# US 12,007,787 B2 · Vehicle control system

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- Number: US 12,007,787 B2
- Document ID: US12007787B2
- Status: Granted
- Kind: B2
- Application number: 17/223,884
- Filed: 2021-04-06
- Published: 2021-10-14
- Granted: 2024-06-11
- Earliest claimed: 2020-04-13
- Assignees: Westinghouse Air Brake Technologies Corporation
- Applicants: Westinghouse Air Brake Technologies Corporation
- Inventors: Igor Abrosimov; Osman Burak Onal; Brian Kurz
- Web page: https://patentgrep.com/patent/US12007787B2

## CPC

- B61L 15/0072: {On-board train data handling}
- G05D 1/0293: {Convoy travelling}
- B60T 8/1705: {for rail vehicles}
- B61L 15/0054: {Train integrity supervision, e.g. end-of-train [EOT] devices}
- B61L 25/025: {Absolute localisation, e.g. providing geodetic coordinates}
- B61L 27/40: Handling position reports or trackside vehicle data
- G01C 21/3407: {specially adapted for specific applications}
- G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)}
- G05D 1/646: Following a predefined trajectory, e.g. a line marked on the floor or a flight path
- G05D 1/695: for maintaining a fixed relative position of the vehicles, e.g. for convoy travelling or formation flight
- G08G 1/20: {Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles}
- B60T 8/1701: {Braking or traction control means specially adapted for particular types of vehicles (for vehicles having more than one drive axle B60T8/1769)}
- B60T 2270/406: Test-mode; Self-diagnosis
- B61L: GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC (brakes or auxiliary equipment B61H, B61K; point or crossing construction E01B)
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- 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)
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})

## Abstract

A vehicle control system and method receive vehicle makeup information from multiple vehicles in a multi-vehicle system. The vehicle makeup information represents one or more characteristics of the vehicles. The vehicle makeup information is received at a controlling vehicle of the vehicles in the multi-vehicle system that controls movement of the multi-vehicle system. The controlling vehicle also receives locations from location-determining devices respectively onboard the vehicles in the multi-vehicle system. The controlling vehicle controls operation of the multi-vehicle system using a combination of the vehicle makeup information received from the vehicles and the locations of the vehicles.

## Claims

### Claim 1

A method comprising:
receiving vehicle makeup information from multiple vehicles in a multi-vehicle system, the vehicle makeup information representing one or more characteristics of the vehicles, the vehicle makeup information received at a controlling vehicle of the vehicles in the multi-vehicle system that controls movement of the multi-vehicle system;
receiving, at the controlling vehicle, locations from location-determining devices respectively onboard the vehicles in the multi-vehicle system;
determining a sequence of the vehicles in the multi-vehicle system using the locations of the vehicles that are received at the controlling vehicle; and
controlling, with the controlling vehicle, operation of the multi-vehicle system using a combination of the vehicle makeup information received from the vehicles, the locations of the vehicles, and the sequence of the vehicles;
determining a state of a first brake in the multi-vehicle system, wherein at least a second brake in the multi-vehicle system is controlled based on the state of the first brake and based on the location of at least the second brake, wherein the first brake is disposed onboard a first vehicle of the vehicles in the multi-vehicle system and the state that is determined indicates that the first brake has failed, and further comprising: determining that the second brake is disposed onboard a second vehicle of the vehicles in the multi-vehicle system that is within a threshold distance from the first vehicle; and changing engagement of the second brake based on the state of the first brake and the second vehicle being within the threshold distance from the first vehicle.

### Claim 2 (depends on 1)

The method of claim 1, wherein the vehicles include individually addressable brake control devices configured to be controlled by the controlling vehicle, wherein controlling the operation of the multi-vehicle system includes controlling one or more of the brake control devices based on the sequence of the vehicles.

### Claim 3 (depends on 1)

The method of claim 1, further comprising:
receiving a signal at the controlling vehicle from a first vehicle in the multi-vehicle system or a second vehicle that is not in the multi-vehicle system; and
determining whether the location of the first vehicle or the second vehicle that sent the signal is located on a first route segment that the controlling vehicle also is located,
wherein the operation of the multi-vehicle system is controlled based on the signal that is received responsive to determining that the signal is received from the first vehicle that is in the multi-vehicle system and that the signal is not received from the second vehicle that is not in the multi-vehicle system.

### Claim 4 (depends on 1)

The method of claim 1, further comprising:
receiving a signal at the controlling vehicle from a first vehicle in the multi-vehicle system or a second vehicle that is not in the multi-vehicle system; and
determining whether the location of the first vehicle or the second vehicle that sent the signal is located on a first route segment that the controlling vehicle also is located,
wherein the operation of the multi-vehicle system is not controlled based on the signal that is received responsive to determining that the signal is received from the second vehicle that is not in the multi-vehicle system and that the signal is not received from the first vehicle that is in the multi-vehicle system.

### Claim 5 (depends on 1)

The method of claim 1, wherein the locations that are received are relative locations of the vehicles that are relative to a moving reference point.

### Claim 6

A control system comprising:
a controller configured to be disposed onboard a controlling vehicle of a multi-vehicle system, the controller configured to receive vehicle makeup information from multiple other vehicles in the multi-vehicle system, the vehicle makeup information representing one or more characteristics of the other vehicles, the controller also configured to receive locations from location-determining devices respectively onboard the other vehicles in the multi-vehicle system determine a sequence of the other vehicles in the vehicle system using the locations that are received, and to control operation of the multi-vehicle system using a combination of the vehicle makeup information received from the other vehicles, the sequence of the other vehicles, and the locations of the other vehicles'
wherein the controller is configured to determine a state of a first brake of the brakes in the multi-vehicle system, the controller also configured to control at least a second brake of the brakes in the multi-vehicle system based on the location of the first brake and based on the location of at least the second brake,
wherein the controller is configured to determine that the second brake is disposed onboard a second vehicle of the other vehicles in the multi-vehicle system that is within a threshold distance from the first vehicle and to change engagement of the second brake based on the state of the first brake and the second vehicle being within the threshold distance from the first vehicle.

### Claim 7 (depends on 6)

The control system of claim 6, wherein the controller is configured to determine a first radius of a curve of a path over which the multi-vehicle system extends using the locations of the other vehicles that are received, compare the first radius of the curve of the path over which the multi-vehicle system extends with a second curve of a route that is stored in a route database, and one or more of verify or modify the curve of the route that is stored in the route database based on comparing the first radius of the curve of the path with the second curve of the route.

### Claim 8 (depends on 6)

The control system of claim 6, wherein the other vehicles include individually addressable brakes configured to be controlled by the controlling vehicle, and wherein the controller is configured to control the operation of the multi-vehicle system by controlling one or more of the brakes based on the locations of the other vehicles that are received.

### Claim 9 (depends on 6)

The control system of claim 6, wherein the first brake is disposed onboard a first vehicle of the other vehicles in the multi-vehicle system and the state that is determined indicates that the first brake has failed.

### Claim 10 (depends on 6)

The control system of claim 6, wherein the controller is configured to receive a signal at the controlling vehicle from a first vehicle in the multi-vehicle system or a second vehicle that is not in the multi-vehicle system and determine whether the location of the first vehicle or the second vehicle that sent the signal is located on a first route segment that the controlling vehicle also is located, the controller configured to control the operation of the multi-vehicle system based on the signal that is received responsive to determining that the signal is received from the first vehicle that is in the multi-vehicle system and that the signal is not received from the second vehicle that is not in the multi-vehicle system.

### Claim 11 (depends on 6)

The control system of claim 6, wherein the locations that are received by the controller are relative locations of the vehicles that are relative to a moving reference point as the locations.