Classifications

• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
  • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
  • G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
  • G05B13/021—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system in which a variable is automatically adjusted to optimise the performance
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B61—RAILWAYS
  • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
  • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
  • B61L15/0058—On-board optimisation of vehicle or vehicle train operation
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B61—RAILWAYS
  • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
  • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
  • B61L25/02—Indicating or recording positions or identities of vehicles or trains
  • B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B61—RAILWAYS
  • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
  • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
  • B61L25/02—Indicating or recording positions or identities of vehicles or trains
  • B61L25/026—Relative localisation, e.g. using odometer
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B61—RAILWAYS
  • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
  • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
  • B61L27/10—Operations, e.g. scheduling or time tables
  • B61L27/16—Trackside optimisation of vehicle or train operation
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B61—RAILWAYS
  • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
  • B61L2205/00—Communication or navigation systems for railway traffic
  • B61L2205/04—Satellite based navigation systems, e.g. global positioning system [GPS]
• • G—PHYSICS
  • G06—COMPUTING OR CALCULATING; COUNTING
  • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
  • G06Q10/00—Administration; Management
  • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
• • G—PHYSICS
  • G06—COMPUTING OR CALCULATING; COUNTING
  • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
  • G06Q10/00—Administration; Management
  • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
  • G06Q10/063—Operations research, analysis or management

Definitions

• the field of invention relates to optimizing train operations, and more particularly to monitoring and controlling a train's operations to improve efficiency while satisfying schedule constraints.
• Locomotives are complex systems with numerous subsystems, with each subsystem being interdependent on other subsystems.
• An operator is aboard a locomotive to insure the proper operation of the locomotive and its associated load of freight cars.
• the operator also is responsible for determining operating speeds of the train and forces within the train that the locomotives are part of. To perform this function, the operator generally must have extensive experience with operating the locomotive and various trains over the specified terrain. This knowledge is needed to comply with perscribeable operating speeds that may vary with the train location along the track.
• the operator is also responsible for assuring in-train forces remain within acceptable limits.
• Embodiments of the invention disclose a system for operating a train having one or more locomotive consists with each locomotive consist comprising one or more locomotives.
• the system comprises a locator element to determine a location of the train.
• a track characterization element to provide information about a track is also provided.
• the system also has a processor operable to receive information from the locator element, and the track characterizing element.
• An algorithm is also provided which is embodied within the processor having access to the information to create a trip plan that optimizes performance of the locomotive consist in accordance with one or more operational criteria for the train.
• An exemplary embodiment of the present invention also discloses a method for operating a train having one or more locomotive consists with each locomotive consist comprising one or more locomotives.
• the method comprises determining a location of the train on a track.
• the method also determines a characteristic of the track .
• the method further creates a trip plan based on the location of the train, the characteristic of the track, and the operating condition of the locomotive consist in accordance with at least one operational criteria for the train.
• An exemplary embodiment of the present invention also discloses a computer software code for operating a train having a computer processor and one or more locomotive consists with each locomotive consist comprising one or more locomotives.
• the computer software code comprises a software module for creating a trip plan based on the location of the train, the characteristic of the track, and the operating condition of the locomotive consist in accordance with at least one operational criteria for the train.
• An exemplary embodiment of the present invention further discloses a method for operating a train having one or more locomotive consists with each locomotive consist comprising one or more locomotives where a trip plan has been devised for the train.
• the method comprises determining a power setting for the locomotive consist based on the trip plan.
• the method also operates the locomotive consist at the power setting. Actual speed of the train, actual power setting of the locomotive consist, and/or a location of the train is collected. Actual speed of the train, actual power setting of the locomotive consist, and/or a location of the train is compared to the power setting.
• Another exemplary embodiment of the present invention further discloses a method for operating a train having one or more locomotive consists with each locomotive consist comprising one or more locomotives where a trip plan has been devised for the train based on assumed operating parameters for the train and/or the locomotive consist.
• the method comprises estimating train operating parameters and/or locomotive operating parameters.
• the method further comprises comparing the estimated train operating parameters and/or the locomotive consist operating parameters to the assumed train operating parameters and/or the locomotive consist operating parameters.
• Another exemplary embodiment of the present invention further discloses a method for operating a train having one or more locomotive consists with each locomotive consist comprising one or more locomotives where a trip plan has been devised for the train based on a desired parameter.
• the method comprises determining operational parameters of the train and/or the locomotive consist, determining a desired parameter based on determined operational parameters, and comparing the determined parameter to the operational parameters. If a difference exists from comparing the determined parameter to the operational parameters, the method further comprises adjusting the trip plan.
• An exemplary embodiment of the present invention further discloses a method for operating a rail system having one or more locomotive consists with each locomotive consist comprising one or more locomotives.
• the method comprises determining a location of the train on a track and determining a characteristic of the track.
• the method further comprises generating a driving plan for at least one of the locomotives based on the locations of the rail system, the characteristic of the track, and/or the operating condition of the locomotive consist, in order to minimize fuel consumption by the rail system.
• Another exemplary embodiment of the present invention further discloses a method for operating a rail system having one or more locomotive consists with each locomotive consist comprising one or more locomotives. Towards this end the method comprises determining a location of the train on a track, and determining a characteristic of the track.
• the method further comprises providing propulsion control for the locomotive consist in order to minimize fuel consumption by the rail system.
• FIG. 1 depicts an exemplary illustration of a flow chart of an exemplary embodiment of the present invention
• FIG. 2 depicts a simplified model of the train that may be employed
• FIG. 3 depicts an exemplary embodiment of elements of an exemplary embodiment of the present invention
• FIG. 4 depicts an exemplary embodiment of a fuel-use/travel time curve
• FIG. 5 depicts an exemplary embodiment of segmentation decomposition for trip planning
• FIG. 6 depicts an exemplary embodiment of a segmentation example
• FIG. 7 depicts an exemplary flow chart of an exemplary embodiment of the present invention.
• FIG. 8 depicts an exemplary illustration of a dynamic display for use by the operator
• FIG. 9 depicts another exemplary illustration of a dynamic display for use by the operator.
• FIG. 10 depicts another exemplary illustration of a dynamic display for use by the operator.
• Exemplary embodiments of the present invention solve the problems in the art by providing a system, method, and computer implemented method for determining and implementing a driving strategy of a train having a locomotive consist determining an approach to monitor and control a train's operations to improve certain objective operating criteria parameter requirements while satisfying schedule and speed constraints.
• present invention or “invention” is used.
• exemplary embodiment(s) does not immediately proceed the above cited term, the intent of "present invention” or “invention” is read to mean “exemplary embodiment(s) of the present invention.”
• the present invention is also operable when the locomotive consist is in distributed power operations.
• an apparatus such as a data processing system, including a CPU, memory, I/O, program storage, a connecting bus, and other appropriate components, could be programmed or otherwise designed to facilitate the practice of the method of the invention.
• a system would include appropriate program means for executing the method of the invention.
• an article of manufacture such as a pre-recorded disk or other similar computer program product, for use with a data processing system, could include a storage medium and program means recorded thereon for directing the data processing system to facilitate the practice of the method of the invention.
• Such apparatus and articles of manufacture also fall within the spirit and scope of the invention.
• the technical effect is determining and implementing a driving strategy of a train having a locomotive consist determining an approach to monitor and control a train's operations to improve certain objective operating criteria parameter requirements while satisfying schedule and speed constraints. To facilitate an understanding of the present invention, it is described hereinafter with reference to specific implementations thereof.
• the invention is described in the general context of computer-executable instructions, such as program modules, being executed by a computer.
• program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types.
• the software programs that underlie the invention can be coded in different languages, for use with different platforms.
• examples of the invention are described in the context of a web portal that employs a web browser. It will be appreciated, however, that the principles that underlie the invention can be implemented with other types of computer software technologies as well.
• the invention may be practiced with other computer system configurations, including hand-held devices, multiprocessor systems, microprocessor-based or programmable consumer electronics, minicomputers, mainframe computers, and the like.
• the invention may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network.
• program modules may be located in both local and remote computer storage media including memory storage devices.
• These local and remote computing environments may be contained entirely within the locomotive, or adjacent locomotives in consist, or off-board in wayside or central offices where wireless communication is used.
• a locomotive consist may be described as having one or more locomotives in succession, connected together so as to provide motoring and/or braking capability.
• the locomotives are connected together where no train cars are in between the locomotives.
• the train can have more than one consist in its composition.
• Each locomotive consist may have a first locomotive and trail locomotive(s).
• consist is usually viewed as successive locomotives, those skilled in the art will readily recognize that a consist group of locomotives may also be recognized as a consist even when at least a car separates the locomotives, such as when the consist is configured for distributed power operation, wherein throttle and braking commands are relayed from the lead locomotive to the remote trails by a radio link or physical cable.
• the term locomotive consist should be not be considered a limiting factor when discussing multiple locomotives within the same train.
• the invention can be implemented in numerous ways, including as a system (including a computer processing system), a method (including a computerized method), an apparatus, a computer readable medium, a computer program product, a graphical user interface, including a web portal, or a data structure tangibly fixed in a computer readable memory.
• a system including a computer processing system
• a method including a computerized method
• an apparatus including a computer readable medium, a computer program product, a graphical user interface, including a web portal, or a data structure tangibly fixed in a computer readable memory.
• FIG. 1 depicts an exemplary illustration of a flow chart of the present invention.
• instructions are input specific to planning a trip either on board or from a remote location, such as a dispatch center 10.
• Such input information includes, but is not limited to, train position, consist description (such as locomotive models), locomotive power description, performance of locomotive traction transmission, consumption of engine fuel as a function of output power, cooling characteristics, the intended trip route (effective track grade and curvature as function of milepost or an "effective grade" component to reflect curvature following standard railroad practices), die train represented by car makeup and loading together with effective drag coefficients, trip desired parameters including, but not limited to, start time and location, end location, desired travel time, crew (user and/or operator) identification, crew shift expiration time, and route.
• train position consist description (such as locomotive models), locomotive power description, performance of locomotive traction transmission, consumption of engine fuel as a function of output power, cooling characteristics, the intended trip route (effective track grade and curvature as function of milepost or an "effective grade" component to reflect curvature
• This data may be provided to the locomotive 42 in a number of ways, such as, but not limited to, an operator manually entering this data into the locomotive 42 via an onboard display, inserting a memory device such as a hard card and/or USB drive containing the data into a receptacle aboard the locomotive, and transmitting the information via wireless communication from a central or wayside location 41, such as a track signaling device and/or a wayside device, to the locomotive 42.
• a central or wayside location 41 such as a track signaling device and/or a wayside device
• Locomotive 42 and train 31 load characteristics may also change over the route (e.g., with altitude, ambient temperature and condition of the rails and rail- cars), and the plan may be updated to reflect such changes as needed by any of the methods discussed above and/or by real-time autonomous collection of locomotive/train conditions. This includes for example, changes in locomotive or train characteristics detected by monitoring equipment on or off board the locomotive(s) 42.
• the track signal system determines the allowable speed of the train.
• the signal status is communicated to the train and/or operator through various means. Some systems have circuits in the track and inductive pick-up coils on the locomotives. Other systems have wireless communications systems. Signal systems can also require the operator to visually inspect the signal and take the appropriate actions.
• the signaling system may interface with the on-board signal system and adjust the locomotive speed according to the inputs and the appropriate operating rules. For signal systems that require the operator to visually inspect the signal status, the operator screen will present the appropriate signal options for the operator to enter based on the train's location.
• the type of signal systems and operating rules, as a function of location, may be stored in an onboard database 63.
• an optimal plan which minimizes fuel use and/or emissions produced subject to speed limit constraints along the route with desired start and end times is computed to produce a trip profile 12.
• the profile contains the optimal speed and power (notch) settings the train is to follow, expressed as a function of distance and/or time, and such train operating limits, including but not limited to, the maximum notch power and brake settings, and speed limits as a function of location, and the expected fuel used and emissions generated.
• the value for the notch setting is selected to obtain throttle change decisions about once every 10 to 30 seconds. Those skilled in the art will readily recognize that the throttle change decisions may occur at a longer or shorter duration, if needed and/or desired to follow an optimal speed profile.
• the profiles provides power settings for the train, either at the train level, consist level and/or individual train level.
• Power comprises braking power, motoring power, and airbrake power.
• the present invention is able to select a continuous power setting determined as optimal for the profile selected.
• a notch setting of 6.8 instead of operating at notch setting 7, the locomotive 42 can operate at 6.8. Allowing such intermediate power settings may bring additional efficiency benefits as described below.
• the procedure used to compute the optimal profile can be any number of methods for computing a power sequence that drives the train 31 to minimize fuel and/or emissions subject to locomotive operating and schedule constraints, as summarized below.
• the required optimal profile may be close enough to one previously determined, owing to the similarity of the train configuration, route and environmental conditions. In these cases it may be sufficient to look up the driving trajectory within a database 63 and attempt to follow it.
• methods to compute a new one include, but are not limited to, direct calculation of the optimal profile using differential equation models which approximate the train physics of motion.
• the setup involves selection of a quantitative objective function, commonly a weighted sum (integral) of model variables that correspond to rate of fuel consumption and emissions generation plus a term to penalize excessive throttle variation.
• An optimal control formulation is set up to minimize the quantitative objective function subject to constraints including but not limited to, speed limits and minimum and maximum power (throttle) settings.
• the problem may be setup flexibly to minimize fuel subject to constraints on emissions and speed limits, or to minimize emissions, subject to constraints on fuel use and arrival time. It is also possible to setup, for example, a goal to minimize the total travel time without constraints on total emissions or fuel use where such relaxation of constraints would be permitted or required for the mission.
• x is the position of the train
• v its velocity and t is time (in miles, miles per hour and minutes or hours as appropriate) and u is the notch (throttle) command input.
• D denotes the distance to be traveled
• Tf the desired arrival time at distance D along the track
• T e is the tractive effort produced by the locomotive consist
• G a is the gravitational drag which depends on the train length, train makeup and terrain on which the train is located
• R is the net speed dependent drag of the locomotive consist and train combination.
• the initial and final speeds can also be specified, but without loss of generality are taken to be zero here (train stopped at beginning and end).
• the model is readily modified to include other important dynamics such the lag between a change in throttle, u, and the resulting tractive effort or braking.
• an optimal control formulation is set up to minimize the quantitative objective function subject to constraints including but not limited to, speed limits and minimum and maximum power (throttle) settings.
• the problem may be setup flexibly to minimize fuel subject to constraints on emissions and speed limits, or to minimize emissions, subject to constraints on fuel use and arrival time.
• Equation (OP) is the optimizing variable which is the continuous notch position. If discrete notch is required, e.g. for older locomotives, the solution to equation (OP) would be discretized, which may result in less fuel saving.
• and ⁇ 2 set to zero) is used to find a lower bound on, the preferred embodiment is to solve the equation (OP) for various values of T f with ⁇ 3 set to zero. For those familiar with solutions to such optimal problems, it may be necessary to adjoin constraints, e.g. the speed limits along the path :
• references to emissions in the context of the present invention is actually directed towards cumulative emissions produced in the form of oxides of nitrogen (NOx), unburned hydrocarbons, and particulates.
• NOx oxides of nitrogen
• every locomotive must be compliant to EPA standards for brake-specific emissions, and thus when emissions are optimized in the present invention this would be mission total emissions on which there is no specification today. At all times, operations would be compliant with federal EPA mandates.
• OP the optimal control formulation
• a key flexibility in die optimization setup is that any or all of the trip objectives can vary by geographic region or mission. For example, for a high priority train, minimum time may be the only objective on one route because it is high priority traffic. In another example emission output could vary from state to state along the planned train route.
• the present invention transcribes a dynamic optimal control problem in the time domain to an equivalent static mathematical programming problem with N decision variables, where the number 'N' depends on the frequency at which throttle and braking adjustments are made and the duration of the trip.
• this N can be in the thousands.
• an exemplary 7.6% saving in fuel used may be realized when comparing a trip determined and followed using the present invention versus an actual driver throttle/speed history where the trip was determined by an operator.
• the improved savings is realized because the optimization realized by using the present invention produces a driving strategy with both less drag loss and little or no braking loss compared to the trip plan of the operator.
• a simplified model of the train may be employed, such as illustrated in FIG. 2 and the equations discussed above.
• a key refinement to the optimal profile is produced by driving a more detailed model with the optimal power sequence generated, to test if other thermal, electrical and mechanical constraints are violated, leading to a modified profile with speed versus distance that is closest to a run that can be achieved without harming locomotive or train equipment, i.e. satisfying additional implied constraints such thermal and electrical limits on the locomotive and inter-car forces in the train.
• power commands are generated 14 to put the plan in motion.
• one command is for the locomotive to follow the optimized power command 16 so as to achieve the optimal speed.
• the present invention obtains actual speed and power information from the locomotive consist of the train 18. Owing to the inevitable approximations in the models used for the optimization, a closed-loop calculation of corrections to optimized power is obtained to track the desired optimal speed. Such corrections of train operating limits can be made automatically or by the operator, who always has ultimate control of the train.
• the model used in the optimization may differ significantly from the actual train. This can occur for many reasons, including but not limited to, extra cargo pickups or setouts, locomotives that fail in route, and errors in the initial database 63 or data entry by the operator. For these reasons a monitoring system is in place that uses real-time train data to estimate locomotive and/or train parameters in real time 20. The estimated parameters are then compared to the assumed parameters used when the trip was initially created 22. Based on any differences in the assumed and estimated values, the trip may be re-planned 24, should large enough savings accrue from a new plan.
• a trip may be re-planned include directives from a remote location, such as dispatch and/or the operator requesting a change in objectives to be consistent with more global movement planning objectives.
• More global movement planning objectives may include, but are not limited to, other train schedules, allowing exhaust to dissipate from a tunnel, maintenance operations, etc.
• Another reason may be due to an onboard failure of a component.
• Strategies for re-planning may be grouped into incremental and major adjustments depending on the severity of the disruption, as discussed in more detail below.
• a "new" plan must be derived from a solution to the optimization problem equation (OP) described above, but frequently faster approximate solutions can be found, as described herein.
• OP optimization problem equation
• the locomotive 42 will continuously monitor system efficiency and continuously update the trip plan based on the actual efficiency measured, whenever such an update would improve trip performance.
• Re-planning computations may be carried out entirely within the locomotive(s) or fully or partially moved to a remote location, such as dispatch or wayside processing facilities where wireless technology is used to communicate the plans to the locomotive 42.
• the present invention may also generate efficiency trends that can be used to develop locomotive fleet data regarding efficiency transfer functions.
• the fleet-wide data may be used when determining the initial trip plan, and may be used for network-wide optimization tradeoff when considering locations of a plurality of trains. For example, the travel- time fuel use tradeoff curve as illustrated in FIG.
• the plan is adjusted 26. This adjustment may be made automatically following a railroad company's desire for how such departures from plan should be handled or manually propose alternatives for the on-board operator and dispatcher to jointly decide the best way to get back on plan.
• additional changes may be factored in concurrently, e.g. new future speed limit changes, which could affect the feasibility of ever recovering the original plan.
• the original trip plan cannot be maintained, or in other words the train is unable to meet the original trip plan objectives, as discussed herein other trip plan(s) may be presented to the operator and/or remote facility, or dispatch.
• a re-plan may also be made when it is desired to change the original objectives. Such re-planning can be done at either fixed preplanned times, manually at the discretion of the operator or dispatcher, or autonomously when predefined limits, such a train operating limits, are exceeded. For example, if the current plan execution is running late by more than a specified threshold, such as thirty minutes, the present invention can re-plan the trip to accommodate the delay at expense of increased fuel as described above or to alert the operator and dispatcher how much of the time can be made up at all (i.e. what minimum time to go or the maximum fuel that can be saved within a time constraint).
• triggers for re-plan can also be envisioned based on fuel consumed or the health of the power consist, including but not limited time of arrival, loss of horsepower due to equipment failure and/or equipment temporary malfunction (such as operating too hot or too cold), and/or detection of gross setup errors, such in the assumed train load. That is, if the change reflects impairment in the locomotive performance for the current trip, these may be factored into the models and/or equations used in the optimization.
• Changes in plan objectives can also arise from a need to coordinate events where the plan for one train compromises the ability of another train to meet objectives and arbitration at a different level, e.g. the dispatch office is required.
• the coordination of meets and passes may be further optimized through train-to-train communications.
• train-to-train communications For example, if a train knows that it is behind in reaching a location for a meet and/or pass, communications from the other train can notify the late train (and/or dispatch). The operator can then enter information pertaining to being late into the present invention wherein the present invention will recalculate the train's trip plan.
• the present invention can also be used at a high level, or network- level, to allow a dispatch to determine which train should slow down or speed up should a scheduled meet and/or pass time constraint may not be met. As discussed herein, this is accomplished by trains transmitting data to the dispatch to prioritize how each train should change its planning objective. A choice could depend either from schedule or fuel saving benefits, depending on the situation.
• the present invention may present more than one trip plan to the operator.
• the present invention will present different profiles to the operator, allowing the operator to select the arrival time and understand the corresponding fuel and/or emission impact.
• Such information can also be provided to the dispatch for similar consideration, either as a simple list of alternatives or as a plurality of tradeoff curves such as illustrated in FIG. 4.
• the present invention has the ability of learning and adapting to key changes in the train and power consist which can be incorporated either in the current plan and/or for future plans.
• one of the triggers discussed above is loss of horsepower.
• transition logic is utilized to determine when desired horsepower is achieved. This information can be saved in the locomotive database 61 for use in optimizing either future trips or the current trip should loss of horsepower occur again.
• FIG. 3 depicts an exemplary embodiment of elements of the present invention.
• a locator element 30 to determine a location of the train 31 is provided.
• the locator element 30 can be a GPS sensor, or a system of sensors, that determine a location of the train 31. Examples of such other systems may include, but are not limited to, wayside devices, such as radio frequency automatic equipment identification (RF AEI) Tags, dispatch, and/or video determination.
• Another system may include the tachometer(s) aboard a locomotive and distance calculations from a reference point.
• a wireless communication system 47 may also be provided to allow for communications between trains and/or with a remote location, such as dispatch. Information about travel locations may also be transferred from other trains.
• the track characterization element 33 may include an on-board track integrity database 36.
• Sensors 38 are used to measure a tractive effort 40 being hauled by the locomotive consist 42, tfirottle setting of the locomotive consist 42, locomotive consist 42 configuration information, speed of the locomotive consist 42, individual locomotive configuration, individual locomotive capability, etc.
• the locomotive consist 42 configuration information may be loaded without the use of a sensor 38, but is input by other approaches as discussed above.
• the health of the locomotives in the consist may also be considered. For example, if one locomotive in the consist is unable to operate above power notch level 5, this information is used when optimizing the trip plan.
• Information from the locator element may also be used to determine an appropriate arrival time of the train 31. For example, if there is a train 31 moving along a track 34 towards a destination and no train is following behind it, and the train has no fixed arrival deadline to adhere to, the locator element, including but not limited to radio frequency automatic equipment identification (RF AEI) Tags, dispatch, and/or video determination, may be used to gage the exact location of the train 31. Furthermore, inputs from these signaling systems may be used to adjust the train speed. Using the on-board track database, discussed below, and the locator element, such as GPS, the present invention can adjust the operator interface to reflect the signaling system state at the given locomotive location. In a situation where signal states would indicate restrictive speeds ahead, the planner may elect to slow the train to conserve fuel consumption.
• RF AEI radio frequency automatic equipment identification
• Information from the locator element 30 may also be used to change planning objectives as a function of distance to destination. For example, owing to inevitable uncertainties about congestion along the route, "faster" time objectives on the early part of a route may be employed as hedge against delays that statistically occur later. If it happens on a particular trip that delays do not occur, the objectives on a latter part of the journey can be modified to exploit the built-in slack time that was banked earlier, and thereby recover some fuel efficiency. A similar strategy could be invoked with respect to emissions restrictive objectives, e.g. approaching an urban area.
• the system may have an option to operate the train slower at either the beginning of the trip or at the middle of the trip or at the end of the trip.
• the present invention would optimize the trip plan to allow for slower operation at the end of the trip since unknown constraints, such as but not limited to weather conditions,' track maintenance, etc., may develop and become known during the trip.
• unknown constraints such as but not limited to weather conditions,' track maintenance, etc.
• the plan is developed with an option to have more flexibility around these traditionally congested regions. Therefore, the present invention may also consider weighting/penalty as a function of time/distance into the future and/or based on known/past experience.
• Those skilled in the art will readily recognize that such planning and re-planning to take into consideration weather conditions, track conditions, other trains on the track, etc., may be taking into consideration at any time during the trip wherein the trip plan is adjust accordingly.
• FIG. 3 further discloses other elements that may be part of the present invention.
• a processor 44 is provided that is operable to receive information from the locator element 30, track characterizing element 33, and sensors 38.
• An algorithm 46 operates within the processor 44. The algorithm 46 is used to compute an optimized trip plan based on parameters involving the locomotive 42, train 31, track 34, and objectives of the mission as described above. In an exemplary embodiment, the trip plan is established based on models for train behavior as the train 31 moves along the track 34 as a solution of non-linear differential equations derived from physics with simplifying assumptions that are provided in the algorithm.
• the algorithm 46 has access to the information from the locator element 30, track characterizing element 33 and/or sensors 38 to create a trip plan minimizing fuel consumption of a locomotive consist 42, minimizing emissions of a locomotive consist 42, establishing a desired trip time, and/or ensuring proper crew operating time aboard the locomotive consist 42.
• a driver, or controller element, 51 is also provided.
• the controller element 51 is used for controlling the train as it follows the trip plan.
• the controller element 51 makes train operating decisions autonomously.
• the operator may be involved with directing the train to follow the trip plan.
• a requirement of the present invention is the ability to initially create and quickly modify on the fly any plan that is being executed. This includes creating the initial plan when a long distance is involved, owing to the complexity of the plan optimization algorithm.
• an algorithm 46 may be used to segment the mission wherein the mission may be divided by waypoints. Though only a single algorithm 46 is discussed, those skilled in the art will readily recognize that more than one algorithm may be used where the algorithms may be connected together.
• the waypoint may include natural locations where the train 31 stops, such as, but not limited to, sidings where a meet with opposing traffic, or pass with a train behind the current train is scheduled to occur on single-track rail, or at yard sidings or industry where cars are to be picked up and set out, and locations of planned work.
• the train 31 may be required to be at the location at a scheduled time and be stopped or moving with speed in a specified range.
• dwell time The time duration from arrival to departure at waypoints is called dwell time.
• the present invention is able to break down a longer trip into smaller segments in a special systematic way.
• Each segment can be somewhat arbitrary in length, but is typically picked at a natural location such as a stop or significant speed restriction, or at key mileposts that define junctions with other routes.
• a driving profile is created for each segment of track as a function of travel time taken as an independent variable, such as shown in Figure 4.
• the fuel used/travel-time tradeoff associated with each segment can be computed prior to the train 31 reaching that segment of track.
• a total trip plan can be created from the driving profiles created for each segment.
• the invention distributes travel time amongst all the segments of the trip in an optimal way so mat the total trip time required is satisfied and total fuel consumed over all the segments is as small as possible.
• An exemplary 3 segment trip is disclosed in FIG. 6 and discussed below. Those skilled in the art will recognize however, through segments are discussed, the trip plan may comprise a single segment representing the complete trip.
• FIG. 4 depicts an exemplary embodiment of a fuel-use/travel time curve.
• a curve 50 is created when calculating an optimal trip profile for various travel times for each segment. That is, for a given travel time 49, fuel used 53 is the result of a detailed driving profile computed as described above.
• a power/speed plan is determined for each segment from the previously computed solutions. If there are any waypoint constraints on speed between the segments, such as, but not limited to, a change in a speed limit, they are matched up during creation of the optimal trip profile. If speed restrictions change in only a single segment, the fuel use/travel-time curve 50 has to be re-computed for only the segment changed.
• a trajectory of speed and power versus distance is used to reach a destination with minimum fuel and/or emissions at the required trip time.
• a coaching mode the present invention displays information to the operator for the operator to follow to achieve the required power and speed determined according to the optimal trip plan.
• the operating information is suggested operating conditions that the operator should use.
• acceleration and maintaining a constant speed are performed by the present invention.
• the operator is responsible for applying a braking system 52.
• the present invention commands power and braking as required to follow the desired speed-distance path.
• Feedback control strategies are used to provide corrections to the power control sequence in the profile to correct for such events as, but not limited to, train load variations caused by fluctuating head winds and/or tail winds.
• Another such error may be caused by an error in train parameters, such as, but not limited to, train mass and/or drag, when compared to assumptions in the optimized trip plan.
• a third type of error may occur with information contained in the track database 36.
• Another possible error may involve un-modeled performance differences due to the locomotive engine, traction motor thermal deration and/or other factors.
• Feedback control strategies compare the actual speed as a function of position to the speed in the desired optimal profile. Based on this difference, a correction to the optimal power profile is added to drive the actual velocity toward the optimal profile.
• a compensation algorithm may be provided which filters the feedback speeds into power corrections to assure closed-performance stability is assured.
• Compensation may include standard dynamic compensation as used by those skilled in the art of control system design to meet performance objectives.
• the present invention allows the simplest and therefore fastest means to accommodate changes in trip objectives, which is the rule, rather than the exception in railroad operations.
• a sub-optimal decomposition method is usable for finding an optimal trip profile. Using modeling methods the computation method can find the trip plan with specified travel time and initial and final speeds, so as to satisfy all the speed limits and locomotive capability constraints when there are stops.
• the method may be used at the outset in developing a trip plan, and more importantly to adapting to changes in objectives after initiating a trip.
• the present invention may employ a setup as illustrated in the exemplary flow chart depicted in FIG. 5, and as an exemplary 3 segment example depicted in detail in FIGS. 6.
• the trip may be broken into two or more segments, Tl, T2, and T3.
• the segment boundaries may not result in equal segments. Instead the segments use natural or mission specific boundaries.
• Optimal trip plans are pre-computed for each segment. If fuel use versus trip time is the trip object to be met, fuel versus trip time curves are built for each segment. As discussed herein, the curves may be based on other factors, wherein the factors are objectives to be met with a trip plan.
• trip time for each segment is computed while satisfying the overall trip time constraints.
• FIG. 6 illustrates speed limits for an exemplary 3 segment 200 mile trip 97. Further illustrated are grade changes over the 200 mile trip 98. A combined chart 99 illustrating curves for each segment of the trip of fuel used over the travel time is also shown.
• the present computation method can find the trip plan with specified travel time and initial and final speeds, so as to satisfy all the speed limits and locomotive capability constraints when there are stops.
• the following detailed discussion is directed towards optimizing fuel use, it can also be applied to optimize other factors as discussed herein, such as, but not limited to, emissions.
• a key flexibility is to accommodate desired dwell time at stops and to consider constraints on earliest arrival and departure at a location as may be required, for example, in single-track operations where the time to be in or get by a siding is critical.
• the present invention finds a fuel-optimal trip from distance Do to D M , traveled in time T, with M-I intermediate stops at DI , .. .,D M - I , and with the arrival and departure times at these stops constrained by
• At 0 is defined to be zero.
• F 1 (t,x, v) is the fuel-used of the optimal trip from x to D 1 , traveled in time t, with initial speed at x of v.
• an exemplary way to enable more efficient re-planning is to construct the optimal solution for a stop-to-stop trip from partitioned segments.
• N 1 the fuel-use for the optimal trip from D 1 .) to D, as N 1
• f (t, V 17 _, , v y ) is the fuel-use for the optimal trip from D, j .i to D y , traveled in time t, with initial and final speeds of v, 0- ⁇ and v ⁇ .
• t ⁇ is the time in the optimal trip corresponding to distance D n .
• v max (/, j) - v mui (t, j) can be minimized, thus minimizing the domain over which f ⁇ () needs to be known.
• a simpler suboptimal re-planning approach than that described above is to restrict re-planning to times when the train is at distance points D 1J ,1 ⁇ i ⁇ M , ⁇ ⁇ j ⁇ N 1 .
• the new optimal trip from D u to DM can be determined by finding ⁇ ⁇ k ,j ⁇ k ⁇ N,, v lk ,j ⁇ k ⁇ N, and
• T 1n is increased as needed to accommodate any longer actual travel time from D 1- I to D y than planned. This increase is later compensated, if possible, by the re-computation of T 1n , i ⁇ m ⁇ M , at distance point D 1 .
• the total input energy required to move a train 31 from point A to point B consists of the sum of four components, specifically difference in kinetic energy between points A and B; difference in potential energy between points A and B; energy loss due to friction and other drag losses; and energy dissipated by the application of brakes.
• the first component is zero.
• the second component is independent of driving strategy. Thus, it suffices to minimize the sum of the last two components.
• the new optimal notch /speed plan can be followed using the closed loop control described herein.
• the present invention accomplishes this with an algorithm referred to as "smart cruise control”.
• the smart cruise control algorithm is an efficient way to generate, on the fly, an energy-efficient (hence fuel-efficient) sub-optimal prescription for driving the train 31 over a known terrain.
• This algorithm assumes knowledge of the position of the train 31 along the track 34 at all times, as well as knowledge of the grade and curvature of the track versus position.
• the method relies on a point-mass model for the motion of the train 31, whose parameters may be adaptively estimated from online measurements of train motion as described earlier.
• the smart cruise control algorithm has three principal components, specifically a modified speed limit profile that serves as an energy-efficient guide around speed limit reductions; an ideal throttle or dynamic brake setting profile that attempts to balance between minimizing speed variation and braking; and a mechanism for combining the latter two components to produce a notch command, employing a speed feedback loop to compensate for mismatches of modeled parameters when compared to reality parameters.
• Smart cruise control can accommodate strategies in the present invention that do no active braking (i.e. the driver is signaled and assumed to provide the requisite braking) or a variant that does active braking.
• the three exemplary components are a modified speed limit profile that serves as an energy-efficient guide around speed limit reductions, a notification signal directed to notify the operator when braking should be applied, an ideal throttle profile that attempts to balance between minimizing speed variations and notifying the operator to apply braking, a mechanism employing a feedback loop to compensate for mismatches of model parameters to reality parameters.
• Also included in the present invention is an approach to identify key parameter values of the train 31.
• a Kalman filter and a recursive least-squares approach may be utilized to detect errors that may develop over time.
• FIG. 7 depicts an exemplary flow chart of the present invention.
• a remote facility such as a dispatch 60 can provide information to the present invention.
• information is provided to an executive control element 62.
• locomotive modeling information database 63 information from a track database 36 such as, but not limited to, track grade information and speed limit information, estimated train parameters such as, but not limited to, train weight and drag coefficients, and fuel rate tables from a fuel rate estimator 64.
• the executive control element 62 supplies information to the planner 12, which is disclosed in more detail in FIG. 1. Once a trip plan has been calculated, the plan is supplied to a driving advisor, driver or controller element 51. The trip plan is also supplied to the executive control element 62 so that it can compare the trip when other new data is provided.
• the driving advisor 51 can automatically set a notch power, either a pre-established notch setting or an optimum continuous notch power.
• a display 68 is provided so that the operator can view what the planner has recommended.
• the operator also has access to a control panel 69. Through the control panel 69 the operator can decide whether to apply the notch power recommended. Towards this end, the operator may limit a targeted or recommended power. That is, at any time the operator always has final authority over what power setting the locomotive consist will operate at. This includes deciding whether to apply braking if the trip plan recommends slowing the train 31.
• the operator inputs commands based on information contained in track database and visual signals from the wayside equipment.
• information regarding fuel measurement is supplied to the fuel rate estimator 64. Since direct measurement of fuel flows is not typically available in a locomotive consist, all information on fuel consumed so far within a trip and projections into the future following optimal plans is carried out using calibrated physics models such as those used in developing the optimal plans. For example, such predictions may include but are not limited to, the use of measured gross horse-power and known fuel characteristics to derive the cumulative fuel used.
• the train 31 also has a locator device 30 such as a GPS sensor, as discussed above.
• Information is supplied to the train parameters estimator 65.
• Such information may include, but is not limited to, GPS sensor data, tractive/braking effort data, braking status data, speed and any changes in speed data.
• train weight and drag coefficients information is supplied to the executive control element 62.
• the present invention may also allow for the use of continuously variable power throughout the optimization planning and closed loop control implementation.
• power is typically quantized to eight discrete levels.
• Modern locomotives can realize continuous variation in horsepower which may be incorporated into the previously described optimization methods.
• the locomotive 42 can further optimize operating conditions, e.g., by minimizing auxiliary loads and power transmission losses , and fine tuning engine horsepower regions of optimum efficiency, or to points of increased emissions margins.
• Example include, but are not limited to, minimizing cooling system losses, adjusting alternator voltages, adjusting engine speeds, and reducing number of powered axles.
• the locomotive 42 may use the on-board track database 36 and the forecasted performance requirements to minimize auxiliary loads and power transmission losses to provide optimum efficiency for the target fuel consumption/emissions. Examples include, but are not limited to, reducing a number of powered axles on flat terrain and pre-cooling the locomotive engine prior to entering a tunnel.
• the present invention may also use the on-board track database 36 and the forecasted performance to adjust the locomotive performance, such as to insure that the train has sufficient speed as it approaches a hill and/or tunnel. For example, this could be expressed as a speed constraint at a particular location that becomes part of the optimal plan generation created solving the equation (OP). Additionally, the present invention may incorporate train-handling rules, such as, but not limited to, tractive effort ramp rates, maximum braking effort ramp rates. These may incorporated directly into the formulation for optimum trip profile or alternatively incorporated into, the closed loop regulator used to control power application to achieve the target speed.
• the present invention is only installed on a lead locomotive of the train consist. Even though the present invention is not dependant on data or interactions with other locomotives, it may be integrated with a consist manager, as disclosed in U.S. Patent No. 6,691,957 and Patent Application No. 10/429,596 ( owned by the Assignee and both incorporated by reference), functionality and/or a consist optimizer functionality to improve efficiency. Interaction with multiple trains is not precluded as illustrated by the example of dispatch arbitrating two "independently optimized" trains described herein.
• Trains with distributed power systems can be operated in different modes.
• One mode is where all locomotives in the train operate at the same notch command. So if the lead locomotive is commanding motoring - N8, all units in the train will be commanded to generate motoring - N8 power.
• Another mode of operation is "independent" control.
• locomotives or sets of locomotives distributed throughout the train can be operated at different motoring or braking powers. For example, as a train crests a mountaintop, the lead locomotives (on the down slope of mountain) may be placed in braking, while the locomotives in the middle or at the end of the train (on the up slope of mountain) may be in motoring. This is done to minimize tensile forces on the mechanical couplers that connect the railcars and locomotives.
• operating the distributed power system in "independent” mode required the operator to manually command each remote locomotive or set of locomotives via a display in the lead locomotive.
• the system shall automatically operate the distributed power system in "independent” mode.
• the operator in a lead locomotive can control operating functions of remote locomotives in the remote consists via a control system, such as a distributed power control element.
• a control system such as a distributed power control element.
• the operator can command each locomotive consist to operate at a different notch power level (or one consist could be in motoring and other could be in braking) wherein each individual locomotive in the locomotive consist operates at the same notch power.
• the present invention installed on the train, preferably in communication with the distributed power control element, when a notch power level for a remote locomotive consist is desired as recommended by the optimized trip plan, the present invention will communicate this power setting to the remote locomotive consists for implementation. As discussed below, the same is true regarding braking.
• the present invention may be used with consists in which the locomotives are not contiguous, e.g., with 1 or more locomotives up front, others in the middle and at the rear for train. Such configurations are called distributed power wherein the standard connection between the locomotives is replaced by radio link or auxiliary cable to link the locomotives externally.
• distributed power the operator in a lead locomotive can control operating functions of remote locomotives in the consist via a control system, such as a distributed power control element.
• a control system such as a distributed power control element.
• the operator can command each locomotive consist to operate at a different notch power level (or one consist could be in motoring and other could be in braking) wherein each individual in the locomotive consist operates at the same notch power.
• the present invention when a notch power level for a remote locomotive consist is desired as recommended by the optimized trip plan, the present invention will communicate this power setting to the remote locomotive consists for implementation.
• the optimization problem previously described can be enhanced to allow additional degrees of freedom, in that each of the remote units can be independently controlled from the lead unit. The value of this is that additional objectives or constraints relating to in-train forces may be incorporated into the performance function, assuming the model to reflect the in- train forces is also included.
• the present invention may include the use of multiple throttle controls to better manage in-train forces as well as fuel consumption and emissions.
• the lead locomotive in a locomotive consist may operate at a different notch power setting than other locomotives in that consist.
• the other locomotives in the consist operate at the same notch power setting.
• the present invention may be utilized in conjunction with the consist manager to command notch power settings for the locomotives in the consist.
• the consist manager since the consist manager divides a locomotive consist into two groups, lead locomotive and trail units, the lead locomotive will be commanded to operate at a certain notch power and the trail locomotives are commanded to operate at another certain notch power.
• the distributed power control element may be the system and/or apparatus where this operation is housed.
• the present invention can be used in conjunction with the consist optimizer to determine notch power for each locomotive in the locomotive consist. For example, suppose that a trip plan recommends a notch power setting of 4 for the locomotive consist. Based on the location of the train, the consist optimizer will take this information and then determine the notch power setting for each locomotive in the consist In this implementation, the efficiency of setting notch power settings over intra-train communication channels is improved. Furthermore, as discussed above, implementation of this configuration may be performed utilizing the distributed control system.
• the present invention may be used for continuous corrections and re-planning with respect to when the train consist uses braking based on upcoming items of interest, such as but not limited to railroad crossings, grade changes, approaching sidings, approaching depot yards, and approaching fuel stations where each locomotive in the consist may require a different braking option. For example, if the train is coming over a hill, the lead locomotive may have to enter a braking condition whereas the remote locomotives, having not reached the peak of the hill may have to remain in a motoring state.
• FIGS. 8, 9 and 10 depict exemplary illustrations of dynamic displays for use by the operator.
• a trip profile is provided 72.
• a location 73 of the locomotive is provided.
• Such information as train length 105 and the number of cars 106 in the train is provided.
• Elements are also provided regarding track grade 107, curve and wayside elements 108, including bridge location 109, and train speed 110.
• the display 68 allows the operator to view such information and also see where the train is along the route.
• Information pertaining to distance and/or estimate time of arrival to such locations as crossings 112, signals 114, speed changes 116, landmarks 118, and destinations 120 is provided.
• An arrival time management tool 125 is also provided to allow the user to determine the fuel savings that is being realized during the trip.
• the operator has the ability to vary arrival times 127 and witness how this affects the fuel savings.
• fuel saving is an exemplary example of only one objective that can be reviewed with a management tool.
• other parameters, discussed herein can be viewed and evaluated with a management tool that is visible to the operator.
• the operator is also provided information about how long the crew has been operating the train. In exemplary embodiments time and distance information may either be illustrated as the time and/or distance until a particular event and/or location or it may provide a total elapsed time.
• an exemplary display provides information about consist data 130, an events and situation graphic 132, an arrival time management tool 134, and action keys 136. Similar information as discussed above is provided in this display as well.
• This display 68 also provides action keys 138 to allow the operator to re-plan as well as to disengage 140 the present invention.
• FIG. 10 depicts another exemplary embodiment of the display.
• Data typical of a modern locomotive including air-brake status 72, analog speedometer with digital inset 74, and information about tractive effort in pounds force (or traction amps for DC locomotives) is visible.
• An indicator 74 is provided to show the current optimal speed in the plan being executed as well as an accelerometer graphic to supplement the readout in mph/minute.
• Important new data for optimal plan execution is in the center of the screen, including a rolling strip graphic 76 with optimal speed and notch setting versus distance compared to the current history of these variables.
• location of the train is derived using the locator element. As illustrated, the location is provided by identifying how far the train is away from its final destination, an absolute position, an initial destination, an intermediate point, and/or an operator input.
• the strip chart provides a look-ahead to changes in speed required to follow the optimal plan, which is useful in manual control, and monitors plan versus actual during automatic control. As discussed herein, such as when in the coaching mode, the operator can either follow the notch or speed suggested by the present invention.
• the vertical bar gives a graphic of desired and actual notch, which are also displayed digitally below the strip chart.
• the display When continuous notch power is utilized, as discussed above, the display will simply round to closest discrete equivalent, the display may be an analog display so that an analog equivalent or a percentage or actual horse power/tractive effort is displayed.
• Critical information on trip status is displayed on the screen, and shows the current grade the train is encountering 88, either by the lead locomotive, a location elsewhere along the train or an average over the train length.
• a distance traveled so far in the plan 90, cumulative fuel used 92, where or the distance away the next stop is planned 94, current and projected arrival time 96 expected time to be at next stop are also disclosed.
• the display 68 also shows the maximum possible time to destination possible with the computed plans available. If a later arrival was required, a re-plan would be carried out.
• Delta plan data shows status for fuel and schedule ahead or behind the current optimal plan. Negative numbers mean less fuel or early compared to plan, positive numbers mean more fuel or late compared to plan, and typically trade-off in opposite directions (slowing down to save fuel makes the train late and conversely).
• these displays 68 gives the operator a snapshot of where he stands with respect to the currently instituted driving plan.
• This display is for illustrative purpose only as there are many other ways of displaying/conveying this information to the operator and/or dispatch. Towards this end, die information disclosed above could be intermixed to provide a display different than the ones disclosed.
• Other features tiiat may be included in the present invention include, but are not limited to, allowing for the generating of data logs and reports.
• This information may be stored on the train and downloaded to an off-board system at some point in time. The downloads may occur via manual and/or wireless transmission. This information may also be viewable by the operator via the locomotive display.
• the data may include such information as, but not limited to, operator inputs, time system is operational, fuel saved, fuel imbalance across locomotives in the train, train journey off course, system diagnostic issues such as if GPS sensor is malfunctioning.
• the present invention may take such information into consideration as a trip is planned. For example, if the maximum time a crew may operate is eight hours, then the trip shall be fashioned to include stopping location for a new crew to take the place of the present crew. Such specified stopping locations may include, but are not limited to rail yards, meet/pass locations, etc. If, as the trip progresses, the trip time may be exceeded, the present invention may be overridden by the operator to meet criteria as determined by the operator. Ultimately, regardless of the operating conditions of the train, such as but not limited to high load, low speed, train stretch conditions, etc., the operator remains in control to command a speed and/or operating condition of the train.
• the train may operate in a plurality of operations.
• the present invention may provide commands for commanding propulsion, dynamic braking. The operator then handles all other train functions.
• the present invention may provide commands for commanding propulsion only. The operator then handles dynamic braking and all other train functions.
• the present invention may provide commands for commanding propulsion, dynamic braking and application of the airbrake. The operator then handles all other train functions.
• the present invention may also be used by notify the operator of upcoming items of interest of actions to be taken.
• the forecasting logic of the present invention the continuous corrections and re-planning to the optimized trip plan, the track database, the operator can be notified of upcoming crossings, signals, grade changes, brake actions, sidings, rail yards, fuel stations, etc. This notification may occur audibly and/or through the operator interface.
• the system shall present and/or notify the operator of required actions.
• the notification can be visual and/or audible. Examples include notifying of crossings that require the operator activate the locomotive horn and/or bell, notifying of "silent" crossings that do not require the operator activate the locomotive horn or bell.
• the present invention may present the operator information (e.g.
• the system shall allow the operator to adjust the trip plan (target arrival time).
• This information can also be communicated to the dispatch center to allow the dispatcher or dispatch system to adjust the target arrival times. This allows the system to quickly adjust and optimize for the appropriate target function (for example trading off speed and fuel usage).
• exemplary embodiments of the invention may be used to determine a location of the train 31 on a track, step 18.
• a determination of the track characteristic may also be accomplished, such as by using the train parameter estimator 65.
• a trip plan may be created based on the location of the train, the characteristic of the track, and an operating condition of at least one locomotive of the train.
• an optimal power requirement may be communicated to train wherein the train operator may be directed to a locomotive, locomotive consist and/or train in accordance with the optimal power, such as through the wireless communication system 47.
• the train 31, locomotive consist 18, and/or locomotive may be automatically operated based on the optimal power setting.
• a method may also involve determining a power setting, or power commands 14, for the locomotive consist 18 based on the trip plan. The locomotive consist 18 is then operated at the power setting. Operating parameters of the train and/or locomotive consist may be collected, such as but not limited to actual speed of the train, actual power setting of the locomotive consist, and a location of the train. At least one of these parameters can be compared to the power setting the locomotive consist is commanded to operated at.
• a method may involve determining operational parameters 62 of the train and/or locomotive consist. A desired operational parameter is determined based on determined operational parameters. The determined parameter is compared to the operational parameter. If a difference is detected, the trip plan is adjusted, step
• Another embodiment may entail a method where a location of the train 31 on the track 34 is determined. A characteristic of the track 34 is also determined. A trip plan, or drive plan, is developed, or generated in order to minimize fuel consumption. The trip plan may be generated based on the location of the train, the characteristic of the track, and/or the operating condition of the locomotive consist 18 and/or train 31. In a similar method, once a location of the train is determined on the track and a characteristic of the track is known, propulsion control and/or notch commands are provided to minimize fuel consumption.

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