle.

Here, the LM block is fixed to the outer surface of the inner cylinder, and the LM guide is inserted and guided on the inner surface of the outer cylinder.

The LM block is fixed to the inner surface of the outer cylinder, and the LM guide is inserted and guided on the outer surface of the inner cylinder.

Further, the displacement sensor is a non-contact sensor.

Here, the non-contact sensor may be a laser sensor or an ultrasonic sensor.

A finishing cover is mounted on an opening of the outer cylinder to which the inner cylinder is inserted and guided.

A first ball joint is connected to the vehicle body at one end of the outer cylinder, and a second ball joint is connected to the one end of the inner cylinder to be connected to the truck frame.

The inner tube has an opening formed in the end portion thereof,

Figure pat00001
Quot; shape.

According to the present invention, the measurement sensor of the sensor system for radii of curvature radii is installed inside the inner passage core so that both ends of the inner and outer cylinders can be easily installed in the vehicle body and the bogie frame. It is possible to stably estimate the radius of curvature for the active steering control for the railway vehicle.

In particular, the sensor system for curvature radius sensing according to the present invention has a structure capable of preventing abrasion and noise generation in the inside and outside of the vehicle even when it is used for a long period of time.

FIGS. 1 to 3 are plan views schematically showing a state of a railway car during a curved section.
4 is a control block diagram of an active steering control apparatus for a railway vehicle according to the present invention.
5 is a view illustrating a sensor system for curvature radius sensing for active steering control for a railway vehicle according to the present invention.
6 is a view showing an embodiment of a sensor system for curvature radius sensing for active steering control for a railway vehicle according to the present invention.
7 is a view showing another embodiment of a sensor system for curvature radius sensing for active steering control for a railway vehicle according to the present invention.
8 is a test graph showing an example of estimation of a radius of curvature using a sensor system for curvature radius sensing for active steering control for a railway vehicle according to the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT Hereinafter, a sensor system for radial curvature sensing for active steering control of a railway vehicle according to the present invention will be described in detail with reference to the accompanying drawings.

Prior to this, terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms, and the inventor should appropriately interpret the concepts of the terms appropriately It should be construed in accordance with the meaning and concept consistent with the technical idea of the present invention based on the principle that it can be defined.

Therefore, the embodiments described in the present specification and the configurations shown in the drawings are only the most preferred embodiments of the present invention, and not all of the technical ideas of the present invention are described. Therefore, It should be understood that various equivalents and modifications may be present.

1 to 4, a sensor system 100 for curvature radius sensing for active steering control for a railway vehicle according to the present invention is provided in an active steering control apparatus for a railway vehicle.

The active steering control apparatus for a railway vehicle includes a measuring unit 10 for measuring running data of a running railway vehicle and a control unit 10 for controlling the radius of curvature of the curved road running by the railway vehicle A calculation unit 30 that sets a target value of a steering axis of a running railway vehicle using a radius of curvature estimated by the estimation unit 20, A control unit 40 for generating a steering control signal on the yaw axis by comparing the target value of the set yaw steering angle with the actual yaw axis steering angle and an actuator 50 for steering the yaw axis by the steering signal of the control unit 40.

At this time, the measurement unit 10 is for measuring the running data of the running railway vehicle, and particularly measures the running data in the curve section in which the steering angle? Of the wheel axis occurs.

The measurement unit 10 measures the relative angles? 1 and? 2 between the vehicle body 1 and the front and rear trucks 2 and 3 when the railway vehicle runs in a curved section, 1 and? 2 ) of the vehicle body 1 and the longitudinal relative displacements? 1 and? 2 between the vehicle body 1 and the front and rear trucks 2 and 3 which change according to the curvature C of the track A relative displacement measuring device 100 and a relative angle measuring device 12 for measuring relative angles? 1 and? 2 formed by a vehicle body and a front / rear vehicle on a curved line.

At this time, the relative displacements (Δ 1 , Δ 2 ) and relative angles (θ 1 , θ 2 ) measured by the relative displacement measuring device (100) and the relative angle measuring device (12) Is used to estimate the radius of curvature (R) in real time.

In addition, the measuring unit 10 further includes a paper sheet 13 for receiving position information. The measurement data of the above-mentioned paper discharge sensor 13 is obtained by measuring the curvature of the curved section of the railway car running by the railway car 13, Is used to estimate the radius (R).

The steering angle measuring device 14 may include a steering angle measuring device 14 or a relative displacement measuring device 100 and a relative angle measuring device 14, Which is calculated by using the curvature radius R of the curved section estimated through the measurement data measured by the actuator 12 and the target value? Desire of the axle steering angle, that is, the estimated value of the axle steering angle? Axis steering angle? That is actually steered by the driving of the actuator 50. By measuring the drive displacement of the actuator 50, an estimated value of the axle steering angle? By the operation of the actuator 50 can be obtained It is a role to play.

The process of measuring the driving displacement of the actuator 50 and estimating the steering angle delta of the wheel axis according to the driving of the actuator 50 may be performed between the driving displacement and the wheel axis steering angle? Can be changed.

It goes without saying that the steering angle measuring device 14 may be provided directly on the yaw shaft 4 to measure the steering angle? Of the yaw shaft actually driven in real time.

The estimating unit 20 estimates the radius of curvature R of the curved line traveled by the railway vehicle using the traveling data of the traveling railway car measured by the measuring unit 10, The curvature radius is estimated by using the relative displacements (Δ 1 , Δ 2 ) and relative angles (θ 1 , θ 2 ) measured by the relative displacement measuring apparatus 100 and the relative angle measuring apparatus 12, The radius of curvature can be estimated by using the center position of the front bogie 2 measured at 13).

Next, the calculation unit 30 calculates a wheel axis steering angle target value? Desire of the on-railway vehicle on the basis of the radius of curvature R estimated by the estimation unit 20, and calculates the estimated radius of curvature It is possible to obtain the target value? Desire of the axle steering angle by using the estimated value of the curvature obtained by using the estimated value.

The control unit 40 compares the target value? Desire of the axle steering angle set in the calculation unit 30 with the steering angle? Of the actually driven yaw axis and controls the actuator 50 connected to the yaw axis 4, And includes a comparator 42 and a signal generator 44. The comparator 42 generates a signal.

At this time, the comparator 42 compares the target value? Desire of the steering angle set in the calculating section 30 with the steering angle? Of the actually driven yaw axis. At this time, the steering angle? Is calculated by using the steering angle? Of the yaw axis estimated through the driving displacement of the actuator 50 measured by the steering angle measuring device 14.

The signal generating unit 44 generates a signal corresponding to the error in the actuator 50 using the comparison result of the target value? Desire of the wheel-axis steering angle compared with the steering angle? Axis steering signal is generated until the time when the compared error is '0' at the comparator 42, that is, the target value? Desire of the wheel-shaft steering angle is actually driven Until it coincides with the steering angle [delta] of the yaw axis.

The actuator 50 is connected to the wheel shaft 4 of the railway car and serves to steer the wheel shaft 4 by a control signal from the controller 40.

The overall structure of the active steering control system for a railway vehicle is described in detail in Korean Patent Registration No. 10-1084157 filed and filed by the present applicant, and a detailed description thereof will be omitted.

A sensor system 100 for curvature radius sensing for active steering control for a railway vehicle according to the present invention, which constitutes a measurement unit 10 for measuring the running data of a running railway vehicle constituting an active steering control apparatus for a railway vehicle, As shown in Fig. 5, the vehicle body 1 and the bogie frame 2a of the bogie 2 are arranged to measure longitudinal relative displacement between the vehicle body 1 and the bogie 2, which occurs when the railway vehicle passes through the curve section. Respectively.

The sensor system 100 for curvature radius sensing for active steering control of a railway vehicle according to the present invention is shown in FIG. 6 as a non-contact displacement type measurement device, but it may also be configured as a contact displacement type device.

6, the sensor system 100 for curvature radius sensing for active steering control of a railway vehicle according to the present invention comprises an inner cylinder 110 fixed to a side of a railway car frame 2a, An outer cylinder 120 inserted into and guided into the cylinder structure and fixed to a side of the vehicle body 1, a reflector 130 mounted inside the inner cylinder 110, And a displacement sensor 140 for measuring a relative displacement x with respect to the object 130.

At this time, one end of the outer cylinder 120 is fixed to the vehicle body 1, and one end of the inner cylinder 1120 is fixed to the truck frame 2a, particularly, the side frame.

Such a sensor system 100 has no problem in the function of measuring the radius of curvature. However, since the sensor system 100 is in contact with the inner tube 110 and the outer tube 120 by the insertion movement, wear, dust, and noise between the inner tube 110 and the outer tube 120 The LM block 150 and the LM guide 150 are provided at a contact area between the inner cylinder 110 and the outer cylinder 120 to prevent the inner cylinder 110 from sliding smoothly in the outer cylinder 120 do. Accordingly, the maintenance cost due to the replacement of the inner tube 110 and the outer tube 120 due to the wear of the inner tube 110 and the outer tube 120 can be reduced, and dust and noise can be reduced.

Hereinafter, the constituent parts of the present invention will be described in more detail.

The inner cylinder 110 is inserted into the opening of the outer cylinder 120 and is inserted into the inner cylinder 110 along the inner circumferential face of the outer cylinder 120. The inner cylinder 110 and the outer cylinder 120 may have various shapes, ) Is a structure capable of relative insertion motion.

Between the inner cylinder 110 and the outer cylinder 120, an LM block 150 and an LM guide 160 are provided to reduce friction.

6, the LM block 150 is fixed to the outer surface of the inner cylinder 110 and the LM block 150 is inserted and guided on the inner surface of the outer cylinder 120 160 are fixedly installed.

More specifically, the LM block 150 is fixed to the upper and lower outer surfaces of the inner tube 110, and the LM block 150 is inserted and guided to the upper and lower portions of the inner surface of the outer tube 120 The LM guide 160 is fixedly installed.

7, the LM block 150 is fixed to the inner surface of the outer cylinder 120 and the LM guide 160 (see FIG. 7) in which the LM block 150 is inserted and guided on the outer surface of the inner cylinder 110 Can be fixedly installed.

More specifically, the LM block 150 is fixedly installed on the upper and lower surfaces of the inner surface of the outer cylinder 120, and the LM block 150 is inserted and guided to the upper and lower portions of the outer surface of the inner cylinder 110 The LM guide 160 is fixedly installed.

Since the inner cylinder 110 and the outer cylinder 120 repeatedly reciprocate in the forward and backward directions, foreign substances such as dust may flow into the inner cylinder 110 and the outer cylinder 120 during the running of the railway vehicle, A finishing cover 122 is attached to the opening of the outer cylinder 120 to which the inner cylinder 110 is inserted and guided to prevent foreign substances such as dust and water from flowing into the gap between the outer cylinder 120 and the inner cylinder 110.

A reflection plate 130 is mounted in the inner tube 110. The reflection plate 130 can measure a relative displacement x at a displacement sensor 140 provided inside the outer tube 120.

Of course, a reflection plate 130 may be provided in the outer cylinder 120, and a displacement sensor 140 may be provided inside the inner cylinder 110 to measure a relative displacement x.

In order to avoid interference with the displacement sensor 140 when the inner cylinder 110 is inserted into the outer cylinder 120 at the maximum when the inner cylinder 110 is inserted into the outer cylinder 120 at this time, (111) is formed, and the opening (111)

Figure pat00002
Quot; shape.

The displacement sensor 140 may be a non-contact sensor such as a laser sensor or an ultrasonic sensor to measure a relative displacement x between the displacement sensor 140 and the reflection plate 130.

One end of the inner cylinder 110 is fixed to the truck frame 2a and one end of the outer cylinder 120 is fixed to the vehicle body 1. [

In this case, the measurement of the relative displacement (x) is intended to stably measure the longitudinal relative displacement of the railway vehicle necessary for estimating the radius of curvature of the curved section when the railway vehicle is traveling in the curved section, In order to prevent damage to the inner cylinder 110 and the outer cylinder 120 of the sensor system 100 during yaw movement between the vehicle body 1 and the bogie frame 2a, A ball joint 170 is connected to the vehicle body 1 and a second ball joint 180 is connected to one end of the inner cylinder 110 to be fixed to the truck frame 2a.

The first bracket 172 connected to the vehicle body 1 is provided on the housing 171 of the first ball joint 170 so that the both ends of the sensor system 100 can be stably fixed And a second bracket 182 fixed to the bogie frame 2a is provided on the housing 181 of the second ball joint 180.

Accordingly, it is possible to minimize the roll / pitch / yaw direction forces generated during the running of the curved section of the railway car and to minimize the friction between the inner cylinder 110 and the outer cylinder 120.

Meanwhile, the sensor system 100 for curvature radius sensing for active steering control for a railway vehicle according to the present invention includes a displacement sensor 140 provided inside the outer cylinder 110 and a non-contact sensor such as a laser sensor or an ultrasonic sensor A relative displacement x between the reflection plates 130 can be measured. However, a relative displacement can be measured using a contact displacement sensor such as a linear variable differential transformer (LVDT) as the displacement sensor 140.

Hereinafter, a curvature radius estimation example using a sensor system for curvature radius sensing for active steering control for a railway vehicle according to the present invention will be described with reference to FIGS. 1 to 7. FIG.

When the railway vehicle in which the sensor system 100 is installed enters the curve section, a yaw motion is generated between the vehicle body 1 and the truck 2 and thereby the first and second ball joints 170 and 180 The outer cylinder 120 and the inner cylinder 110, both ends of which are fixed, perform a linear motion in a piston manner.

The relative displacement x measured by the displacement sensor 140 is input to the measuring unit 10 and used to estimate the radius of curvature R of the curved line running on the railway vehicle do.

Then, the calculation unit 30 sets the target value of the steering angle of the railway vehicle during running using the radius of curvature estimated by the estimation unit 20, and the control unit 40 controls the yaw axis The target value of the steering angle is compared with the actual wheel axis steering angle to generate the steering control signal of the wheel axis to drive the actuator 50 to steer the wheel axis 4 of the railroad car.

In addition, it can be seen that the curvature radius R is estimated to be almost similar to the actual curvature radius test result as shown in FIG.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. The scope of protection of the present invention should be construed under the following claims, and all technical ideas within the scope of equivalents thereof should be construed as being included in the scope of the present invention.

1: Body 2: Truck
2a: Balance frame 4:
10: measuring section 20:
30: calculation unit 40: control unit
50: Actuator 100: Sensor system
110: inner tube 120: outer tube
130: reflection plate 140: displacement sensor
150: LM block 160: LM guide
170: first ball joint 180: second ball joint

Claims (8)

An outer tube fixed to the vehicle body of the railway vehicle, an inner passage inserted and guided into the inner tube in a cylinder structure and fixed to the truck frame, a reflection plate mounted inside the inner tube, and a relative displacement And an LM block and an LM guide provided at a contact portion between the inner and outer sheaths, and a sensor system for curvature radius sensing for active steering control for a railway vehicle.
The method according to claim 1,
Wherein the LM block is fixed to the outer surface of the inner cylinder and the LM guide is inserted and guided on the inner surface of the outer cylinder. Sensor System for Curvature Radius Sensing for Steering Control.
The method according to claim 1,
Wherein the LM block is fixed to the inner surface of the outer cylinder and the LM guide is inserted and guided on the outer surface of the inner cylinder. Sensor System for Curvature Radius Sensing for Steering Control.
The method according to claim 1,
Wherein the displacement sensor is a non-contact sensor. 2. A sensor system for curvature radius sensing for active steering control for a railway vehicle.
5. The method of claim 4,
Wherein the non-contact sensor is a laser sensor or an ultrasonic sensor. 2. A sensor system for curvature radius sensing for active steering control for a railway vehicle.
The method according to claim 1,
And a finishing cover is mounted on the opening of the outer cylinder through which the inner cylinder is inserted and guided. 2. The sensor system for curvature radius sensing for active steering control for a railway car according to claim 1,
The method according to claim 1,
Wherein the first ball joint is connected to the vehicle body at one end of the outer cylinder and the second ball joint is connected to the one end of the inner cylinder to be connected to the truck frame. Sensor system for.
The method according to claim 1,
The inner tube has an opening formed in the end portion thereof,
Figure pat00003
≪ / RTI > and the sensor system for curvature radius sensing for active steering control for a railway car.
KR1020150056517A 2015-04-22 2015-04-22 Sensor system for estimating a radius of curvature for active steering control of railway vehicles KR20160126137A (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
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KR20220008673A (en) * 2020-07-14 2022-01-21 한국철도기술연구원 Measuring method and structure for force and velocity of damper
US20220289255A1 (en) * 2021-03-12 2022-09-15 Parallel Systems, Inc. Electric rail vehicle
KR20230010107A (en) 2021-07-08 2023-01-18 한국철도기술연구원 Apparatus and method for Endurance test of railway vehicle steering sensor
KR20230039790A (en) * 2021-09-13 2023-03-22 한국철도기술연구원 measuring apparatus of steering angle for railway vehicle
US11708102B2 (en) 2021-04-28 2023-07-25 Parallel Systems, Inc. System and/or method for platooning

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KR101084157B1 (en) 2009-12-24 2011-11-16 한국철도기술연구원 Active steering control apparatus for railway vehicles and the method of the same

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20220008673A (en) * 2020-07-14 2022-01-21 한국철도기술연구원 Measuring method and structure for force and velocity of damper
US20220289255A1 (en) * 2021-03-12 2022-09-15 Parallel Systems, Inc. Electric rail vehicle
US20220379933A1 (en) * 2021-03-12 2022-12-01 Parallel Systems, Inc. Electric rail vehicle
US11524709B2 (en) * 2021-03-12 2022-12-13 Parallel Systems, Inc. Electric rail vehicle
US20230052871A1 (en) * 2021-03-12 2023-02-16 Parallel Systems, Inc. Electric rail vehicle
US11745773B2 (en) * 2021-03-12 2023-09-05 Parallel Systems, Inc. Electric rail vehicle
US11780476B2 (en) * 2021-03-12 2023-10-10 Parallel Systems, Inc. Electric rail vehicle
US11708102B2 (en) 2021-04-28 2023-07-25 Parallel Systems, Inc. System and/or method for platooning
US11926355B2 (en) 2021-04-28 2024-03-12 Parallel Systems, Inc. System and/or method for platooning
KR20230010107A (en) 2021-07-08 2023-01-18 한국철도기술연구원 Apparatus and method for Endurance test of railway vehicle steering sensor
KR20230039790A (en) * 2021-09-13 2023-03-22 한국철도기술연구원 measuring apparatus of steering angle for railway vehicle

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