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EP1075996A1 - Procédé de localisation de véhicules dans un réseau de voies ferroviaires et véhicule ferroviaire - Google Patents

Procédé de localisation de véhicules dans un réseau de voies ferroviaires et véhicule ferroviaire Download PDF

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Publication number
EP1075996A1
EP1075996A1 EP00114615A EP00114615A EP1075996A1 EP 1075996 A1 EP1075996 A1 EP 1075996A1 EP 00114615 A EP00114615 A EP 00114615A EP 00114615 A EP00114615 A EP 00114615A EP 1075996 A1 EP1075996 A1 EP 1075996A1
Authority
EP
European Patent Office
Prior art keywords
track
vehicle
computer
change
railway vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP00114615A
Other languages
German (de)
English (en)
Inventor
Hans Prof.Dr.Ing. Heisler
Wolfgang Prof.Dr. Reinhardt
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tiefenbach GmbH
Original Assignee
Tiefenbach GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tiefenbach GmbH filed Critical Tiefenbach GmbH
Publication of EP1075996A1 publication Critical patent/EP1075996A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0092—Memory means reproducing during the running of the vehicle or vehicle train, e.g. smart cards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/023—Determination of driving direction of vehicle or train
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/026—Relative localisation, e.g. using odometer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L2205/00—Communication or navigation systems for railway traffic
    • B61L2205/04—Satellite based navigation systems, e.g. global positioning system [GPS]

Definitions

  • the invention relates to a method for determining the actual position and location of a railway vehicle in a track network according to the preamble of claim 1, as well a railway vehicle according to the preamble of claim 7.
  • the rail vehicle carries an object detection unit, one Path length measuring sensor and a rotation angle measuring unit with. By correlating the The respective position of the vehicle is determined using measurement data.
  • the object of the invention is an ongoing with little technical effort Determining the position of a railway vehicle on the track path too enable the reliable and safe and for manual or automatic Control of rail operations is usable.
  • the invention provides a method for determining the actual position of a railway vehicle in a track network using a computer (position calculator) won, that also for the automatic or semi-automatic management the vehicles of a track network are suitable.
  • a particular problem is the calibration or calibration of the displacement sensor, its accuracy not only in terms of equipment but also due to the inevitable The wheels slip due to their drive and cornering is. There are therefore additional procedures for calibration and / or calibration of the Position measuring device provided.
  • the path length measurement is possible without slippage, it can be calibrated omitted.
  • An image recognition system is proposed for slip-free path length measurement, where the camera has certain objects within its aperture angle tracked.
  • the camera is normal, i.e.: perpendicular to the rail path, i.e.: the sleepers and the track bed directed.
  • the peculiarity of the invention also lies in the fact that an ongoing or even temporarily recording the turns (angle of rotation) that the railway vehicle on driving while cornering is not required. It does not depend on the accuracy of the angle measurement, even if one Angle of rotation measuring device is used. Rather, only the rotation rate is evaluated, This essentially means the quality of the change of direction, i.e. change of direction to the right (e.g. positive), change of direction to the left (e.g. negative) or no change of direction (zero), whereby to avoid Error messages preferably also exceed certain predefined threshold values of the change of direction are signaled and as Decision criterion for driving on a certain track that is connected to a switch, is scored. Above all, these threshold values can be predetermined by the stored route.
  • the railway vehicle according to this invention is accordingly characterized by the Equipped with a special rotation angle measuring device and computer Determination of the track used by which only a qualitative and only with regard to the exceeding of limit and threshold values quantitative evaluation of the measurement signal of the rotation angle measuring device is carried out.
  • the management (dispatcher) driving route set At the beginning of a certain journey of the railway vehicle, e.g. before starting the trip between two stations, the management (dispatcher) driving route set.
  • the drivable routes of the rail network including the route to be traveled are stored in a computer. there it can be the central computer 30 (Fig.4).
  • the central computer can with the vehicle computer installed in the railway vehicle (position computer 5) Communicate via radio 6 and exchange data.
  • the position calculator 5 related; thereby avoided that interference and errors in radio transmission in the Determine the position of the vehicle and pose a security risk.
  • the selected route to be traveled can be straight (Fig. 1A) or curved (Fig.1B) or contain corresponding pieces; it can also contain switches (Fig.1C and Fig.2).
  • the starting point of the route is first determined. This The starting point can already be known.
  • the starting point can also be determined by special fixed markings attached to the track or the rail track. These marks can be readable by hand "or by a reader attached to the vehicle.
  • the data is then forwarded to the central computer and the plant management.
  • the starting point can be determined by a satellite navigation system (Global Positioning System, GPS) GPS is a location procedure which communicates unidirectionally with several, in particular with several geostationary satellites and thereby determines the geographic location of the vehicle with high accuracy.This applies in particular to differential GPS (DGPS) .
  • DGPS differential GPS
  • the location is then recorded and stored in the position computer and If the location is recorded and stored in the position computer, the location can nevertheless be transmitted by radio — automatically, or by the vehicle driver or by call-up to the central record passed on and further evaluated there.
  • the determined geographic starting position does not necessarily agree the stored location of the Schierienweg. Therefore in each of the described cases the exact geographical measuring point MP1 on the stored rail path projected perpendicular to this (normal) and on this In this way, the starting point P1 is obtained, which is to be stored in the computers 5, 30.
  • Fig. 1B For example, shown in Fig. 1B that by updating the Path length measurement first position P5 'as the current position of the vehicle is determined. However, there is a position measurement by means of the GPS 12 on the Vehicle. The determined exact geographical measuring point MP2 is on the stored rail path projected perpendicular to this (normal) and on this In this way, position P5 is obtained, which is to be stored in the computers 5,30.
  • the distance measuring device or the computers are re-calibrated and opened the determined position P5 is set (recalibrated).
  • the railway vehicle (4) is equipped with a rotation rate meter (9), which in front of a switch (1), in particular to a predetermined output signal Zero "can be set and at least the quality preferably also records the exceeding of a predetermined quantity (threshold value) of the change in direction in the switch.
  • the quality of the change in direction and gfls, and also the quantity of the change in direction is measured.
  • the measured values are measured using the position computer (computer (5) of the vehicle or central computer (30)) with the specified quality of the change in direction or with the specified minimum quantity (threshold value) of the change in direction of the track sections that can be driven on in the switch.
  • the direction of travel is, but not that absolute orientation of the vehicle is recorded, since an exclusively one-dimensional Distance measurement takes place.
  • the Proximity switch sends its signal to the computer (position computer 5 or Central computer 30) in which the track route is stored, e.g. Central computer 30.
  • the signal is transmitted to the Transfer vehicle and by means of the vehicle computer 5, the rotation rate sensor 9 activated.
  • the rotation rate sensor 9 is reset to zero.
  • the rotation rate sensor 9 can also be activated and reset by the respective position or route computer (5 or 30) if the computer determines that the start of the decision area E1 (point P E ) is overrun.
  • a point P E is stored in the computer, which is correlated and predefined with the decision area. This is expedient or necessary if no proximity switches are installed and the decision-making process must therefore be initiated independently of an external signal coming from outside.
  • Rotation rate sensor now detects in the decision area E1, the length of which, for example. and it is preferably defined in terms of route whether a change of direction takes place after the start of decision area E1 or the proximity switch, what type (quality) the change of direction is, and preferably whether the change of direction exceeds a predetermined threshold value.
  • the topologically ordered route data are stored in the position or route computer (5 or 30), in particular also the curvature profile, ie the type and size of the curvature profile.
  • a certain minimum value of the curvature can be specified as a threshold value. In this way it is avoided that ambiguous measurement signals from the rotation rate sensor are misinterpreted as a change in direction of the vehicle.
  • the decision area E1 shown the decision between tracks 1 and 3 is pending. If the rotation rate sensor does not indicate a change in direction, this is the sign that the switch on track 1 is being traveled on. If the rotation rate sensor indicates a negative change in direction (to the left), and if this change in direction exceeds a certain size, then this is the sign that the switch is being traveled on track 3. The same procedure is now repeated in the decision area E2 or E3 as soon as the proximity sensor arranged there or the position or route computer indicate the entry into this area (point P E ).
  • the railway vehicle is in a track location according to FIG. 1C a marshalling yard.
  • 2 is the diagram of the associated switch control shown.
  • the track system contains several turnouts 1-3. Each of the switches is through one electric drive 11 actuated and electrically controllable. By pressing the Turnouts 1 to 4 can be used.
  • the vehicle has a vehicle computer 5, which is equipped with a displacement sensor 8 and a rotation rate sensor 9 is connected.
  • the displacement sensor can be, for example. around a Act counter that measures the revolutions of a wheel, the revolutions of the wheel over its known diameter converted into a path length become.
  • the rotation rate sensor has an inertial system, which is due to its inertia Changes in direction of the vehicle does not or only takes part to a limited extent and therefore as a reference for determining a change of direction and exceeding one Threshold can serve. A drift of the inertial system is harmless because only the quality, but not the quantity of the change of direction for that Method according to the invention is needed.
  • the computer 5 is also equipped with a global positioning system 12 of the vehicle connected and can via a radio 6 (transmitter and receiver) with the stationary radio 10 (transmitter and receiver) and the central computer 30 communicate.
  • the central computer 30 detects these two Impulses and their sequence (signal of the 1st coil before the signal of the second coil or vice versa) and thus wirelessly triggers the effective switching of the Rotation rate sensor 9 off when the vehicle approaches the switch 1 and thus in enters the decision area E1.
  • the signal from the Wheel counter in the position computer 5 this decision area E1 assigned data (passable tracks, type and magnitude of curvature) called.
  • the control can have already been controlled by the management.
  • the central computer 30 with the screen 32, keyboard 31 and the driver is available Mouse 33 available. It appears on the screen 32 in booth 35 of the Dispatchers the entire track system. Depending on the goal of the As the train approaches, the dispatcher can move the route with his mouse Click the target buttons to control the corresponding switches switch.
  • the adjustment can also be carried out by the driver, for example. via the driveway control panel 17 be done, which is set up on the switch and a circuit of Point machine 11 allowed by hand.
  • the example Switch control11 of the switch 1 can be controlled so that the vehicle in the Track 3 arrives.
  • the course setting is made visually visible to the vehicle driver e.g. by a turnout position indicator 14 with the known position symbols (cf. DE-A 44 23 316) or through the visible surface on the route board 17 and the one on it Illumination of the route.
  • the vehicle has an image recognition system for slip-free path length measurement 3 with, in which the camera 2 is directed at a distance onto the rail track.
  • the Camera captures individual striking objects, e.g. Thresholds that are within the Move the opening angle past the camera.
  • Thresholds e.g. Thresholds that are within the Move the opening angle past the camera.
  • T1 and T2 the relative position of the object is detected within the opening angle of the camera 3 and from the determined distance (S (T1-T2) and from the distance of the camera from calculates the distance traveled on the rail route using the computer.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
EP00114615A 1999-07-13 2000-07-07 Procédé de localisation de véhicules dans un réseau de voies ferroviaires et véhicule ferroviaire Withdrawn EP1075996A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE19932160 1999-07-13
DE19932160 1999-07-13
DE10003159 2000-01-25
DE10003159 2000-01-25

Publications (1)

Publication Number Publication Date
EP1075996A1 true EP1075996A1 (fr) 2001-02-14

Family

ID=26004023

Family Applications (1)

Application Number Title Priority Date Filing Date
EP00114615A Withdrawn EP1075996A1 (fr) 1999-07-13 2000-07-07 Procédé de localisation de véhicules dans un réseau de voies ferroviaires et véhicule ferroviaire

Country Status (1)

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EP (1) EP1075996A1 (fr)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2219084C2 (ru) * 2001-03-21 2003-12-20 Красноярский государственный технический университет Устройство для контроля положения железнодорожных составов
EP1623905A1 (fr) * 2004-08-05 2006-02-08 Konkan Railway Corporation Limited Système d'identification de voie
WO2008006789A1 (fr) * 2006-07-12 2008-01-17 Siemens Aktiengesellschaft Système et procédé de détermination de la position momentanée de véhicules, en particulier de trains
WO2008034684A3 (fr) * 2006-09-19 2008-05-22 Siemens Ag Système et procédé de détermination de la trajectoire de circulation et/ou de la vitesse de véhicules, en particulier de commande de la marche de trains
EP2037224A1 (fr) * 2007-09-12 2009-03-18 Pepperl + Fuchs Gmbh Procédé et dispositif destinés à la détermination de la position d'un véhicule, programme informatique et produit de programme informatique
WO2010127958A1 (fr) * 2009-05-07 2010-11-11 Siemens Aktiengesellschaft Procédé et dispositif pour déterminer la position de véhicules ferroviaires
DE102015201040A1 (de) * 2015-01-22 2015-12-24 Siemens Aktiengesellschaft Verfahren und Vorrichtung zur Übertragung lokaler Zustandsdaten einer Eisenbahnstrecke an ein Schienenfahrzeug
DE102015201041A1 (de) * 2015-01-22 2015-12-24 Siemens Aktiengesellschaft Verfahren und Vorrichtung zur fahrzeugseitigen Positionsdatenerfassung bei einem Schienenfahrzeug
CN111791922A (zh) * 2020-07-23 2020-10-20 北京天润海图科技有限公司 智能轨道车的分岔轨道识别方法和装置
CN113743142A (zh) * 2021-08-23 2021-12-03 北京宸控科技有限公司 转运车定位校准装置及其校准方法
CN113984091A (zh) * 2021-11-17 2022-01-28 中国第一汽车股份有限公司 车辆行驶的定位测评系统、方法、设备及介质
CN114527752A (zh) * 2022-01-25 2022-05-24 浙江省交通投资集团有限公司智慧交通研究分公司 低卫星信号环境下轨道巡检机器人检测数据精确定位方法
CN117360589A (zh) * 2023-11-28 2024-01-09 北京信合永泰科技有限公司 一种基于站内轨道铁路的正线电码化监控系统及检测方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2549431A2 (fr) * 1982-07-22 1985-01-25 Transports En Commun Ste Lyonn Procede et dispositif de reconnaissance et de controle de position pour vehicules de transport
DE19532104C1 (de) * 1995-08-30 1997-01-16 Daimler Benz Ag Verfahren und Vorrichtung zur Bestimmung der Position wenigstens einer Stelle eines spurgeführten Fahrzeugs
EP0791518A1 (fr) * 1996-02-20 1997-08-27 Westinghouse Air Brake Company Système de navigation ferroviaire
EP0963897A2 (fr) * 1998-06-09 1999-12-15 Westinghouse Air Brake Company Dispositif et procédé pour détecter les changements de direction de locomotive de chemin de fer par surveillance de l'orientation du wagon

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2549431A2 (fr) * 1982-07-22 1985-01-25 Transports En Commun Ste Lyonn Procede et dispositif de reconnaissance et de controle de position pour vehicules de transport
DE19532104C1 (de) * 1995-08-30 1997-01-16 Daimler Benz Ag Verfahren und Vorrichtung zur Bestimmung der Position wenigstens einer Stelle eines spurgeführten Fahrzeugs
EP0791518A1 (fr) * 1996-02-20 1997-08-27 Westinghouse Air Brake Company Système de navigation ferroviaire
EP0963897A2 (fr) * 1998-06-09 1999-12-15 Westinghouse Air Brake Company Dispositif et procédé pour détecter les changements de direction de locomotive de chemin de fer par surveillance de l'orientation du wagon

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2219084C2 (ru) * 2001-03-21 2003-12-20 Красноярский государственный технический университет Устройство для контроля положения железнодорожных составов
EP1623905A1 (fr) * 2004-08-05 2006-02-08 Konkan Railway Corporation Limited Système d'identification de voie
WO2008006789A1 (fr) * 2006-07-12 2008-01-17 Siemens Aktiengesellschaft Système et procédé de détermination de la position momentanée de véhicules, en particulier de trains
WO2008034684A3 (fr) * 2006-09-19 2008-05-22 Siemens Ag Système et procédé de détermination de la trajectoire de circulation et/ou de la vitesse de véhicules, en particulier de commande de la marche de trains
EP2037224A1 (fr) * 2007-09-12 2009-03-18 Pepperl + Fuchs Gmbh Procédé et dispositif destinés à la détermination de la position d'un véhicule, programme informatique et produit de programme informatique
WO2010127958A1 (fr) * 2009-05-07 2010-11-11 Siemens Aktiengesellschaft Procédé et dispositif pour déterminer la position de véhicules ferroviaires
DE102015201040A1 (de) * 2015-01-22 2015-12-24 Siemens Aktiengesellschaft Verfahren und Vorrichtung zur Übertragung lokaler Zustandsdaten einer Eisenbahnstrecke an ein Schienenfahrzeug
DE102015201041A1 (de) * 2015-01-22 2015-12-24 Siemens Aktiengesellschaft Verfahren und Vorrichtung zur fahrzeugseitigen Positionsdatenerfassung bei einem Schienenfahrzeug
CN111791922A (zh) * 2020-07-23 2020-10-20 北京天润海图科技有限公司 智能轨道车的分岔轨道识别方法和装置
CN111791922B (zh) * 2020-07-23 2022-09-16 北京天润海图科技有限公司 智能轨道车的分岔轨道识别方法和装置
CN113743142A (zh) * 2021-08-23 2021-12-03 北京宸控科技有限公司 转运车定位校准装置及其校准方法
CN113743142B (zh) * 2021-08-23 2024-01-12 北京宸控科技有限公司 转运车定位校准装置及其校准方法
CN113984091A (zh) * 2021-11-17 2022-01-28 中国第一汽车股份有限公司 车辆行驶的定位测评系统、方法、设备及介质
CN113984091B (zh) * 2021-11-17 2024-03-15 中国第一汽车股份有限公司 车辆行驶的定位测评系统、方法、设备及介质
CN114527752A (zh) * 2022-01-25 2022-05-24 浙江省交通投资集团有限公司智慧交通研究分公司 低卫星信号环境下轨道巡检机器人检测数据精确定位方法
CN117360589A (zh) * 2023-11-28 2024-01-09 北京信合永泰科技有限公司 一种基于站内轨道铁路的正线电码化监控系统及检测方法
CN117360589B (zh) * 2023-11-28 2024-04-16 北京信合永泰科技有限公司 一种基于站内轨道铁路的正线电码化监控系统及检测方法

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