# US 12,005,940 B2 · Systems and methods for route mapping > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,005,940 B2 - Document ID: US12005940B2 - Status: Granted - Kind: B2 - Application number: 16/911,561 - Filed: 2020-06-25 - Published: 2020-10-15 - Granted: 2024-06-11 - Earliest claimed: 2016-08-10 - Assignees: Transportation IP Holdings, LLC - Applicants: Transportation IP Holdings, LLC - Inventors: Munishwar Ahuja; Ajith Kuttannair Kumar; Bret Dwayne Worden; Shankar Chandrasekaran; Dattaraj Jagdish Rao - Web page: https://patentgrep.com/patent/US12005940B2 ## CPC - B61L 15/0058: {On-board optimisation of vehicle or vehicle train operation} - B61L 15/0062: {On-board target speed calculation or supervision} - B61L 15/0072: {On-board train data handling} - B61L 25/025: {Absolute localisation, e.g. providing geodetic coordinates} - G01C 21/30: Map- or contour-matching - B61L: GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC (brakes or auxiliary equipment B61H, B61K; point or crossing construction E01B) - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) ## Abstract In one embodiment of the subject matter described herein a system is provided. The system includes a location determining circuit configured to acquire position information of a vehicle system moving along a route. The system includes a controller circuit having one or more processors. The controller circuit is configured to calculate curvatures of the route, based at least in part on the position information, to form a curvature waveform. The controller circuit is further configured to generate a route map based on the curvature waveform. ## Claims ### Claim 1 A system comprising: a location determining circuit configured to determine position information of a vehicle system moving along a track; a controller circuit having one or more processors, wherein the controller circuit is configured to: calculate curvatures of the track, based at least in part on the position information, to form a curvature waveform, the curvature waveform representative of magnitudes of the curvatures of the track at different locations along the track; identify one or more of the curvatures of the track as one or more circular curves in the track based on changes in the magnitudes of the curvatures that are within a designated threshold of a peak curvature magnitude in the curvature waveform; generate a route map based on a size of the one or more circular curves. ### Claim 2 (depends on 1) The system of claim 1, wherein the controller circuit is further configured to generate duty cycle information of the track based on the route map. ### Claim 3 (depends on 2) The system of claim 2, wherein the duty cycle information includes at least one of a time interval during which the vehicle system traveled on the one or more circular curves, a length of the one or more circular curves, a grade of the one or more circular curves, or a speed at which the vehicle system moved while traversing the one or more circular curves. ### Claim 4 (depends on 2) The system of claim 2, further comprising a communication circuit, wherein the controller circuit is further configured to transmit the duty cycle information along a bi-directional communication link to a remote system or a remote vehicle within the vehicle system. ### Claim 5 (depends on 1) The system of claim 1, wherein the controller circuit is further configured to calculate the curvatures of the track based on a conversion of the position information into two dimensional coordinates. ### Claim 6 (depends on 1) The system of claim 1, wherein the controller circuit is further configured to calculate the size of the one or more circular curves by fitting one or more circles to the one or more circular curves. ### Claim 7 (depends on 6) The system of claim 6, wherein the controller circuit is further configured to identify the one or more circular curves by determining that the magnitudes of the curvatures that are within the designated threshold of the peak curvature magnitude in the curvature waveform remain at or above the designated threshold. ### Claim 8 (depends on 7) The system of claim 7, wherein the controller circuit is further configured to identify one or more time intervals of the one or more circular curves based on the changes in the magnitudes of the curvatures. ### Claim 9 (depends on 1) The system of claim 1, wherein the controller circuit is further configured to compare the route map with a map database, and adjust portions of the map database based on the route map. ### Claim 10 (depends on 1) The system of claim 1, wherein the controller circuit is further configured to identify straight throughs of the track based on the curvature waveform with respect to a filter bandwidth. ### Claim 11 (depends on 1) The system of claim 1, wherein the controller circuit is further configured to calculate the curvatures of the track by incrementing a measurement window along the curvature waveform and calculating the curvatures of the one or more circular curves based on the curvatures within the measurement window. ### Claim 12 (depends on 1) The system of claim 1, wherein the controller circuit is further configured to identify the one or more circular curves of the track based on a morphology of the curvature waveform. ### Claim 13 (depends on 1) The system of claim 1, further comprising an energy management system configured to control the vehicle system according to a trip plan, wherein the trip plan is based at least in part on the route map. ### Claim 14 (depends on 1) The system of claim 1, further comprising a sensor array configured to generate measurements corresponding to an environment of the vehicle system, wherein the controller circuit is further configured to detect abnormalities of the track based on the measurements. ### Claim 15 (depends on 14) The system of claim 14, wherein the sensor array includes an imaging sensor, the measurements corresponding to images of the environment of the vehicle system. ### Claim 16 (depends on 1) The system of claim 1, wherein the controller circuit is configured to calculate each of the magnitudes of curvature based on a plurality of data points of the position information, and the controller circuit is further configured to generate the route map based on a morphology of the curvature waveform. ### Claim 17 A method comprising: acquiring position information of a vehicle system moving along a track; calculating curvatures of the track, based on the position information, to form a curvature waveform, the curvature waveform representative of magnitudes of the curvatures of the track at different locations along the track; identifying one or more of the curvatures of the track as a circular curve in the track based on changes in the magnitudes of the curvatures that are within a designated threshold of a peak curvature magnitude in the curvature waveform; calculating a size of the one or more circular curves based on the magnitudes of the curvatures that are within the designated threshold of the peak curvature magnitude in the curvature waveform; and generating a route map based on the size of the one or more circular curves. ### Claim 18 (depends on 17) The method of claim 17, further comprising generating duty cycle information of the track based on the route map. ### Claim 19 (depends on 18) The method of claim 18, wherein the duty cycle information includes at least one of a time interval during which the vehicle system traveled on the one or more circular curves, a length of the one or more circular curves, a grade of the one or more circular curves, or a speed at which the vehicle system moved while traversing the one or more circular curves. ### Claim 20 A method comprising: acquiring position information of a vehicle system moving along a track; calculating curvatures of the route, based on the position information, to form a curvature waveform, the curvature waveform representative of magnitudes of the curvatures of the track at different locations along the track; and defining a route map based on the size of the curvature waveform.