US 12,441,379 B2
Controller, system and method for vehicle control
Alon Green, Toronto (CA); Dennis Yazhemsky, Toronto (CA); and Shahin Sirouspour, Hamilton (CA)
Assigned to Hitachi Rail GTS Canada Inc., Toronto (CA)
Filed by Hitachi Rail GTS Canada Inc., Toronto (CA)
Filed on Jun. 10, 2019, as Appl. No. 16/436,440.
Claims priority of provisional application 62/682,537, filed on Jun. 8, 2018.
Prior Publication US 2019/0375441 A1, Dec. 12, 2019
Int. Cl. B61L 27/20 (2022.01); B61L 25/02 (2006.01); G05B 13/04 (2006.01)
CPC B61L 27/20 (2022.01) [B61L 25/021 (2013.01); G05B 13/042 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A controller for a vehicle, the controller comprising:
a processor configured to repeatedly perform, at each control iteration among a plurality of control iterations along a path of the vehicle from a start location to a target location, operations including
based on a current state of the vehicle, generating a travel plan for a remainder of the path from a current position of the vehicle to the target location, by solving an optimization problem, and
controlling a motoring and braking system of the vehicle to execute the generated travel plan until a next control iteration among the plurality of control iterations, wherein the processor is further configured to solve the optimization problem based on the current state of the vehicle, at least one control objective, and at least one constraint,
the at least one constraint comprises a first brake constraint and a second brake constraint, the second brake constraint corresponding to a harder brake operation than the first brake constraint,
the processor is further configured to
solve the optimization problem constrained by the first brake constraint,
in response to a determination that the optimization problem constrained by the first brake constraint is feasible, control the motoring and braking system of the vehicle based on a solution of the optimization problem, and
in response to a determination that the optimization problem constrained by the first brake constraint is infeasible, solve the optimization problem constrained by the second brake constraint corresponding to the harder brake operation.