公开(公告)号：US11975708B2

公开(公告)日：2024-05-07

申请号：US17735817

申请日：2022-05-03

Applicant: Ground Transportation Systems Canada Inc.

Inventor： Alon Green ,  Kevin Tobin ,  Marco De Thomasis ,  Andrei Bucsa

IPC: B60W30/00 ,  B60W30/02 ,  B60W40/12

CPC classification number: B60W30/02 ,  B60W40/12

Abstract: Systems and methods of calibrating an Inertial Measurement Unit (IMU) on a vehicle are disclosed. In some embodiments, a first tilt angle of the IMU is measured with the IMU while the vehicle is stationary. A second tilt angle of the IMU is measured with an inclinometer or tilt sensor while the vehicle is stationary. The orientation of the IMU is corrected based on the first tilt angle and the second tilt angle.

公开(公告)号：US20240027196A1

公开(公告)日：2024-01-25

申请号：US18355874

申请日：2023-07-20

Applicant: GROUND TRANSPORTATION SYSTEMS CANADA INC.

Inventor： Jaewook JUNG ,  Veronica MARIN ,  Mohamed HELWA ,  Jungwon KANG ,  David BEACH

IPC: G01C21/28

CPC classification number: G01C21/28

Abstract: Path extraction for a vehicle on a guideway, the vehicle having two or more sensors. Two or more sensor inputs are received from two or more sensors including at least one active 3D sensor input from at least one active 3D sensor and at least one passive 2D sensor input from at least one passive 2D sensor. At least one active 3D sensor path is extracted based on the at least one active 3D sensor input and at least one passive 2D sensor path based on the at least one passive 2D sensor input. At least one 3D sensor ground surface model is generated based on the at least one passive 2D sensor path. At least one passive 3D path is generated based on the at least one passive 2D sensor path and the at least one 3D sensor ground surface model. The at least one passive 3D path and the at least one active 3D sensor path are fused to produce a consolidated 3D path. In a path extraction pipeline, at least one supervision check is performed for providing integrity to the consolidated 3D path.

公开(公告)号：US20240319380A1

公开(公告)日：2024-09-26

申请号：US18614560

申请日：2024-03-22

Applicant: Ground Transportation Systems Canada Inc.

Inventor： Bojan SUBASIC ,  Alon GREEN

IPC: G01S19/07 ,  G01S19/43 ,  G01S19/50

CPC classification number: G01S19/07 ,  G01S19/43 ,  G01S19/50

Abstract: A system includes a base station that includes an RTK base unit and a static RTK rover unit, the RTK base unit and the static RTK rover unit being at a same fixed location; a GPS antenna corresponding to the base station and being at a first position; and a management center in communication with the base station. The RTK base unit includes a first GPS receiver coupled to the GPS antenna, the static RTK rover unit includes a second GPS receiver coupled to the GPS antenna, the static RTK rover unit is configured to determine its position as a second position according to GPS information received via the GPS antenna and RTK correction information received from the RTK base unit, and the management center is configured to determine whether the RTK correction information is valid.

公开(公告)号：US20240231300A1

公开(公告)日：2024-07-11

申请号：US18399964

申请日：2023-12-29

Applicant: Ground Transportation Systems Canada Inc.

Inventor： Mohamed HELWA ,  Veronica MARIN

IPC: G05B19/042

CPC classification number: G05B19/0428 ,  G05B2219/24024

Abstract: A method for automatically optimizing the parameters of a safety-critical system of interconnected subsystems. The method includes selecting a representative sample data set for parameter optimization; breaking the complexity of optimizing a high-dimensional system of interconnected subsystems; exploring the parameter space of each subsystem for parameter setting of the subsystem; determining parameter setting of the system of systems; and justifying the parameter selection to achieve certification of safety-critical system of systems.

公开(公告)号：US11945478B2

公开(公告)日：2024-04-02

申请号：US17100380

申请日：2020-11-20

Applicant: Ground Transportation Systems Canada Inc.

Inventor： David Beach ,  Alon Green ,  Walter Kinio

IPC: B61L23/04 ,  B61L15/00 ,  B61L25/02 ,  G01S13/88 ,  H04W4/02 ,  B61K9/08 ,  G01S13/931 ,  H04L67/12

CPC classification number: B61L23/041 ,  B61L15/0072 ,  B61L25/025 ,  G01S13/88 ,  H04W4/025 ,  H04W4/026 ,  H04W4/027 ,  B61K9/08 ,  G01S2013/932 ,  G01S2013/9322 ,  G01S2013/9328 ,  H04L67/12

Abstract: A method and system include receiving positioning and motion information from one or more positioning and motion devices on a vehicle on a guideway, based on the positioning and motion information, receiving information from a database on the vehicle, the information comprising track geometry information and infrastructure information corresponding to the guideway, using the track geometry information and positioning and motion information to determine a path of the guideway and a trajectory of the vehicle along the path, receiving data from one or more electromagnetic sensors on the vehicle, and detecting an object by using the trajectory, the infrastructure information, and the information from the one or more electromagnetic sensors.

公开(公告)号：US20240109569A1

公开(公告)日：2024-04-04

申请号：US18538568

申请日：2023-12-13

Applicant: GROUND TRANSPORTATION SYSTEMS CANADA INC.

Inventor： Alon GREEN ,  Walter KINIO ,  Veronica MARIN

IPC: B61L25/02 ,  B61L3/12

CPC classification number: B61L25/025 ,  B61L3/125

Abstract: A signal aspect enforcement method for a rail vehicle includes determining, by an on-board controller on the rail vehicle, a position of the rail vehicle; determining, by the on-board controller, whether a first signal aspect for a signal matches a second signal aspect for the signal; and determining, by the on-board controller, at least one of a route of the rail vehicle or a speed limit of the rail vehicle when the first signal aspect matches the second signal aspect. The first signal aspect is determined from first data from first system on the rail vehicle, and the second signal aspect is determined from second data from a second system on the rail vehicle, which system is different from the first system used to determine the first signal aspect.

公开(公告)号：US11945480B2

公开(公告)日：2024-04-02

申请号：US17115348

申请日：2020-12-08

Applicant: Ground Transportation Systems Canada Inc.

Inventor： Alon Green ,  James Kevin Tobin ,  Marco De Thomasis

IPC: B61L25/02 ,  B61L5/12 ,  B61L15/00 ,  B61L15/02

CPC classification number: B61L25/021 ,  B61L5/125 ,  B61L15/0027 ,  B61L15/02 ,  B61L25/023 ,  B61L25/025 ,  B61L25/026 ,  B61L2207/00

Abstract: A positioning and odometry system includes two or more vehicle beacons installed on an end of a vehicle and configured to communicate with one or more guideway beacons installed along a guideway. Processing circuitry is configured to communicate with the one or more vehicle beacons and perform at least one of: determine, before the processing circuitry enters a sleep state, a first vehicle position on the guideway; determine, after the processing circuitry wakes from the sleep state, a second vehicle position on the guideway; determine, after the processing circuitry wakes from the sleep state, any difference between the first vehicle position on the guideway and the second vehicle position on the guideway; determine a third vehicle position on the guideway using range measurements taken at configurable time intervals; and determine a vehicle speed where speed is measured as a change in the third vehicle position over time.