A method of using independent virtual in-train forces modeling engines onboard each of a plurality of locomotives in a train in order to coordinate changes in speed of each of the plurality of locomotives determined independently onboard each of the plurality of locomotives, the method comprising:
- acquiring signals at a data acquisition hub from one or more sensors and databases communicatively connected to the data acquisition hub, wherein the signals from the one or more sensors are indicative of real-time force and displacement measurement data from draft gears and couplers interconnecting a first locomotive of the plurality of locomotives with a second locomotive of the plurality of locomotives or with non-powered rail cars;
- acquiring synchronized messages at the data acquisition hub transmitted from offboard the train or from the plurality of locomotives over a range of frequencies used by voice radios on the train for communicating between the plurality of locomotives, wherein the synchronized messages include real-time information on starting the train, stopping the train, and the next two speed limits for the train;
- acquiring heuristic data at the data acquisition hub indicating each of the plurality of locomotive's motion during a predetermined period of time;
- assimilating, analyzing, and calibrating the acquired signals, synchronized messages, and heuristic data from the plurality of locomotives, from the draft gears and couplers, and from determinations made by the independent virtual in-train forces modeling engines onboard each of the plurality of locomotives;
- using machine learning performed by a machine learning engine associated with each of the independent virtual in-train forces modeling engines for controlling the changes in speed of each of the plurality of locomotives on which the independent virtual in-train forces modeling engines are mounted independently from any command received from offboard the plurality of locomotives;
- simulating in-train forces and train operational characteristics using each of the independent virtual in-train forces modeling engines based on physics-based equations, kinematic or dynamic modeling of behavior of the train or components of the train when one or more of the plurality of locomotives is changing speed, and inputs derived from stored historical contextual data comprising characteristics of the components of the train and a track over which the train is traveling;
- storing one or more virtual in-train forces models simulated by the independent virtual in-train forces modeling engines in a virtual system model database, with each of the one or more virtual in-train forces models including a mapping between different combinations of the stored historical contextual data and corresponding simulated in-train forces and train operational characteristics that occur when one or more of the plurality of locomotives is changing speed;
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- adjusting one or more of throttle requests, dynamic braking requests, and pneumatic braking requests for each of the plurality of locomotives using an energy management system onboard each of the plurality of locomotives based at least in part on real-time information from the plurality of locomotives, from the draft gears and couplers, and from the determinations made by the independent virtual in-train forces modeling engines onboard each of the plurality of locomotives, with the plurality of locomotives of the train operating collectively to minimize in-train forces without being dependent on a command from a lead locomotive or central command.