System and method for determining a model for positioning a vehicle and a mobile communication device

Abstract

The present application provides a system and method for determining a model for locating a vehicle and a mobile communication device. The system includes one or more processors, which are configured to receive position data from a device communication unit and from at least a first communication unit and a second communication unit positioned relative to the vehicle. The position data includes a device spatial position of the device communication unit, a first spatial position of the first communication unit, and a second spatial position of the second communication unit. The one or more processors are also configured to determine the vehicle spatial position of a specified point of the vehicle. The one or more processors are also configured to generate a virtual model. When the virtual model is used by the positioning system to locate the vehicle, it indicates the vehicle spatial position relative to the estimated position of the vehicle.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to and the benefit of U.S. Provisional Application No. 63 / 149,877, filed on February 16, 2021, the entirety of which is incorporated herein by reference. Technical Field

[0003] Embodiments of the subject matter described herein relate to determining a vehicle model that can be used to locate a vehicle using a positioning system. Background Art

[0004] For businesses that control a fleet of vehicles at any given time, it is desirable to know the location of vehicles, especially vehicles traveling along the same or similar routes. For example, a train may have one or more locomotives and one or more optional rail cars. For example, by knowing the location of a train on a track network, a railroad can more safely and efficiently guide the train along various routes. Similarly, fleets of other types of vehicles (e.g., cars, trucks, mining vehicles, off-highway vehicles, aviation vehicles, or marine vessels) can more safely and efficiently travel their respective routes. Such information can be used at distribution yards where vehicles are loaded or unloaded with cargo and / or passengers.

[0005] Each vehicle may include multiple devices or control units (e.g., controllers) of the vehicle that communicate with each other. These devices may include global navigation satellite system (GNSS) receivers, such as global positioning system (GPS) receivers. Other devices include inertial sensors, odometers, radar, ultrasonic and acoustic monitors. The data generated by these devices may be used to determine the location and / or attitude of the vehicle.

[0006] Currently, the location of some vehicles is determined using one or more GNSS receivers that communicate with GNSS satellites to determine the latitude, longitude, and altitude of each GNSS receiver. However, knowing the spatial location of a global navigation satellite system receiver does not necessarily provide a reliable understanding of the three-dimensional space occupied by the vehicle. For example, the location of a GNSS receiver determined by a GNSS satellite may not be precise. Instead, the identified location may be an estimate that provides a certain degree of confidence that the GNSS receiver is within a few meters of the identified location. Another problem that increases the uncertainty of the vehicle's more precise location is that the GNSS receiver may have different locations on the vehicle (e.g., the front, the rear, or somewhere in between). For example, a first vehicle in a vehicle system may have a GNSS receiver near the front end of the first vehicle, while a second vehicle may have a GNSS receiver near the rear end of the second vehicle.

[0007] To provide a more reliable understanding of the vehicle's position, companies can measure where a GNSS receiver is located on the vehicle relative to a known point, such as the front or rear end of the vehicle. Today, the location of a GNSS receiver may require manual measurement and is susceptible to human error. Higher error variances are carried forward and negatively impact the final calculation of the vehicle's position, resulting in a calculated position that is less accurate than expected. Systems and methods different from those currently available may be desired. Summary of the invention

[0008] In an embodiment, a system is provided, the system comprising a movable communication device including a device communication unit. The device communication unit can be positioned relative to a vehicle. The system comprises a controller. The controller may comprise one or more processors, the processors may receive position data from the device communication unit and at least a first communication unit and a second communication unit positioned relative to the vehicle. The position data may comprise a device spatial position of the device communication unit, a first spatial position of the first communication unit, and a second spatial position of the second communication unit. The one or more processors may determine a vehicle spatial position of a designated point of the vehicle and a third distance between the device spatial position and the second spatial position based on a first distance between the first spatial position and the second spatial position, a second distance between the device spatial position and the first spatial position. The one or more processors may generate a virtual model of the vehicle based on the vehicle spatial position of the designated point. The virtual model, when used by a positioning system to locate the vehicle, indicates the vehicle spatial position relative to an estimated position of the vehicle.

[0009] In an embodiment, a mobile communication device is provided, which may include a device communication unit that can obtain location data and a user interface that can receive user input and transmit a control signal in response to receiving the user input. The mobile communication device may include one or more processors that can receive the control signal from the user interface. In response to receiving the control signal, the one or more processors may be processors that can request and receive location data from the device communication unit. The one or more processors may be at least one of the following: transmitting a device message to a remote station and / or a vehicle, wherein the device message may include at least one location data or a request for location data from the vehicle; or receiving a vehicle message from the vehicle, wherein the vehicle message may include vehicle location data from a first communication unit and a second communication unit of the vehicle.

[0010] In an embodiment, a method is provided, which may include positioning a mobile communication device relative to a specified point of a vehicle. The mobile communication device may include a device communication unit. The method may include receiving position data from the device communication unit and from at least a first communication unit and a second communication unit positioned relative to the vehicle. The position data may include a device spatial position of the device communication unit, a first spatial position of the first communication unit, and a second spatial position of the second communication unit. The method may include determining a vehicle spatial position of a specified point of the vehicle based on a first distance between the first spatial position and the second spatial position, a second distance between the device spatial position and the first spatial position, and a third distance between the device spatial position and the second spatial position. The method may include generating a virtual model of the vehicle based on the vehicle spatial position of the specified point. The virtual model, when used by a positioning system to locate the vehicle, indicates the vehicle spatial position relative to an estimated position of the vehicle.

[0011] One or more embodiments may include tracking a vehicle (or multiple vehicles, such as vehicles in a fleet) using a virtual model. For example, one or more embodiments may include a positioning system that identifies the location of a vehicle or multiple vehicles. In addition to the above, one or more embodiments may send commands or instructions to the vehicle. Such commands or instructions may be used to control vehicle movement (e.g., moving a vehicle within a larger geographic area or within a local area (e.g., a distribution yard)) or control vehicle operation (e.g., causing the vehicle to perform certain operations, such as opening a door, checking vehicle status, separating from other vehicles, etc.). BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Reference is now briefly made to the accompanying drawings, in which:

[0013] Figure 1 is a schematic diagram of a system (e.g., a communication system) for determining a virtual model of a vehicle, the virtual model representing a space occupied by the vehicle in a positioning system, according to one embodiment;

[0014] Figure 2 To show that Figure 1 A schematic diagram of a mobile communication device for use with the system;

[0015] Figure 3A is a front view of the vehicle, from which a virtual model may be generated according to one embodiment;

[0016] Figure 3B is a side view of the vehicle, from which a virtual model may be generated according to one embodiment;

[0017] Figure 4 An environment according to one embodiment is shown, wherein: Figure 1 The parts of the system are distributed relative to each other;

[0018] Figure 5A is a top-down schematic diagram of a vehicle and illustrates that a device communication unit and two vehicle communication units may be located when acquiring position data according to one embodiment;

[0019] Figure 5B is a schematic side view of a vehicle and illustrates that a device communication unit and two vehicle communication units may be located when acquiring position data according to one embodiment;

[0020] Figure 6 is a side view of a vehicle showing two mobile communication devices for acquiring position data at the front and rear ends of the vehicle according to one embodiment;

[0021] Fig. 7A A flowchart showing a method according to an embodiment;

[0022] Figure 7B shows how to generate a virtual model of a vehicle using a local model and a geometric model generated by one embodiment;

[0023] Figure 8 An environment is shown according to one embodiment, wherein a positioning system positions a vehicle using a virtual model of the vehicle;

[0024] Fig.9A is a flow chart illustrating a method of acquiring location data using a mobile communication device according to one embodiment; and

[0025] Fig. 9B A workflow illustrating screen displays that may be presented to a user of a mobile communication device. DETAILED DESCRIPTION

[0026] Embodiments of the subject matter described herein include systems and methods for determining a vehicle model that can more accurately estimate the location of a vehicle and / or more accurately estimate the physical space occupied by a vehicle. With more accurate estimates, potential collisions or other disasters can be avoided. For example, estimates of the location and / or space occupied by a vehicle can be used to change the movement of a vehicle (e.g., slow down, stop, and / or move to another route). In addition, current positioning systems can use measurements with additional offsets, or when estimating the location of a vehicle, offsets can be added to the estimate. These offsets are intended to account for potential errors that may occur when measuring the vehicle, or potential errors caused by devices that transmit location data (e.g., satellites or GPS receivers). By more accurately understanding the physical space occupied by a vehicle, offsets can be reduced or eliminated. As a result, traffic can be controlled more safely and more efficiently (e.g., by reducing the distance between vehicles in a loading or unloading area, or the distance between vehicles traveling along a route). In some cases, computing resources can be reduced when more accurate estimates are used.

[0027] To this end, embodiments may utilize a mobile communication device having a communication unit (e.g., an antenna, a receiver, or a transceiver). The mobile communication device can be positioned relative to a specified point of the vehicle (e.g., close to or far away) and obtain position data for determining the spatial position of the specified point. One or more communication units of the vehicle can be used to obtain position data corresponding to the spatial position of the communication unit. The spatial position group can be used to generate a more accurate and / or more cost-effective vehicle model. For example, the vehicle can be monitored, located, or tracked in a safer and / or more efficient manner.

[0028] The subject matter described herein may be used in conjunction with rail vehicles and rail vehicle systems such as locomotives and trains. In one embodiment, the removable communication device is packaged in an end-of-train (EOT) device that can be mounted on a rail vehicle. In another embodiment, the removable communication device can be part of a head (thermal) system for a rail vehicle. However, the subject matter described herein may be used in conjunction with other types of trackless vehicles. For example, the subject matter described herein may be used in automobiles, buses, trucks, mining vehicles, agricultural vehicles, other off-road vehicles (e.g., vehicles that are not designed or legally permitted to travel on public roads), aircraft (e.g., fixed-wing aircraft, drones or other unmanned aircraft, etc.), marine vessels, etc.

[0029] In some embodiments, the systems and methods described herein may be performed during at least one process of manufacturing or assembling a vehicle, or during at least one process of repairing, modifying, or updating a vehicle (e.g., by retrofitting a component to an existing vehicle). In other embodiments, the systems and methods may be performed in the field, e.g., at a distribution yard or along a route. For example, during the installation of a new communication unit, a temporary reference antenna of a mobile communication device may be used to obtain measurements, as described herein. By obtaining measurements between each communication unit, a virtual model of the spatial position of the communication unit may be applied to a local coordinate system, such as a coordinate system that may include a vehicle representation. For example, the virtual model may be superimposed or combined with a local coordinate system to form a merged model. The merged model may represent the physical structure of the vehicle, or may represent the physical structure of a vehicle system that may include the vehicle. In this way, a monitoring system that tracks a vehicle (or a vehicle system) may more accurately determine the location of the vehicle.

[0030] One or more embodiments may be at least partially automated. For example, after positioning the mobile communication device near the vehicle, an operator of the mobile communication device (or an operator of a remote system) may initiate the process by providing user input (e.g., pressing a button or switch, pulling a joystick, providing a voice activation command, etc.). Alternatively, the process may be initiated after one or more processors determine that the mobile communication device is properly positioned relative to the vehicle (e.g., a known distance from a specified point). Once the process is initiated, embodiments may obtain position data for each antenna and determine measurements between the antennas.

[0031] Automating the measurement process can significantly reduce measurement errors and significantly reduce the time taken to obtain measurements. Some companies use communication systems, such as vehicle control systems, that allow or assume a specified amount of error. A vehicle control system can be a computerized system that uses vehicle location to restrict or allow the movement of different vehicles. For example, a positive vehicle control system (e.g., a positive train control system) can monitor vehicle location and send signals to different vehicles. These signals can limit the speed at which a vehicle moves based on the location and / or model of other vehicles, indicate whether a vehicle is allowed to enter different sections of a road (e.g., based on the vacancies and occupancy of different sections of a road determined using the location and / or model of the vehicle), etc. The on-board component of the positive vehicle control system can automatically prevent the vehicle from moving to a different section of a road at a speed exceeding the limit, etc. unless a signal is received from the vehicle's active control system. A negative vehicle control system can monitor vehicle location and send signals to different vehicles. These signals can tell the vehicle the speed at which it is allowed to travel, prohibit the vehicle from entering different sections of a road, etc. The on-board component of the negative vehicle control system can allow the vehicle to move unless a signal prohibiting the vehicle from moving is received.

[0032] The specified amount of error assumed by some companies' communication systems may be based not only on measurement errors associated with antenna locations, but also on errors that occur in the process of positioning the vehicle (e.g., errors caused by equipment performance). By reducing the measurement errors regarding antenna locations, the overall error regarding vehicle location is reduced. As a result, at least in some cases, companies may be able to automatically control vehicles along more portions of a route without input from a human commander.

[0033] A vehicle system may be part of a vehicle group. A vehicle group may be referred to as a vehicle group, platoon, convoy, group, train, etc. A group may include two or more vehicles that are mechanically coupled to each other to travel together along a route. In other embodiments, a vehicle system may include two or more vehicles that are not mechanically coupled to each other but travel together along a route. For example, two or more cars may be logically coupled because when the cars travel together along a route as a vehicle system, the cars communicate with each other wirelessly to coordinate each other's movements. One or more embodiments may control the vehicle in an automated manner and / or notify an operator (on or off the vehicle) how to control or change the movement of the vehicle. Specific embodiments may include controlling the vehicle as a drone of a larger fleet. In one embodiment, the vehicle system consists of only a single vehicle.

[0034] The two or more vehicles of the vehicle system may include a control vehicle and one or more remote vehicles. In operation, the control vehicle may command (e.g., via wired or wireless messages) the remote vehicles to change the throttle settings, brake settings, speed, power output, etc. of the remote vehicles during movement of the vehicle group. Thus, the control and remote vehicles may coordinate traction and braking forces to move the vehicle group along a route.

[0035] For at least some embodiments, the mobile communication device can communicate with at least the controlling vehicle. In some embodiments, the mobile communication device can communicate with at least the controlling vehicle and one or more remote vehicles. In some embodiments, the mobile communication device can communicate with any vehicle capable of communicating with the mobile communication device. Regardless of the vehicle, the mobile communication device can communicate directly with the vehicle's communication unit, or directly with a local control unit of the vehicle's controlling communication unit.

[0036] However, in other embodiments, the mobile communication device may communicate with a remote system that is in communication with the vehicle. In this case, the measurements may be acquired by the vehicle alone or by the mobile communication device alone. The measurements may then be transmitted to the remote system.

[0037] One or more embodiments may use at least three different communication units, wherein the position data of each communication unit is obtained. The position data may include or be used to determine the spatial position of the corresponding communication unit. For example, the position data may include a signal (e.g., transmitted by a satellite) containing positioning and timing data. Then, the positioning and timing data may be used to determine the spatial coordinates (e.g., latitude, longitude, and elevation) of a known system, map coordinates for projection onto a known model, the center of the earth, the earth, the earth fixed (ECEF) Cartesian coordinates, or a spatial code (e.g., a set of numbers or symbols). However, in other embodiments, the position data may include the actual spatial position of the vehicle. A system (e.g., a global or regional navigation system) capable of geospatial positioning may be used to obtain the position data. Although specific embodiments are described for GNSS, the embodiments may be applicable to a regional navigation system or another system capable of radio navigation or radio positioning.

[0038] As described herein, the spatial position of a mobile communication device (or device communication unit) may represent the spatial position of a designated point of a vehicle, or may be used to determine the spatial position of a designated point. The designated point may correspond to a surface (eg, an exterior surface) of the vehicle.

[0039] A spatial location refers to a point or area in space that is identified using a communication unit, or more generally, a mobile communication device or communication system. For example, a GPS receiver may only identify a spatial location determined by signals received by GPS satellites. Thus, a spatial location may correspond to the location of a communication unit (e.g., an antenna). In other examples, the communication unit may be programmed (or the system to which the communication unit belongs may be programmed) to identify the spatial location of the device / system as a predetermined distance from the spatial location of the communication unit. For example, a locomotive is a large machine. Position data received by a GPS receiver located at the front end of the locomotive identifies the location of the locomotive as the location where the GPS receiver is located. However, in some configurations, the position data may be processed to move the initially calculated point so that the identified spatial location of the locomotive is located at the center of the locomotive.

[0040] When the spatial position of the specified point (e.g., on the front surface of the vehicle) and the spatial position of the communication unit are known, a local model (e.g., a virtual model) based on the spatial position can be generated. The local model can represent points in three-dimensional space, where these points represent the spatial positions of the specified point of the vehicle and the communication unit of the vehicle. The local model can then be applied to a geometric model (or local coordinate system) of the vehicle or a geometric model of the vehicle system. The geometric model may include, for example, the three-dimensional shape of the vehicle or the vehicle system. The geometric model may include the position of one or more communication units relative to other components of the vehicle, or may include a reference point from which the position of one or more communication units can be determined.

[0041] By applying the local model to the geometric model, a merged model can be generated that can include a more accurate representation of the specific vehicle for which the measurements were obtained. For example, if one or more communication units are located at a specified position relative to the exterior of the vehicle, the spatial position of the communication units can identify the location of an exterior surface of the vehicle. In this way, embodiments can more accurately determine the location of one or more surfaces at the front end of the vehicle, one or more surfaces at the rear end of the vehicle, and / or one or more surfaces at the side of the vehicle. The side can include a top surface, a bottom surface, or a lateral side.

[0042] Because one or more embodiments include or interact with multiple communication units, the term "communication unit" may be labeled to distinguish other communication units. For example, embodiments may include a device communication unit, a removable communication unit, a system communication unit, a vehicle communication unit, a first communication unit, a second communication unit, etc. Communication units that are labeled differently do not necessarily have different structures and / or operational capabilities. In addition, the numerical labeling does not necessarily limit the number of communication units. For example, an embodiment that includes a first communication unit and a second communication unit is not necessarily limited to only two communication units.

[0043] The mobile communication device may include a communication unit, which may be referred to as a device communication unit. The mobile communication unit is positioned relative to the vehicle. As used herein, the phrase "positioned relative to the vehicle" refers to being positioned at a specified location relative to a specified point of the vehicle. The specified point may be a reference point (or a benchmark landmark) of the vehicle. In some embodiments, the specified point generally has a fixed position relative to the vehicle. The specified point may represent or be located near the outer boundary of the vehicle. The specified point may be located at the frontmost surface (e.g., the front end) or the rearmost surface (e.g., the rear end) of the vehicle. The specified point may be one of the most lateral surfaces (e.g., the side) of the vehicle. However, the specified point may have other locations along the outer surface of the vehicle or within the vehicle.

[0044] The mobile communication device or device communication unit may be located in the vicinity of the vehicle. As used herein, the phrase "adjacent" may include a mobile communication device or communication unit directly engaged with a surface of the vehicle, or may include a mobile communication device or communication unit slightly spaced apart from the vehicle (e.g., up to 10 centimeters). For embodiments where the mobile communication device is adjacent to the vehicle but not in contact with the vehicle, the mobile communication device may be positioned at a predetermined spatial location relative to a designated point.

[0045] The mobile communication device may have a support structure that can be positioned on the vehicle. The support structure may be similar to a bracket, a cradle, a tripod, or a monopod. For example, one end of a monopod holding the communication unit may be positioned on a steering knuckle of a locomotive. The monopod may then be held in an upright, elevated position and a specified orientation. In this case, the distance between the device communication unit and a specified point may be calculated because the dimensions of the support structure are known and the position of the support structure is set. Thus, the spatial position of a specified point of the vehicle may be determined.

[0046] When positioning relative to the vehicle, in addition to obtaining position data of at least two other communication units, position data of the mobile communication device (or device communication unit) is also obtained. At least one or more of the other communication units may form part of the vehicle. Such communication units travel with the vehicle and may be used to track the vehicle as it travels along a route, or to communicate other information. For example, the other communication units may be, for example, a GNSS receiver, a Radio Navigation Satellite Service (RNSS) receiver, a multi-band transceiver capable of operating in at least one of the GNSS or RNSS, or other communication units that may be used for radio navigation or radio positioning.

[0047] In some embodiments, only one communication unit may be part of a vehicle and two or more communication units may be part of respective mobile communication devices positioned relative to the vehicle. For example, a first mobile communication device may be positioned relative to the front end of the vehicle and a second mobile communication device may be positioned relative to the rear end of the vehicle. In these embodiments, only one communication unit of the vehicle may be used. However, in other embodiments, at least two communication units of the vehicle may be used. For example, an embodiment may use two or more mobile communication devices and two or more communication units connected to the vehicle.

[0048] The removable communication device may be handheld by an operator. In these embodiments, the removable communication device may be referred to as a portable communication device. For example, the size, shape, and weight of the portable communication device may allow an adult of average size to carry the portable communication device. Non-limiting examples of portable communication devices include tablet computers, laptop computers, and smartphones. Thus, an operator may move between different vehicles in an area (e.g., a distribution yard, a sorting yard, an assembly line, etc.) and obtain information used to generate a model that can be used to track the vehicles.

[0049] The operator may hold the mobile communication device while acquiring location data for the mobile communication device. However, in other embodiments, the mobile communication device may be temporarily secured to the vehicle using a removable fastener (e.g., a clamp, a clip, a screw). When temporarily secured, the mobile communication device may have a fixed position relative to the vehicle. For these embodiments, the operator may be allowed to secure one or more other mobile communication devices to the vehicle. The operator may be allowed to enter the interior of the vehicle while the mobile communication device is temporarily secured. For example, after temporarily securing one or more mobile communication devices to the vehicle, the operator may enter the vehicle and interact with a user interface to cause or allow the communication unit of the vehicle to acquire location data.

[0050] However, in other embodiments, the mobile communication device may be permanently fixed to the vehicle. For example, the operator may use a tool to permanently fix the mobile communication device to a fixed point at the front or rear end of the vehicle. The mobile communication device may be enabled to obtain and transmit location data.

[0051] The mobile communication device may include a user interface that is responsive to operator interaction. The user interface may generate control signals responsive to operator operation or user interface instructions. For example, the operator may press a button, touch a screen, and / or speak into a microphone to instruct the mobile communication device to perform one or more operations and / or provide information required to perform one or more operations.

[0052] Optionally, the mobile communication device may communicate with a local control unit on the vehicle. In this case, the mobile communication device may operate as a master or control device that initiates one or more methods described herein. However, in other embodiments, the local control unit may act as a master or control unit that uses the mobile communication device to obtain location data. For example, if the local control unit commands the mobile communication device to obtain location data, the mobile communication device may only request location data.

[0053] At least one technical effect provided by the inventive subject matter may include a more reliable location of a vehicle, such as when in transit or parked. A vehicle may be located in real time, such as within the expected time of a traditional navigation / positioning system (e.g., within 1 second, 2 seconds, 10 seconds, 1 minute, or multiple minutes of the vehicle being at an identified location). With a more reliable geographic location, an enterprise may be able to direct vehicles within an area with greater confidence. With more reliable locations of multiple vehicles, built-in errors may be reduced so that an enterprise may direct vehicles more efficiently (e.g., driving along a route or loading or unloading). For an enterprise that remotely controls one or more vehicles, such as drones, more reliable locations may reduce collisions and / or allow for tighter clearances between vehicles or between vehicle systems.

[0054] Figure 11 is a schematic diagram of a system (e.g., a communication system) 100 for determining a three-dimensional model representing a space occupied by a vehicle according to one embodiment. The system 100 may include a remote station 102, a mobile communication device 104, and a vehicle communication system 106. The vehicle communication system may be a communication system of a vehicle to be tracked. For example, the vehicle communication system may be part of a control vehicle of a vehicle group, and the control vehicle communicates with remote vehicles of a plurality of vehicle groups.

[0055] Each remote station, vehicle communication system and mobile communication device may be equipped with one or more communication units, one or more control units and one or more storage devices (e.g., memory). For example, a mobile communication device may include a device communication unit 112, a device control unit 114, a memory 116, an input device 118 and an output device 119. The communication unit has a transceiver or antenna 113.

[0056] The vehicle communication system may include a first communication unit 122, a second communication unit 124, a vehicle control unit 128, and a memory 126. The communication unit may have a transceiver 123. Although not shown, the vehicle communication system may include an input device and an output device that constitute at least a portion of a user interface. Similarly, the remote station may include a system communication unit 132, a system control unit 134, and a memory 136. The remote station may include a user interface having an input device and an output device.

[0057] Figure 1 The communication system in may include a distributed computing environment or may be part of a distributed computing environment. As used herein, "one or more processors" may include at least one processor (e.g., a controller) of a mobile communication device, at least one processor of a vehicle, and at least one processor of a remote station. Embodiments may be implemented through various computer system configurations, including multi-processor systems, microprocessor-based or programmable consumer electronics, minicomputers, mainframe computers, and the like. In a distributed computing environment, tasks may be performed by devices or systems that are independent of each other but connected through a communication network. One or more devices or systems may be remotely located. In a distributed computing environment, program modules may be located in local and remote computer storage media, including memory storage devices. The distributed computing environment may be contained in a vehicle (e.g., a locomotive), multiple vehicles in a vehicle system, other vehicles in a fleet, or outside a vehicle at a roadside or central office using wireless communication.

[0058] However, some embodiments need not be implemented in a distributed computing environment. For example, one or more embodiments may be implemented entirely within a mobile communication unit, within a vehicle communication system, or within a remote station.

[0059] As used herein, a "communication unit" includes a receiver or transceiver and associated circuitry (e.g., an antenna) for wirelessly communicating (e.g., communicating and / or receiving) messages within one or more frequency bands. These messages may include link messages, command messages, confirmation messages, reply messages, retry messages, repeat messages, etc. for establishing a network. The communication unit may communicate within a predetermined radio frequency (RF) band and according to a specified protocol. For example, the communication unit may communicate according to one or more satellite navigation standards, such as GPS, Global Navigation Satellite System (GLONASS), Beidou Navigation Satellite System (BDS), Galileo, Indian Constellation Navigation (NavIC), Quasi-Zenith Satellite System (QZSS), Doppler orbit map, and at least one positioning integrated by satellite (DORIS) and the like. The communication unit may enhance the position data or receive enhanced position data. Enhancement may include calculating the spatial position by using additional external information.

[0060] A controller or control unit (e.g., a device control unit, a vehicle control unit, or a system control unit) may include one or more processors. One or more processors may include or represent one or more hardware circuits, or include, connect, or both include and connect circuits of one or more microprocessors, controllers, or other hardware logic-based devices. One or more processors may operate based on program instructions (e.g., software) stored in a memory. In addition to other operations, one or more processors and associated memories may also perform one or more operations of the embodiments described herein. For example, a removable communication device may be a personal communication device, such as a smartphone or tablet computer, having an application that may implement one or more embodiments. Therefore, the same processor and associated memory used to execute one or more embodiments may be used to perform operations typically associated with smartphones. Similarly, one or more processors of a vehicle communication system may perform operations typically associated with a mobile vehicle (e.g., instructing a propulsion system and / or a braking system). As another example, one or more processors of a vehicle communication system may transmit command messages to other vehicles (e.g., remote vehicles).

[0061] Memory may represent a tangible, non-transitory computer-readable storage medium, such as a computer hard drive or other volatile or non-volatile memory. Memory may store one or more sets of instructions (e.g., software) that instruct one or more processors to perform one or more operations. Memory may represent a local device that stores data electronically and / or magnetically. For example, memory may represent a computer hard drive, random access memory, read-only memory, dynamic random access memory, optical disk drive, etc.

[0062] Optionally, the remote station, the vehicle communication system, and the mobile communication device may include a user interface having input devices and output devices. The input device may include or represent a touch screen, a keyboard, an electronic mouse, a joystick, a handheld controller, a microphone, etc. The output device may include or represent a display screen, such as a monitor, which provides a visual user interface to an operator controlling the vehicle. The output device may optionally include other components, such as audio speakers, tactile or vibration elements, etc. The user interface may include only one or more input devices, one or more output devices, or both input devices and output devices.

[0063] Figure 2 shows that it can be used with a communication system (such as Figure 1 200 for use with a mobile communication device 200 for use with a system (shown in FIG. 1 ). As shown, the mobile communication device is a portable communication device that can be easily carried by an average-sized adult. For example, the mobile communication device may include a body 202 and a support structure 204. The body represents a computing device that carries a communication unit 206. For example, the size of the body may be similar to a tablet, a laptop, or a smartphone.

[0064] Figure 2 The support structure in FIG. 1 is a monopod. More specifically, it is an elongated rod or bar having a first end or top end 208 to which the main body is fixed. A second end or bottom end 210 of the support structure is opposite the first end. A portion of the support structure, which may include the second end, is located near a coupler or knuckle 212 of a locomotive (not shown). The support structure has an indeterminate first dimension 214 (indicated by a separate wavy line). Figure 2 The first dimension in is a length that allows the mobile communication device to be positioned at a specified height. For example, the first dimension may be one meter or more, but other dimensions may also be used.

[0065] The body may include a housing 216 and a user interface 218, which may include an input device 220 and an output device 222. Figure 2 In the embodiment of the present invention, the input device may include user-selectable elements 224, such as buttons of different sizes. The input device may include an audio receiver. As shown, the output device includes a display 226. The output device may include an audio speaker. Optionally, the display may be touch-sensitive. Therefore, a touch-sensitive display may constitute a part of the input device and output device of the user interface. As described herein, the user interface may guide the user through a specified workflow to obtain position data.

[0066] Figure 3A is a front view of a vehicle 300 according to one embodiment, Figure 3B is a side view of a vehicle. For ease of illustration, mutually perpendicular X, Y and Z axes are shown. Figure 3A and Figure 3BAn example of how a first communication unit 302 and a second communication unit 304 may be positioned relative to a vehicle is shown. More specifically, the vehicle may include a body 306. The body 306 may include a first (or front) end 308, a second (or rear) end 310, a first side 312, a second side 314, a top (or top side) 316, and a bottom (or bottom side) 318. The first and second communication units are positioned along the top of the vehicle. However, the first and second communication units have different locations or positioning along the top. For embodiments where the vehicle may be interconnected with other vehicles (e.g., a locomotive), the vehicle may include a coupler or knuckle 320 located at the first end or the second end.

[0067] The first communication unit and the second communication unit may have corresponding spatial positions 303, 305. The spatial position is a three-dimensional position, which can be expressed in a variety of ways. For example, the spatial position can be represented by X, Y, Z coordinates, latitude, longitude and elevation coordinates, map coordinates within a specified model, spatial codes, etc. The spatial position can be those used by known satellite navigation systems (e.g., GNSS) or other radio navigation systems.

[0068] In some embodiments, at least one of the first communication unit and the second communication unit is located along the exterior of the vehicle. In other embodiments, at least one of the first communication unit or the second communication unit is located inside the vehicle or within the body of the vehicle so that the first communication unit and / or the second communication unit is not easily visible or accessible.

[0069] Figure 4 An environment is shown according to one embodiment, wherein various parts of a system 400 (e.g., a communication system) are distributed with respect to each other, but communicate with each other to obtain data for generating a virtual model of a vehicle. The vehicle system 401 shown may include vehicles 402, 403, 404 of the vehicle system, which may be referred to as a vehicle group. In the embodiment shown, these vehicles are propulsion-generating vehicles that are indirectly coupled to each other via non-propulsion-generating vehicles 408. Each propulsion-generating vehicle and non-propulsion-generating vehicle is mechanically coupled to at least one other vehicle. The vehicle system or group may travel along a route 410.

[0070] In the illustrated embodiment, the propulsion-generating vehicle is shown as a locomotive, the non-propulsion-generating vehicle is shown as a railcar, and the vehicle system is shown as a train. Alternatively, the vehicle may represent other vehicles, such as automobiles, ships, etc., and the vehicle group may represent a grouping or coupling of these other vehicles. The number and arrangement of vehicles in the vehicle group is provided as an example and is not intended to be a limitation on all embodiments of the subject matter described herein.

[0071] Each propulsion generation vehicle may include a first communication unit 412 and a second communication unit 414, and may communicate with each other. The propulsion generation vehicles may be arranged in a variety of ways. In some embodiments, the arrangement may be a distributed power (DP) arrangement. For example, the propulsion generation vehicle may include a control vehicle that issues command messages to other propulsion generation vehicles (referred to herein as remote vehicles). The names "control" and "remote" do not indicate the spatial position of the propulsion generation vehicle in the vehicle group, but are used to indicate which propulsion generation vehicle is transmitting (e.g., transmitting, broadcasting, or a combination of transmitting and broadcasting) a command message, and which propulsion generation vehicle is being remotely controlled using the command message. For example, the control vehicle may or may not be arranged at the front end of the vehicle group (e.g., along the direction of travel of the vehicle group). In addition, the remote vehicle does not need to be separated from the control vehicle. For example, the remote vehicle may be directly coupled to the control vehicle, or may be separated from the control vehicle by one or more other remote vehicles and / or non-propulsion generation vehicles.

[0072] The command information may direct the operation of the remote vehicle. These instructions may include propulsion commands that direct the propulsion subsystem of the remote vehicle to move at a specified speed and / or power level, braking commands that direct the remote vehicle to apply brakes at a specified level, and / or other commands. The control vehicle issues the command information to coordinate the traction and / or braking force provided by the propulsion generation vehicle. This may propel the vehicle along a route. Suitable routes may include tracks, roads, waterways, etc., depending in part on the type of vehicle and the end use. In addition to command messages and link messages, the control vehicle or one or more remote vehicles may transmit location messages including location data.

[0073] It is also shown that the system may include one or more mobile communication devices 420 and an optional remote station 422. The system may acquire location data broadcast by at least a first satellite 431, a second satellite 432, and a third satellite 433. However, in other embodiments, fewer or more satellites may be used, or other broadcasting devices may be used. The first and second communication units may receive location data (e.g., positioning and timing data) from one or more satellites. The vehicle may include a vehicle communication system 424 having at least one processor 425 coupled to the communication unit in a communicative manner. The vehicle communication system and / or the communication unit may use the location data to calculate the spatial position of the first communication unit and the spatial position of the second communication unit. Alternatively, at least one processor of the vehicle communication system may partially process the location data and transmit the location data to another system. Alternatively, the vehicle may transmit the location data to another system without any processing. The other system may be, for example, a mobile communication device or a remote station.

[0074] As shown, two of the vehicles have a mobile communication device located at the front end 426 of the vehicle. In some embodiments, a user of the mobile communication device can move between different vehicles and obtain location data for one or more vehicles respectively. The location data of each vehicle can be used to generate a virtual model of the vehicle, which can be used to locate the vehicle in a positioning system.

[0075] To obtain the location data for each vehicle, a communication link may be established between the mobile communication device and at least one vehicle or remote station. The communication link may be defined by a communication handshake between the two entities. For example, communication of a first message from the mobile communication device to the remote station (e.g., a link message) followed by successful communication of a second message from the remote station to the mobile communication device (e.g., a confirmation message) may be a communication handshake to establish the communication link. Alternatively, the communication link may be established via a dedicated communication channel used between the two entities. For example, a designated frequency or frequency band may define the communication link.

[0076] In some embodiments, at least two of the vehicle communication system, the mobile communication device, or the remote station establish a communication link between each other. For example, the mobile communication device may establish a communication link with each vehicle communication system and establish a communication link with the remote station. Alternatively, the mobile communication device may establish a communication link with the vehicle communication system that controls the vehicle (or guides the vehicle) and establish a communication link with the remote station. Alternatively, the mobile communication device may establish a communication link only with the vehicle communication system that the mobile communication device is currently measuring, or only with the vehicle communication system that controls the vehicle. Alternatively, the mobile communication device may establish a communication link only with the remote station.

[0077] A communication link is established between a first entity and a second entity (e.g., between a mobile communication device and a remote station, between a mobile communication device and a vehicle communication system, or between a vehicle communication system and a remote station), and the first entity may transmit a link message to the second entity. The link message may include a unique identification code associated with the second entity. For example, a vehicle may be associated with a unique vehicle code corresponding to the vehicle. In one embodiment, the unique identification code may not be associated with other entities or otherwise identify other entities. At the second entity that receives the link message, if the unique identification code in the link message matches, is associated with the second entity, or otherwise identifies the second entity, the second entity may transmit a confirmation message back to the first entity. The communication link between the first and second entities may be established in response to a link message received by the second entity and a confirmation message received by the first entity. Alternatively, once the link message is received at the second entity, a communication link between the first and second vehicles may be established without the need for receiving a confirmation message at the first entity.

[0078] The link information may be communicated via a remote station, a vehicle communication system, or a mobile communication device. Likewise, a confirmation message may be communicated via a remote station, a vehicle communication system, or a mobile communication device. In some embodiments, the communication link may be established at least partially automatically. For example, upon opening an application, the remote station may automatically send a link message to one or more mobile communication devices. The user of the mobile communication device may be prompted to respond (e.g., "Establish a communication link with the remote station?"). If confirmed, the mobile communication device may transmit a confirmation message. Alternatively, the mobile communication device may automatically send a confirmation message in response to receiving the link message.

[0079] As another example, a user of the mobile communication device may provide user input. In response to the user input, the mobile communication device may transmit a link message to at least one of the vehicle or the remote station. Upon receiving the confirmation message, the user of the mobile communication device may initiate a workflow for acquiring location data for generating a virtual model of the vehicle.

[0080] For some embodiments, the user may be on the vehicle when the link message is transmitted or the link message is acknowledged. In response to the operator's operation of the user interface on the remote vehicle, the user interface generates a signal for transmitting the link message or for indicating that the link message has been received.

[0081] Figure 5A and Figure 5B Different views of a vehicle 500 and a first communication unit 502 and a second communication unit 504 fixed to a body 506 of the vehicle are shown. For ease of illustration, the vehicle is shown relative to mutually perpendicular X, Y, and Z axes. The first and second communication units may be on-board communication units that can be used for other purposes. For example, a vehicle communication system of the vehicle may use the first and second communication units to communicate with a remote station, another vehicle or vehicle of a vehicle system (e.g., command messages, reply messages, link messages, etc.), or with other vehicles that move independently.

[0082] Figure 5A and Figure 5B A mobile communication device 508 is shown with a device communication unit 510. The mobile communication device has a support structure 516 that elevates the device communication unit to a higher elevation so that, for example, the device communication unit can have an unobstructed path for receiving location data. Prior to acquiring location data, the device communication unit is positioned relative to the vehicle, or more specifically, relative to a designated point 518 of the vehicle. The device communication unit is located at a device spatial location 520, the first communication unit is located at a first spatial location 522, and the second communication unit is located at a second spatial location 524.

[0083] Each communication unit acquires position data (e.g., from one or more satellites) to determine the corresponding spatial position of the communication unit. The communication units may acquire position data simultaneously or within a few seconds of each other. However, it should be understood that the communication units may acquire position data at separate times. Optionally, the communication units may acquire position data multiple times within a specified time period (e.g., 10 seconds, 30 seconds, 1 minute, or multiple minutes), and use the position data from the multiple acquisitions to determine the spatial position of the corresponding unit (e.g., an average spatial position).

[0084] In the case where the spatial positions of different communication units are known, the relative positions of the device communication unit relative to the first communication unit and relative to the second communication unit can be obtained. For example, one or more embodiments can determine a first distance 541 between the first spatial position and the second spatial position, a second distance 542 between the device spatial position and the first spatial position, and a third distance 543 between the device spatial position and the second spatial position. A point-device spacing distance 544 from the device communication unit to a specified point can be determined. For example, in the case where the size of the mobile communication device is known, the point-device spacing distance can be calculated when the mobile communication device is positioned relative to the vehicle in a specified manner. For example, the mobile communication device can be positioned so that one end of the support structure engages with the vehicle (for example, at a coupler) and so that the support structure extends parallel to the Z axis. Therefore, the relative position of the specified point relative to the first communication unit and the second communication unit can be determined.

[0085] Embodiments in which the device communication unit is vertically aligned with a designated point on the vehicle may reduce potential errors in calculating the spatial position of the vehicle by reducing the number of calculations and potential measurement errors.

[0086] Figure 6 6 is a side view of a vehicle 600 showing two mobile communication devices 602, 604 for acquiring location data at a front end 612 and a rear end 614 of the vehicle, although other embodiments may acquire location data at different locations of the vehicle. The vehicle includes a first communication unit 622 and a second communication unit 624. In the embodiment shown, each mobile communication device may include a device body 606, a communication unit 608 (e.g., an antenna), a cable 610 interconnecting the device body and the communication unit, and a support structure 605.

[0087] The device communication unit is positioned relative to the vehicle so that the spatial position of the device communication unit is positioned relative to the designated points 632, 634. For example, the device communication unit is positioned to align with the surface of the front end or the surface of the rear end. In the illustrated embodiments, the support structure is a platform or frame that can be temporarily fixed to the vehicle. In these embodiments, the support structure can hold the communication unit in a fixed position relative to the vehicle. For example, the support structure may include fasteners (e.g., clasps, clamps, clips, screws, etc.) and / or magnets that engage with the surface of the vehicle. The fasteners and / or magnets may be suitable for holding the support structure and the communication unit in a fixed position relative to the vehicle.

[0088] The device body may be similar to a portable communication device, such as a laptop, tablet computer, or smartphone. The device body may be communicatively coupled to the device communication unit via a cable. Alternatively, the device body may be in wireless communication with the device communication unit. As described herein, the device communication unit and the vehicle communication unit may obtain position data for determining the spatial position of the respective communication units. Given the known spatial position, the vehicle spatial position of a specified point may be determined.

[0089] Fig. 7A 700 according to one embodiment. The method 700 may be performed by a communication system (e.g., Figure 1 The method may be performed by a mobile communication device having one or more vehicles, and optionally, another mobile communication device responds to a request from the mobile communication device. Alternatively, the method may be performed by a vehicle, and one or more mobile communication devices respond to a request from the vehicle.

[0090] At 702, a mobile communication device is positioned relative to a vehicle. For example, the mobile communication device may be positioned such that a device communication unit is adjacent to a designated point of the vehicle. Alternatively, the device communication unit may be positioned near a designated surface of the vehicle that has a known relative position relative to the designated point, for example.

[0091] At 704, location data may be received, for example, at one or more processors of a communication system. The one or more processors may include at least one device processor of a mobile communication device, at least one vehicle processor of a vehicle, or at least one remote or station processor of a remote station. In a particular embodiment, the common entity receives location data from each communication unit. For example, a mobile communication device may receive location data from a device communication unit and a first and second communication unit of a vehicle. Alternatively, a remote station may receive location data from a device communication unit and a first and second communication unit of a vehicle. In another embodiment, a vehicle communication system receives location data from a device communication unit and a first and second communication unit.

[0092] At 706, a device spatial location of a device communication unit, a first spatial location of a first communication unit, and a second spatial location of a second communication unit may be determined. For example, each spatial location may include longitude, latitude, and altitude calculated from timing data received from a plurality of satellites. In some embodiments, the spatial location is determined by a communication unit or an entity associated with the communication unit. For example, at least one device processor of a mobile communication device may determine the spatial location of the device communication unit, and at least one vehicle processor of a vehicle communication system may determine the spatial location of the first and second communication units. In other embodiments, the spatial locations of the communication units are determined by a common entity. For example, a remote station may receive location data from the device communication unit and the first and second communication units, and determine the device spatial location, the first spatial location, and the second spatial location, respectively.

[0093] At 708, a virtual model may be generated using the spatial position. The virtual model of the vehicle may be used by a positioning system. More specifically, the virtual model provides one or more points located relative to an estimated position of the vehicle. More specifically, the estimated position of the vehicle generally corresponds to a spatial position identified by a first communication unit, a second communication unit, or another communication unit capable of receiving position data (e.g., position and timing data, etc.). In the event that the spatial position of the communication unit in use is known within a useful time period (e.g., real time), the virtual model may identify a designated point of the vehicle.

[0094] For example, the virtual model can be based on a vehicle spatial position of a specified point of the vehicle. The vehicle spatial position is based on the device spatial position, the first spatial position, and the second spatial position. In a particular embodiment, the vehicle spatial position is based on a first distance between the first spatial position and the second spatial position, a second distance between the device spatial position and the first spatial position, and a third distance between the device spatial position and the second spatial position.

[0095] In some embodiments, the virtual model is based on multiple models, wherein data from at least two models is combined in some manner. Figure 7B724 can be based on a local model 720 and at least one geometric model 722 of the vehicle. The local model represents an outer boundary (e.g., an outer surface or external features) of the vehicle, which is defined by at least one boundary point 726 determined by embodiments described herein. In some embodiments, the boundary point corresponds to the spatial location of the vehicle at the specified point. The local model may include at least one point for a vehicle communication unit. Figure 7B , the local model may include points 727 and 728 representing the first communication unit and the second communication unit of the vehicle.

[0096] Optionally, the local model and the geometric model may be registered with each other. The geometric model represents another model of the vehicle representing at least a portion of the physical structure of the vehicle. However, the geometric model may not be generated using the position data acquired by the mobile communication device described herein. Instead, the geometric model may be based on, for example, a manufacturer's specification or drawing or another modeling process (e.g., image analysis).

[0097] The geometric model may include at least one other boundary point. Figure 7B The geometric model in includes five boundary points 731, 732, 733, 734 and 735 located along the front end and two points 736 and 737 representing two vehicle communication units. In order to register the local model and the geometric model, at least two common points or shared points of each model can be identified. A shared point refers to the same landmark or the same feature of the vehicle. In the embodiment shown, the shared points include points corresponding to the first and second communication units, which are points 727, 736 for the first communication unit, points 728, 737 for the second communication unit, and points 726, 733 for designated points of the vehicle. In order to register or combine the models, at least one of the local model or the geometric model can be processed (compressed or stretched) so that the shared points coincide with each other. Since the local model is specific to the vehicle of interest and is based on actual data, the local model can dominate when registering or otherwise combining the two models.

[0098] The geometric model and the local model are registered to form a virtual model, and the virtual model may include the specified boundary point and at least one other boundary point. Figure 7B In the registration / combination process, one or more points in the virtual model are moved relative to the other model.

[0099] In other embodiments, the boundary points may have known relative positions relative to the specified point. The local model may include multiple boundary points extending laterally to the end of the vehicle. For example, the boundary points may extend through the front surface or the rear surface of the bumper. At least one boundary point corresponds to the vehicle spatial position. Other boundary points may have known positions relative to the vehicle spatial position. For example, if the specified point may be located at the center of the front end, other boundary points not determined using the device communication unit may be distributed on either side of the specified point. Therefore, the boundary shown in the virtual model can define the boundary or outer surface of the vehicle using a limited set of points. In this way, a vehicle model that does not require excessive computing resources can be used.

[0100] In other embodiments, the local model is at most two points, for example, a designated point and a point representing one of the vehicle communication units. In these embodiments, the designated point is located relative to the estimated position of the vehicle communication unit and can be tracked to ensure that the vehicle does not collide with other vehicles. However, in other embodiments, the local model is at most three points, for example, a designated point and two points representing two vehicle communication units.

[0101] Back to Fig. 7A Optionally, the method may return to repositioning the mobile communication device at 702 relative to a designated point of another vehicle, and the method may be performed again one or more times.

[0102] After the plurality of virtual models are generated, the virtual models may be used to generate a system model of a vehicle system having a plurality of vehicles at reference numeral 710. As described herein, at least two vehicles of the vehicle system may have virtual models. The system model may be generated by combining a virtual model of a first vehicle and a virtual model of a second vehicle in some manner, and so on.

[0103] At reference numeral 712, a positioning system may use a virtual model to determine the location of the vehicle. The positioning system may be a conventional and / or well-known radio navigation system (e.g., GNSS or RNSS) or a proprietary navigation system. In some embodiments, the location of the vehicle may not be represented by a single point. Instead, the vehicle location may be determined by two or three points. For example, the vehicle location may be determined by a point representing the front end, a point representing a vehicle communication unit (e.g., a GPS receiver), and a point representing the rear end. In other embodiments, the vehicle location is represented by only a single point, such as the front end or rear end of the vehicle. In any one example, an embodiment may monitor the location of the vehicle so that the vehicle maintains a safe distance from an object or an intersecting route.

[0104] Figure 8An environment is shown in which a vehicle system 800 has a first (or lead) vehicle 801 and a second (or towing) vehicle 802 that are mechanically coupled to each other. Throughout operation of the vehicle system, a remote device 804 having a positioning system 805 can track the position of one or both vehicles and / or track the position of the vehicle system. To this end, the positioning system can use a virtual model having one or more boundary points. In the embodiment shown, the virtual model includes three or four boundary points. Figure 8 In the example, the first vehicle may include four boundary points 811, 812, 813, 814, and the second vehicle may include three boundary points 821, 822, 823. Each boundary point may be tracked, or only one or more boundary points may be tracked.

[0105] In one or more embodiments, the virtual model described herein can more accurately estimate the position of the vehicle. Therefore, the positioning system can allow the vehicle system to get closer to an object or intersection. For example, an embodiment can allow the boundary point 811 to stop at position A instead of position B. The gap 841 between position A and the intersection or object 842 can be shorter than the gap 843 between position B and the intersection or object.

[0106] Fig.9A is a flowchart illustrating a method 900 according to one embodiment, and refers to Fig. 9B Describe, Fig. 9B A workflow 930 of screen displays that may be presented to a user of one or more embodiments is shown. Although the following will describe methods where only a display of a mobile communication device may present screen displays, it should be understood that other embodiments may utilize a display in a vehicle or a display of a remote station to present one or more screen displays to a user.

[0107] In order to obtain position data for generating a virtual model of the vehicle, at step 902, a communication link may need to be established between the mobile communication device, the vehicle, and / or the remote station. The user interface of the mobile communication device may display a screen prompt step 932, asking the user whether he wishes to request at least one of the communication links, thereby transmitting a link message to another system, or agree to a communication link with another system, thereby transmitting a confirmation message. In some embodiments, the request and / or confirmation may occur automatically. For example, if the user has already launched a local application on the mobile communication device, it can be assumed that the user wants to establish a communication link. Alternatively, the screen prompt may present options for potential communication links. For example, the screen prompt may display multiple vehicles that can be communicated with or display that a remote station is available.

[0108] Optionally, at step 904, a vehicle of interest may be identified, and at step 906, the vehicle of interest may be assigned to a vehicle system. The vehicle of interest is a vehicle for which the user wishes to obtain location data for generating a virtual model. The identification and assignment operations may occur at a later time, or the user may request the operation. For example, a screen prompt step 934 may be presented to the user and identification information may be requested from the user. A single query requesting information may be presented to the user. For example, the screen prompt step 934 may request a vehicle identification number, a vehicle type, or other identifying features of a vehicle. Similarly, a screen prompt step 936 may be presented to the user and request identification information for the vehicle system. Such identification information may include a destination for the vehicle system, a number of vehicles, a track line, and the like.

[0109] In the case of identifying vehicles and assigning vehicle systems, location data acquired by the mobile communication device can be communicated to other systems with identification information.

[0110] Screen prompt step 938 may ask the user to confirm that the user wishes to turn on obtaining location data or otherwise map a specified point of the vehicle relative to the communication unit. In step 908, the specified point of the vehicle may be identified. The vehicle may have multiple potential specified points, and / or when multiple specified points are available, the user may choose to identify only one specified point. Depending on the circumstances, it may be easier to obtain one specified point than another specified point. Therefore, screen prompt step 940 may be presented to the user and the user may be requested to identify one or more specified points to be located. For example, one or more images of a vehicle type may be presented to the user. Optionally, the image may include a highlighted point or an area indicating a potential specified point. User input may identify the one or more specified points.

[0111] At step 910, the device communication unit is positioned relative to the vehicle. In certain embodiments, screen prompt step 942 may instruct the user to position the communication unit in a specified manner. For example, depending on the available support structure, screen prompt step 942 may instruct the user how to hold the communication unit.

[0112] At step 912, the method may query whether the communication unit is correctly positioned, and if not, provide instructions to reposition the communication unit at step 914. For some embodiments, such as embodiments having a communication unit integrated with the device body, a screen prompt step 944 may instruct the user to reorient the communication unit, such as by moving, tilting, or rotating it. When the communication unit has the correct position, a screen prompt step 946 may instruct the user to hold the communication unit in a stationary manner until the position data is acquired.

[0113] At step 916, the method may confirm that the location data has been received. For example, screen prompt step 948 may inform the user that the location data has been received. At step 918, as shown by screen prompt step 950, the method may query whether the method should be repeated for another specified point on the same vehicle or another vehicle. If so, the method may be repeated.

[0114] In some embodiments, upon mapping the required number of designated points, a screen prompt step 952 may ask whether the position data should be transmitted to another system, such as a remote station.

[0115] In one or more embodiments, a system is provided, which may include a movable communication device including a device communication unit. The device communication unit may be positioned relative to a vehicle. The system may include a controller having one or more processors, and the controller may receive position data from the device communication unit and at least a first communication unit and a second communication unit positioned relative to the vehicle. The position data may include a device spatial position of the device communication unit, a first spatial position of the first communication unit, and a second spatial position of the second communication unit. The processor may determine the vehicle spatial position of a designated point of the vehicle based on a first distance between the first spatial position and the second spatial position, a second distance between the device spatial position and the first spatial position, and a third distance between the device spatial position and the second spatial position. The processor may generate a virtual model of the vehicle based on the vehicle spatial position of the designated point. The virtual model, when used by a positioning system to locate the vehicle, indicates the vehicle spatial position relative to the estimated position of the vehicle.

[0116] In one or more aspects, the processor may generate a local model representing an outer boundary of the vehicle. The local model may include, for example, a specified boundary point based on the spatial position of the vehicle at the specified point. When generating the virtual model, the processor may register the local model and a geometric model of the vehicle with each other. The geometric model may include, for example, at least one other boundary point representing at least one other point along the outer boundary of the vehicle. The virtual model may include the specified boundary point and the at least one other boundary point.

[0117] Alternatively, the outer boundary may represent at least one of a front surface of the vehicle, a rear surface of the vehicle, or a side surface of the vehicle extending between the front surface and the rear surface.

[0118] In one or more aspects, the virtual model may include a designated boundary point based on the spatial position of the vehicle at the designated point and representing the front or rear end of the vehicle. The processor may use the designated boundary point to determine whether a safe distance exists between the vehicle and an object or an intersecting route.

[0119] In one or more aspects, the mobile communication device may include at least one device processor of the one or more processors. The system may include a remote station, the remote station may include at least one station processor of the one or more processors. Optionally, the at least one device processor of the mobile communication device may transmit at least one of a virtual model, a geometric model, a geometric model and a virtual model registered together, a device spatial position, a first spatial position, a second spatial position, or a vehicle spatial position.

[0120] In one or more aspects, the vehicle is a first vehicle, the position data is a first position data, the device spatial position is a first device spatial position, the vehicle spatial position is a first vehicle spatial position, and the virtual model is a first virtual model. After the device communication unit moves from the first vehicle and is positioned relative to a second designated point of the second vehicle, the processor may receive second position data from the device communication unit and at least a third communication unit and a fourth communication unit positioned relative to the second vehicle. The second position data may include a second device spatial position of the device communication unit, a third spatial position of the third communication unit, and a fourth spatial position of the fourth communication unit. The one or more processors may determine a second vehicle spatial position of the second designated point based on a fourth distance between the third spatial position and the fourth spatial position, a fifth distance between the second device spatial position and the third spatial position, and a sixth distance between the second device spatial position and the fourth spatial position. The one or more processors may generate a second virtual model of the second vehicle based on the second vehicle spatial position of the second designated point. The second virtual model, when used by the positioning system to locate the second vehicle, indicates the second vehicle spatial position relative to the estimated position of the second vehicle.

[0121] Optionally, the one or more processors may generate a system model of a vehicle system having first and second vehicles using the first virtual model and the second virtual model. In one or more aspects, the one or more processors may receive user input from an input device and, in response to receiving the user input, assign a vehicle to a vehicle system or fleet having a plurality of vehicles and / or assign a vehicle type to a vehicle. In one or more aspects, the mobile communication device may include a user interface that may receive user input. The user interface may transmit a request for location data from a device communication unit in response to receiving the user input.

[0122] In one or more aspects, the mobile communication device may transmit a message to a local control unit of the vehicle. The message may request location data from the first and second communication units. In one or more aspects, the mobile communication device may include a user interface that may receive user input. The user interface may assign a specified point to a structural feature of the vehicle or identify the relative position of the mobile communication device when the mobile communication device is positioned relative to the vehicle in response to receiving the user input. In one or more aspects, the mobile communication device may include a sensor assembly for determining the height of the mobile communication device and / or the position of the mobile communication device relative to the vehicle. The processor may receive the location data from the sensor assembly and notify an operator of the mobile communication device that the mobile communication device is correctly positioned relative to the vehicle.

[0123] In one or more embodiments, a mobile communication device is provided, which may include a device communication unit that can obtain location data and a user interface that can receive user input and transmit a control signal in response to receiving the user input. The mobile communication device may include a processor that can receive the control signal from the user interface. In response to receiving the control signal, the processor may request and receive location data from the device communication unit. The processor may transmit a device message to at least one of a remote station or a vehicle. The device message may include at least one of location data or a request for location data from a vehicle. The processor may receive vehicle information from the vehicle. The vehicle message may include vehicle location data from a first communication unit and a second communication unit of the vehicle.

[0124] In one or more aspects, the processor of the mobile communication device can confirm that the mobile communication device has a specified location relative to a specified point before requesting location data from the device communication unit. In one or more aspects, the one or more processors can assign a vehicle to a vehicle system or fleet having a plurality of vehicles in response to user input. In one or more aspects, the mobile communication device can include a fastener for securing the mobile communication device to the vehicle in a fixed location.

[0125] In one or more embodiments, a method is provided, which may include positioning a mobile communication device relative to a specified point of a vehicle. The mobile communication device may include a device communication unit. The method may include receiving position data from the device communication unit and from at least a first communication unit and a second communication unit positioned relative to the vehicle. The position data may include a device spatial position of the device communication unit, a first spatial position of the first communication unit, and a second spatial position of the second communication unit. The method may include determining a vehicle spatial position of a specified point of the vehicle based on a first distance between the first spatial position and the second spatial position, a second distance between the device spatial position and the first spatial position, and a third distance between the device spatial position and the second spatial position. The method may include generating a virtual model of the vehicle based on the vehicle spatial position of the specified point. The virtual model, when used by a positioning system to locate the vehicle, indicates the vehicle spatial position relative to an estimated position of the vehicle.

[0126] In one or more aspects, the method may include generating a local model representing an outer boundary of the vehicle. The local model may include specified boundary points based on the spatial position of the vehicle at the specified point. The method may include generating a virtual model to register the local model and the geometric model of the vehicle with each other. The geometric model may include at least one other boundary point representing at least one other point along the outer boundary of the vehicle. The virtual model may include the specified boundary point and the at least one other boundary point. In one or more aspects, the outer boundary represents at least one of a front surface of the vehicle, a rear surface of the vehicle, or a side surface of the vehicle extending between the front surface and the rear surface. In one or more aspects, the mobile communication device may notify the virtual model of the device spatial position, the first spatial position, the second spatial position, or the vehicle spatial position.

[0127] In one or more aspects, the vehicle is a first vehicle, the position data is a first position data, the device spatial position is a first device spatial position, the vehicle spatial position is a first vehicle spatial position, and the virtual model is a first virtual model. The method may include positioning a movable communication device relative to a second designated point of a second vehicle. The method may include receiving second position data from a device communication unit and from at least a third communication unit and a fourth communication unit positioned relative to the second vehicle. The second position data may include a second device spatial position of the device communication unit, a third spatial position of the third communication unit, and a fourth spatial position of the fourth communication unit. The method may include determining a second vehicle spatial position of a second designated point on the vehicle based on the second device spatial position of the device communication unit. The method may include generating a second virtual model of the second vehicle based on a fourth distance between the third spatial position and the fourth spatial position, a fifth distance between the second vehicle spatial position and the third spatial position, and a sixth distance between the second vehicle spatial position and the fourth spatial position.

[0128] In one or more aspects, the method may include receiving user input from an input device, and in response to receiving the user input, assigning a vehicle to a vehicle system or fleet having a plurality of vehicles, and / or assigning a vehicle type to a vehicle. Optionally, the method may include generating a system model of a vehicle system having first and second vehicles using a first virtual model and a second virtual model. Optionally, the method may include receiving user input at a user interface of a mobile communication device, and in response to receiving the user input, sending a request for location data from a device communication unit. In one or more aspects, the method may include sending a message from the device communication unit to a local control unit of the vehicle, wherein the message requests location data from the first and second communication units. In one or more aspects, the mobile communication device may include a user interface that may receive user input, and the method may include assigning a designated point to a structural feature of the vehicle and / or identifying a relative position of the mobile communication device when the mobile communication device is positioned relative to the vehicle in response to receiving the user input.

[0129] The description is illustrative and non-restrictive. For example, the embodiments (and / or aspects thereof) may be used in combination with each other. In addition, many modifications may be made to adapt specific situations or materials to the teachings of the subject matter of the present invention without departing from its scope. Although the sizes and types of materials described herein are intended to define the parameters of the subject matter of the present invention, they are by no means restrictive and are exemplary embodiments. After reviewing the above description, many other embodiments will be apparent to those of ordinary skill in the art. Therefore, the scope of the subject matter of the present invention should be determined with reference to the appended claims and the full range of equivalents enjoyed by these claims. In the appended claims, the terms "including" and "wherein" are used as the pure language equivalents of the corresponding terms "including" and "wherein". In addition, in the following claims, the terms "first", "second" and "third" etc. are used only as labels and are not intended to impose numerical requirements on their objects.

[0130] The foregoing description of certain embodiments of the subject matter of the present invention will be better understood when read in conjunction with the accompanying drawings. To the extent that the drawings show diagrams of the functional blocks of various embodiments, the functional blocks do not necessarily indicate the division between hardware circuits. Thus, for example, one or more functional blocks (e.g., a processor or memory) may be implemented in a single piece of hardware (e.g., a general purpose signal processor, a microcontroller, a random access memory, a hard disk, etc.). Similarly, these programs may be stand-alone programs, may be incorporated into an operating system as subroutines, may be functions in an installed software package, and so on. The various embodiments are not limited to the arrangements and tools shown in the drawings.

[0131] As used herein, an element or step recited in the singular and preceded by the word "a" should be understood as not excluding the plural form of the element or step, unless such exclusion is explicitly stated. In addition, reference to "one embodiment" of the subject matter of the present invention is not intended to be interpreted as excluding the existence of additional embodiments that include the described features. In addition, unless explicitly stated to the contrary, an embodiment that "comprises," "includes," or "has" one or more elements having a particular property may include additional such elements that do not have that property.

[0132] This written description uses examples to disclose several embodiments of the inventive subject matter and to enable a person of ordinary skill in the art to practice the embodiments of the inventive subject matter, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the inventive subject matter is defined by the claims, and may include other examples that occur to a person of ordinary skill in the art. Such other examples are intended to fall within the scope of the claims if they have structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal language of the claims.

Claims

1. A system for determining a model for positioning a vehicle, comprising: A mobile communication device including a device communication unit configured to be positioned relative to a vehicle; A controller having one or more processors, wherein the one or more processors are configured to: receiving position data from the device communication unit and at least a first communication unit and a second communication unit positioned relative to the vehicle, the position data comprising a device spatial position of the device communication unit, a first spatial position of the first communication unit, and a second spatial position of the second communication unit; determining a vehicle spatial position of a designated point of the vehicle based on a first distance between the first spatial position and the second spatial position, a second distance between the device spatial position and the first spatial position, and a third distance between the device spatial position and the second spatial position; as well as Based on the spatial position of the vehicle at the designated point, a virtual model of the vehicle is generated, the virtual model indicating the spatial position of the vehicle relative to the estimated position of the vehicle when used by a positioning system to position the vehicle.

2. The system according to claim 1, wherein: The one or more processors are further configured to: generate a local model representing an outer boundary of the vehicle, the local model including a designated boundary point based on a spatial position of the vehicle at the designated point, The one or more processors are also configured to: when generating the virtual model, register the local model and the geometric model with each other based on at least two shared points between the local model and the geometric model of the vehicle, wherein the geometric model includes at least one other boundary point representing at least one other point along the outer boundary of the vehicle, and the shared point is a point representing the same landmark or the same feature of the vehicle in the local model and the geometric model, and the virtual model includes the designated boundary point and the at least one other boundary point.

3. The system according to claim 1, wherein: The virtual model includes a designated boundary point based on the vehicle spatial position of the designated point and represents the front end or the rear end of the vehicle, The one or more processors are further configured to use the designated boundary point to determine whether the vehicle maintains a safe distance from an object or an intersecting route.

4. The system according to claim 1, wherein: The mobile communication device comprises at least one device processor of the one or more processors, the system further comprising a remote station comprising at least one station processor of the one or more processors, wherein: At least one device processor of the mobile communication device is configured to transmit at least one of the virtual model, the geometric model, the geometric model and the virtual model registered together, the device spatial position, the first spatial position, the second spatial position, or the vehicle spatial position.

5. The system according to claim 1, wherein: the vehicle is a first vehicle, the position data is first position data, the device spatial position is a first device spatial position, the vehicle spatial position is a first vehicle spatial position, and the virtual model is a first virtual model, The one or more processors are further configured to, after the device communication unit is moved from the first vehicle and positioned relative to a second designated point of a second vehicle: receiving second position data from the device communication unit and at least a third communication unit and a fourth communication unit positioned relative to the second vehicle, the second position data comprising a second device spatial position of the device communication unit, a third spatial position of the third communication unit, and a fourth spatial position of the fourth communication unit; determining a second vehicle spatial position of the second designated point based on a fourth distance between the third spatial position and the fourth spatial position, a fifth distance between the second device spatial position and the third spatial position, and a sixth distance between the second device spatial position and the fourth spatial position; as well as A second virtual model of the second vehicle is generated based on the second vehicle spatial position of the second designated point, wherein when the second virtual model is used by the positioning system to position the second vehicle, the second vehicle spatial position is indicated relative to the estimated position of the vehicle.

6. The system according to claim 1, wherein: The one or more processors are further configured to receive user input from an input device and, in response to receiving the user input, assign the vehicle to a vehicle system or fleet having a plurality of vehicles and / or assign a vehicle type to the vehicle.

7. The system according to claim 1, wherein: The mobile communication device comprises a user interface configured to receive user input, the user interface being configured to transmit a request for the location data from the device communication unit in response to receiving the user input.

8. The system according to claim 1, wherein: The mobile communication device is configured to transmit a message to a local control unit of the vehicle, the message requesting position data from the first communication unit and the second communication unit.

9. The system according to claim 1, wherein: The mobile communication device comprises a user interface configured to receive a user input, wherein the user interface, in response to receiving the user input, is configured to: assigning the designated point to a structural feature of the vehicle; or When the mobile communication device is positioned relative to the vehicle, a relative position of the mobile communication device is identified.

10. The system according to claim 1, wherein: The mobile communication device includes a sensor component for determining the posture of the mobile communication device and / or the position of the mobile communication device relative to the vehicle, and the one or more processors are also configured to receive position data from the sensor component and notify an operator of the mobile communication device that the mobile communication device is correctly positioned relative to the vehicle.

11. The system according to claim 1, wherein: The mobile communication device comprises: a user interface configured to receive user input and, in response to receiving the user input, transmit a control signal; and One or more mobile communication device processors are configured to receive the control signal from the user interface, wherein in response to receiving the control signal, the one or more mobile communication device processors are configured to request and receive the location data from the device communication unit, and the one or more mobile communication device processors are further configured to at least one of the following: transmitting a device message to a remote station and / or said vehicle, said device message comprising said position data and / or a request for position data from said vehicle; or A vehicle message is received from the vehicle, the vehicle message including location data of the vehicle from the first communication unit and the second communication unit of the vehicle.

12. The system according to claim 11, wherein: The one or more mobile communication device processors are further configured to confirm that the mobile communication device has a specified location relative to the specified point before requesting the location data from the device communication unit.

13. The system according to claim 11, wherein: The one or more mobile communication device processors are further configured to, in response to user input, assign the vehicle to a vehicle system or fleet having a plurality of vehicles.

14. The system according to claim 11, wherein: The mobile communication device includes a fastener for securing the mobile communication device to the vehicle in a fixed position.

15. A method for determining a model for positioning a vehicle, comprising: positioning a mobile communication device relative to a designated point of a vehicle, the mobile communication device comprising a device communication unit; receiving position data from the device communication unit and from at least a first communication unit and a second communication unit positioned relative to the vehicle, the position data comprising a device spatial position of the device communication unit, a first spatial position of the first communication unit, and a second spatial position of the second communication unit; determining a vehicle spatial position of a designated point of the vehicle based on a first distance between the first spatial position and the second spatial position, a second distance between the device spatial position and the first spatial position, and a third distance between the device spatial position and the second spatial position; as well as Based on the spatial position of the vehicle at the designated point, a virtual model of the vehicle is generated, the virtual model indicating the spatial position of the vehicle relative to the estimated position of the vehicle when used by a positioning system to position the vehicle.

16. The method according to claim 15, wherein: The method further includes generating a local model representing an outer boundary of the vehicle, the local model including a designated boundary point based on a spatial position of the vehicle at the designated point, The method also includes generating the virtual model, registering the local model and the geometric model with each other based on at least two shared points between the local model and the geometric model of the vehicle, wherein the geometric model includes at least one other boundary point representing at least one other point along an outer boundary of the vehicle, the shared point being a point representing the same landmark or the same feature of the vehicle in the local model and the geometric model, the virtual model including the designated boundary point and at least one other boundary point, and the outer boundary representing at least one of a front surface of the vehicle, a rear surface of the vehicle, or a side surface of the vehicle extending between the front surface and the rear surface.

17. The method according to claim 15, wherein: The mobile communication device is configured to transmit at least one of the virtual model, the device spatial position, the first spatial position, the second spatial position, or the vehicle spatial position.

18. The method according to claim 15, wherein: The vehicle is a first vehicle, the position data is first position data, the device spatial position is a first device spatial position, the vehicle spatial position is a first vehicle spatial position, the virtual model is a first virtual model, and the method further includes: positioning the mobile communication device relative to a second designated point of a second vehicle; receiving second position data from the device communication unit and from at least a third communication unit and a fourth communication unit positioned relative to the second vehicle, the second position data comprising a second device spatial position of the device communication unit, a third spatial position of the third communication unit, and a fourth spatial position of the fourth communication unit; determining a second vehicle spatial position of the second designated point on the vehicle based on a second device spatial position of the device communication unit; A second virtual model of the second vehicle is generated based on a fourth distance between the third spatial position and the fourth spatial position, a fifth distance between the second vehicle spatial position and the third spatial position, and a sixth distance between the second vehicle spatial position and the fourth spatial position.

19. The method according to claim 18, wherein: The method includes receiving user input from an input device and, in response to receiving the user input, assigning the vehicle to a vehicle system or fleet having a plurality of vehicles and / or assigning a vehicle type to the vehicle, wherein the method further includes generating a system model of the vehicle system having the first vehicle and the second vehicle using the first virtual model and the second virtual model.

20. The method of claim 15, further comprising: receiving user input at a user interface of the mobile communication device, and In response to receiving user input, a request for the location data is sent from the device communication unit.

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