Subject of the RailCab project is the development of autonomous railway vehicles which can dynamically group to convoys without mechanical coupling. This enables an on-demand use of these vehicles while retaining the cost and ecological advantages of public transport. In this paper, the authors present (1) the convoy communication with respect to joining and leaving a convoy as well as (2) the convoy control strategy. They strongly emphasize the safety of the developed software. However, in case of rail-bound vehicles, only the control of the longitudinal dynamics is required with respect to drive control. The mentioned linear motor provides constant thrust in the operating range. Consequently, in contrast to road traffic, an advanced convoy control strategy allows safe driving with small distances between vehicles. They employ a single controller design and distinguish the different operating modes by adapting reference values. The crucial point for the control of longitudinal dynamics and distance control is the reference generator, which must include limitations of speed, acceleration and jerk. The adherence to these limitations has to be ensured for all vehicles involved in a convoy. Therefore, the individual limits of each vehicle are communicated to a vehicle which coordinates the convoy. This vehicle computes the limits for the whole convoy and sends them back to all vehicles. Thereafter, the vehicles are allowed to build a convoy under the condition that they respect the communicated limits. The communication between the vehicles in a convoy is presented in chapter 2. The control system shown in chapter 3 enables a position control of an individual vehicle. The control structure of a vehicle convoy is described in chapter 4. The maneuver control laws for a safe operation in convoy mode are presented in chapter 5.
Organization and control of autonomous railway convoys
Organisation und Regelung autonomer Schienenfahrzeugkonvois
2008
6 Seiten, 14 Bilder, 13 Quellen
Aufsatz (Konferenz)
Englisch
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