EP3625106A1 - Sensor-controlled adjustment of odometric measurement parameters to weather conditions - Google Patents

Sensor-controlled adjustment of odometric measurement parameters to weather conditions

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Publication number
EP3625106A1
EP3625106A1 EP18746651.1A EP18746651A EP3625106A1 EP 3625106 A1 EP3625106 A1 EP 3625106A1 EP 18746651 A EP18746651 A EP 18746651A EP 3625106 A1 EP3625106 A1 EP 3625106A1
Authority
EP
European Patent Office
Prior art keywords
data
unit
weather
sensor
rail 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.)
Granted
Application number
EP18746651.1A
Other languages
German (de)
French (fr)
Other versions
EP3625106B1 (en
Inventor
Steven Alexander Calder
Hamed Ketabdar
Navid Nourani-Vatani
Andrew Palmer
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.)
Siemens Mobility GmbH
Original Assignee
Siemens Mobility GmbH
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Filing date
Publication date
Application filed by Siemens Mobility GmbH filed Critical Siemens Mobility GmbH
Publication of EP3625106A1 publication Critical patent/EP3625106A1/en
Application granted granted Critical
Publication of EP3625106B1 publication Critical patent/EP3625106B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0072—On-board train data handling
    • 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
    • B61L25/021—Measuring and recording of train speed
    • 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
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
    • B61L23/041—Obstacle detection

Definitions

  • the invention relates to a method for adjusting measurement parameters of an odometry unit of a rail vehicle.
  • the invention relates to an adjustment device.
  • the invention relates to a rail vehicle.
  • Speed measurements are indispensable for autonomous driving and assistance systems of vehicles. Speed data can be used for many different purposes ⁇ to. Examples include monitoring regulatory compliance, scheduling trips, initiating braking, and determining positions. Conventionally, a determination of the speed is achieved by the fusion of measurement results of different sensors.
  • Sensors used for speed determination can generate erroneous data. This may be the case, for example, due to bad weather conditions such as rain, snow, etc. Snow, fog and rain can affect the performance of Doppler radar sensors. Rain can lead to smooth tracks, which also contributes to the wheels slipping and spinning, which degrades the accuracy of the sensors measuring the rotational frequency of the wheels. Therefore, there is a problem that errors occur in the measurement of odometric data by individual sensors and thus the overall result of the odometric measurement is distorted.
  • DE 10 2006 035 597 Al a method for determining the travel path and the speed of a vehicle, in particular for safety-critical ⁇ sondere train control will be ⁇ written.
  • Sensor data is fused by different sensors.
  • DE 10 2009 006 113 A1 describes a device for representing the surroundings of a vehicle, the existence of objects being determined on the basis of fused sensor data.
  • US 2017/0 307 247 A1 describes the detection of weather conditions with the aid of on-board sensors of a motor vehicle.
  • weather conditions are detected which may function as a warning system of a rail vehicle striking ⁇ pregnant.
  • Rail vehicle using at least one sensor unit which includes an internal image pickup unit detected.
  • the acquired sensor data is used to determine weather data.
  • the weather data are preferably determined automatically, so that no additional staffing is needed and the evaluation can be done in real time.
  • fusion weights for the fusion of odometric data are determined.
  • the odometric data itself, for example VELOCITY ⁇ keitschal or position data are based on
  • odometric sensor data from different types of odometric sensors by weighted combination or For example, by weighted addition in the
  • Odometry unit determined is determined.
  • current weather data can be taken into account that affected by the current weather conditions
  • Odometric sensors or their odometric data are weighted weaker. This measure improves the accuracy of the odometric data and the robustness of the determination of this data.
  • the setting of the fusion weights is preferably also automated in order to allow a real ⁇ time adjustment of the measurement parameters, ie the merger weights.
  • Internal image recording units can already be present, for example, as surveillance cameras in rail vehicles in order to improve the personal safety of the passengers.
  • surveillance cameras can also take on the task to monitor the weather.
  • the surveillance cameras can be temporarily aligned in the direction of the windows of the rail vehicle, so that the outer environment can be ⁇ tion detected and weather data can be determined.
  • the inventive alignment device for a rail vehicle has a data input interface for receiving sensor data from a sensor unit, which comprises an internal image acquisition unit, from the interior and / or the surroundings of the rail vehicle. Part of the adjustment device is also a weather determination unit for determining weather data based on the detected sensor data.
  • the adjustment device according to the invention also includes a Festle ⁇ tion unit for setting fusion weights for the fusion of odometric data, which based on
  • the rail vehicle according to the invention comprises at least one sensor unit which combines an internal image pickup unit to ⁇ , and the adjustment device according to the invention.
  • the ER-making modern rail vehicle shares the benefits of OF INVENTION ⁇ to the invention adjustment facility.
  • Some components of the adjustment device according to the invention can be formed predominantly in the form of software components. This relates in particular to parts of the weather determination unit and the determination unit. Grundsford ⁇ lich but these components may also partly, particularly when it comes to particularly quick calculations, in the form of software-supported hardware such as FPGAs or the like to be realized. Likewise, the needed
  • Interfaces for example, when it comes only to a transfer of data from other software components, be designed as software interfaces. However, they can also be configured as hardware-based interfaces, which are controlled by suitable software.
  • a largely software implementation has the advantage that existing computer systems can be retrofitted after a possible addition of additional Liehe hardware elements easily by a software update has been in a rail vehicle to work on the invention shown SSE manner.
  • a corresponding computer program product with a Compu ⁇ terprogramm, which is directly loadable into an Speichereinrich- processing of such a computer system, with Programmab cut ⁇ to perform all the steps of the inventive method when the computer program is executed in the computer system
  • Such a computer program product in addition to the computer ⁇ program optionally additional components, such as a documentation and / or additional components, also Hardware components, such as hardware keys (dongles, etc.) for using the software include
  • a computer-readable medium for example a memory stick, a hard disk or another portable or permanently installed data carrier can be used, on which the computer program readable and executable by a computer unit are stored.
  • the computer unit may be for example a purpose or more cooperating micropro ⁇ processors or the like.
  • the at least one sensor unit comprises at least one of the following sensor types:
  • frost can indicate the occurrence of snow, which in turn makes it difficult to measure the speed with the aid of a Doppler radar.
  • Humidity sensors can already be present, for example, for automated operation of windshield wipers in rail vehicles and can be used according to the invention to additionally ⁇ to now to gain weather information for assessing the reliability odometrischer sensors.
  • LIDAR sensors for example, the occurrence of fog can be detected. Fog in turn makes it difficult to apply a speed measurement using a Doppler radar.
  • a surveil ⁇ monitoring camera is used as an internal image pickup unit.
  • a rail vehicle monitoring camera for Wetterbeo ⁇ bach tung is aligned in such a way that can be detected from the external environment of the railway vehicle image data.
  • the monitoring camera is aligned for weather observation such that can be recorded from an inner area of the slide ⁇ nenhuss image data.
  • Rail vehicle is determined based on the detected by the surveillance camera image data a current weather conditions. Before ⁇ geous the image data can also be used to monitor and to determine the conditions, so no additional hardware for recording weather information is needed.
  • Odometry unit of a rail vehicle is used to determine the current weather situation, an image evaluation method on the captured image data, which is based on the machine vision.
  • an image evaluation method a comparison of the image data with different image patterns, which are each assigned to a different weather situation, can preferably be carried out.
  • the different weather conditions may include, for example, the following weather conditions:
  • the mentioned weather conditions influenced the reliability of the odometric sensors.
  • ⁇ play some snow may affect the reliability of a Doppier- radar.
  • Rain can cause a slippage of the RAE of the rail vehicle and therefore to lower to ⁇ reliability of the rotation frequency sensors.
  • current operating data of an air conditioning system of the rail vehicle can be used.
  • An ⁇ hand of the operating data can be closed to a current temperature, which in turn provides clues to the current weather conditions.
  • FIG. 1 shows a flowchart which illustrates a method for adjusting measurement parameters of an odometry unit of a rail vehicle according to a first exemplary embodiment of the invention
  • FIG. 2 is a block diagram illustrating an adjustment device according to an embodiment of the invention.
  • FIG. 3 is a block diagram illustrating a rail vehicle according to an embodiment of the invention.
  • FIG. 1 illustrates a method for adjusting measurement parameters of an odometry unit of a rail vehicle.
  • step 1.1 are sensor data, in this embodiment, image data BD from the vicinity of the rail vehicle, which detected by a surveillance camera ⁇ the, temperature data TD from a temperature sensor which measures outside temperature, humidity sensor data FSD by a humidity sensor and lidar sensor data LSD a lidar
  • step l.II On the basis of the detected sensor data BD, TD, FSD, LSD weather data WD are determined in step l.II. For example, with the help of the humidity sensor data to determine if it rains to date and how strong it reg ⁇ net.
  • step l.III fusion weights FG for the fusion of odometric data, for example a measured speed or traveled distance, are determined on the basis of the determined weather data WD.
  • the odometric data itself is combined to a speed or a distance coveredsammlungge- to ermit ⁇ stuffs determined after the adjustment, for example by means of a rotational frequency sensor and a Doppler Rada and subsequently weighted by means of said Fu ⁇ sion weights FG.
  • the adjustment device 20 for a rail vehicle 40 (see FIG. 3) is described.
  • the adjustment device 20 comprises a data input interface 21, which is set up to receive sensor data SD from the interior and / or the surroundings of the rail vehicle 40.
  • the Sen ⁇ sorrtz SD is a weather-determination unit 22 ⁇ averages, which is used to determine weather data WD based on the erutz- th sensor data SD.
  • Part of the adjustment device 20 is also a fixing unit 23, which is set up ⁇ , merger weights FG for the merger of
  • odometric data v, P (t) which were determined on the basis of sensor data FD, DRD of different types of sensors 15, 16 (seven he FIG 3) to define, in dependence on the erstoff ⁇ th weather data WD.
  • the determined weights FG are output via an output interface 24 and transmitted to an evaluation unit 30 (see FIG. 3).
  • FIG. 3 a block diagram illustrating a rail vehicle 40 is shown.
  • the rail vehicle 40 includes a plurality of different sensor units 10, 11, 12, 13, with which sensor data BD, TD, FSD, LSD are detected as a basis for the determination of weather data WD.
  • the sensor units 10, 11, 12, 13 comprise a Kochwachungska ⁇ ra 10 which receives image data BD from the environment of the railway vehicle 40, a temperature sensor 11 for Ermit ⁇ stuffs of external temperature data TD, a moisture sensor unit 12 for determining wet sensor data FSD, which provide information about the humidity, and a lidar sensor unit 13, which can use Lidar information about the occurrence of precipitation, such as rain or snow, and detect fog.
  • the rail vehicle 40 has two odometric sensors 15, 16.
  • a first odometric sensor 15 is designed as a rotational frequency meter and a second odometric sensor is designed as a Doppler radar sensor.
  • frequency data FD or dual radar data DRD to an evaluation unit 30, also
  • Called odometry unit transmitted, which additionally receives from the adjustment device 20 data relating to applied fusion weights FG.
  • the evaluation unit 30 determines the first based on the odometric frequency data FD
  • Odometric data sets V F , P F (t), v D , P u (t) are weighted using the determined weights FG to be fused

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Image Processing (AREA)
  • Machines For Laying And Maintaining Railways (AREA)

Abstract

A method for adjusting measurement parameters of an odometry unit (30) of a rail vehicle (40) is described. According to said method, sensor data (SD, TD, FSD, LSD) from the interior and/or the surroundings of the rail vehicle (40) are acquired with the aid of at least one sensor unit (10) that comprises an internal image-recording unit (10). On the basis of the acquired sensor data (SD), weather data (WD) are determined on the basis of the acquired sensor data (SD). Lastly, fusion weightings (FG) for the fusion of odometric data (v, P(t)) that have been determined on the basis of odometric sensor data (FD, DRD) from different types of odometric sensors (15, 16) are defined depending on the determined weather data (WD). An adjustment device (20) is also described. A rail vehicle (40) is additionally described.

Description

Beschreibung Sensoriell gesteuertes Anpassen von odometrischen Messparame¬ tern an Wetterbedingungen Description sensorial controlled Customizing odometric Messparame ¬ tern of weather conditions
Die Erfindung betrifft ein Verfahren zum Anpassen von Messparametern einer Odometrieeinheit eines Schienenfahrzeugs. Zu- dem betrifft die Erfindung eine Justage-Einrichtung . Überdies betrifft die Erfindung ein Schienenfahrzeug. The invention relates to a method for adjusting measurement parameters of an odometry unit of a rail vehicle. In addition, the invention relates to an adjustment device. Moreover, the invention relates to a rail vehicle.
Geschwindigkeitsmessungen sind unverzichtbar für das autonome Fahren und Assistenzsysteme von Fahrzeugen. Geschwindigkeits- daten können für viele unterschiedliche Zwecke genutzt wer¬ den. Beispiele hierfür sind die Überwachung der Beachtung von gesetzlichen Bestimmungen, das Planen von Fahrten, das Einleiten von Bremsprozessen und Positionsbestimmungen. Herkömmlich wird eine Ermittlung der Geschwindigkeit durch die Fusi- on von Messergebnissen unterschiedlicher Sensoren erreicht.Speed measurements are indispensable for autonomous driving and assistance systems of vehicles. Speed data can be used for many different purposes ¬ to. Examples include monitoring regulatory compliance, scheduling trips, initiating braking, and determining positions. Conventionally, a determination of the speed is achieved by the fusion of measurement results of different sensors.
Sensoren, die für die Geschwindigkeitsermittlung genutzt werden, können fehlerhafte Daten erzeugen. Dies kann zum Beispiel aufgrund schlechter Wetterbedingungen, wie zum Beispiel Regen, Schnee usw. der Fall sein. Schnee, Nebel und Regen können die Leistung von Doppler-Radarsensoren beeinträchtigen. Regen kann zu glatten Fahrbahnen bzw. Gleisbelägen führen, was auch zu einem Rutschen und Durchdrehen der Räder beiträgt, wodurch die Messgenauigkeit bei Sensoren, welche die Drehfrequenz der Räder messen, verschlechtert ist. Mithin besteht ein Problem darin, dass bei der Messung odometrischer Daten durch einzelne Sensoren Fehler auftreten und so das Gesamtergebnis der odometrischen Messung verfälscht wird. Sensors used for speed determination can generate erroneous data. This may be the case, for example, due to bad weather conditions such as rain, snow, etc. Snow, fog and rain can affect the performance of Doppler radar sensors. Rain can lead to smooth tracks, which also contributes to the wheels slipping and spinning, which degrades the accuracy of the sensors measuring the rotational frequency of the wheels. Therefore, there is a problem that errors occur in the measurement of odometric data by individual sensors and thus the overall result of the odometric measurement is distorted.
In DE 10 2006 035 597 AI wird ein Verfahren zur Bestimmung des Fahrwegs und der Geschwindigkeit eines Fahrzeugs, insbe¬ sondere für sicherheitskritische Zugbeeinflussungssysteme be¬ schrieben. Dabei werden Sensordaten von unterschiedlichen Sensoren fusioniert. In DE 10 2009 006 113 AI wird eine Vorrichtung zur Umfelddarstellung eines Fahrzeugs beschrieben, wobei die Existenz von Objekten auf Basis von fusionierten Sensordaten ermittelt wird. In DE 10 2006 035 597 Al a method for determining the travel path and the speed of a vehicle, in particular for safety-critical ¬ sondere train control will be ¬ written. Sensor data is fused by different sensors. DE 10 2009 006 113 A1 describes a device for representing the surroundings of a vehicle, the existence of objects being determined on the basis of fused sensor data.
In US 2017/ 0 307 247 AI wird die Detektion von Wetterbedingungen mit Hilfe bordeigener Sensoren eines Kraftfahrzeugs beschrieben . In US 9 676 393 B2 werden Wetterbedingungen erfasst, welche die Funktion eines Warnsystems eines Schienenfahrzeugs beein¬ trächtigen können. US 2017/0 307 247 A1 describes the detection of weather conditions with the aid of on-board sensors of a motor vehicle. In US 9,676,393 B2 weather conditions are detected which may function as a warning system of a rail vehicle striking ¬ pregnant.
Es besteht also die Aufgabe, eine Verfahren zur odometrischen Messung sowie eine entsprechende Messeinrichtung so zu jus¬ tieren, dass diese trotz widriger Wetterbedingungen exaktere Ergebnisse liefern als bisher. There is therefore the task of jus ¬ a method for odometric measurement and a corresponding measuring device so jus ¬ that they despite adverse weather conditions provide more accurate results than before.
Diese Aufgabe wird durch ein Verfahren zum Anpassen von Mess- parametern einer Odometrieeinheit eines Fahrzeugs gemäß Pa¬ tentanspruch 1, eine Justage-Einrichtung gemäß Patentanspruch 12 sowie ein Schienenfahrzeug gemäß Patentanspruch 13 gelöst. This object is achieved by a method of adjusting parameters of a measurement of a vehicle according Odometrieeinheit Pa ¬ tentanspruch 1, an adjustment device according to claim 12 as well as a railway vehicle according to claim. 13
Bei dem erfindungsgemäßen Verfahren zum Anpassen von Messpa- rametern einer Odometrieeinheit eines Schienenfahrzeugs wer¬ den Sensordaten vom Innenraum und/oder der Umgebung des In the inventive method of adjusting a Messpa- Odometrieeinheit a rail vehicle rametern ¬ the sensor data from the interior and / or the environment of the
Schienenfahrzeugs mit Hilfe mindestens einer Sensoreinheit, welche eine interne Bildaufnahmeeinheit umfasst, erfasst. Die erfassten Sensordaten werden dazu genutzt, um Wetterdaten zu ermitteln. Die Wetterdaten werden vorzugsweise automatisiert ermittelt, so dass kein zusätzlicher personeller Aufwand benötigt wird und die Auswertung in Echtzeit erfolgen kann. In Abhängigkeit von den ermittelten Wetterdaten werden Fusionsgewichte für die Fusion von odometrischen Daten festgelegt. Die odometrischen Daten selbst, beispielsweise Geschwindig¬ keitsdaten oder Positionsdaten, werden auf Basis von Rail vehicle using at least one sensor unit, which includes an internal image pickup unit detected. The acquired sensor data is used to determine weather data. The weather data are preferably determined automatically, so that no additional staffing is needed and the evaluation can be done in real time. Depending on the weather data determined, fusion weights for the fusion of odometric data are determined. The odometric data itself, for example VELOCITY ¬ keitsdaten or position data are based on
odometrischen Sensordaten von unterschiedlichen Arten von odometrischen Sensoren durch gewichtete Kombination bzw. Fu- sion, beispielsweise durch gewichtete Addition in der odometric sensor data from different types of odometric sensors by weighted combination or For example, by weighted addition in the
Odometrieeinheit ermittelt. Vorteilhaft können mit Hilfe der Festlegung der Gewichte für die Fusion der odometrischen Daten aktuelle Wetterdaten dahingehend berücksichtigt werden, dass durch die aktuelle Wetterlage beeinträchtigte Odometry unit determined. Advantageously, with the help of the determination of the weights for the merger of the odometric data current weather data can be taken into account that affected by the current weather conditions
odometrische Sensoren bzw. deren odometrische Daten schwächer gewichtet werden. Mit dieser Maßnahme wird die Genauigkeit der odometrischen Daten sowie die Robustheit der Ermittlung dieser Daten verbessert. Das Festlegen der Fusionsgewichte erfolgt vorzugsweise ebenfalls automatisiert, um eine Echt¬ zeitanpassung der Messparameter, d.h. der Fusionsgewichte, zu ermöglichen . Odometric sensors or their odometric data are weighted weaker. This measure improves the accuracy of the odometric data and the robustness of the determination of this data. The setting of the fusion weights is preferably also automated in order to allow a real ¬ time adjustment of the measurement parameters, ie the merger weights.
Interne Bildaufnahmeeinheiten können beispielsweise als Über- wachungskameras bereits in Schienenfahrzeugen vorhanden sein, um die persönliche Sicherheit der Passagiere zu verbessern. Vorteilhaft müssen zur Ermittlung der Wetterlage keine zu¬ sätzlichen Kameras installiert werden, sondern die bereits vorhandenen Überwachungskameras können zusätzlich die Aufgabe zur Beobachtung der Wetterlage übernehmen. Hierfür können die Überwachungskameras zeitweise in Richtung der Fenster des Schienenfahrzeugs ausgerichtet werden, damit die äußere Umge¬ bung erfasst werden kann und Wetterdaten ermittelt werden können . Internal image recording units can already be present, for example, as surveillance cameras in rail vehicles in order to improve the personal safety of the passengers. Advantageous not to ¬ sätzlichen cameras must be installed to determine the weather conditions, but the existing surveillance cameras can also take on the task to monitor the weather. For this purpose, the surveillance cameras can be temporarily aligned in the direction of the windows of the rail vehicle, so that the outer environment can be ¬ tion detected and weather data can be determined.
Die erfindungsgemäße Justage-Einrichtung für ein Schienenfahrzeug weist eine Dateneingangsschnittstelle zum Empfangen von Sensordaten von einer Sensoreinheit, welche eine interne Bildaufnahmeeinheit umfasst, vom Innenraum und/oder der Umge- bung des Schienenfahrzeugs auf. Teil der Justage-Einrichtung ist auch eine Wetter-Ermittlungseinheit zum Ermitteln von Wetterdaten auf Basis der erfassten Sensordaten. Die erfindungsgemäße Justage-Einrichtung umfasst auch eine Festle¬ gungseinheit zum Festlegen von Fusionsgewichten für die Fusi- on von odometrischen Daten, welche auf Basis von The inventive alignment device for a rail vehicle has a data input interface for receiving sensor data from a sensor unit, which comprises an internal image acquisition unit, from the interior and / or the surroundings of the rail vehicle. Part of the adjustment device is also a weather determination unit for determining weather data based on the detected sensor data. The adjustment device according to the invention also includes a Festle ¬ tion unit for setting fusion weights for the fusion of odometric data, which based on
odometrischen Sensordaten von unterschiedlichen Arten von odometrischen Sensoren ermittelt wurden, in Abhängigkeit von den ermittelten Wetterdaten. Das erfindungsgemäße Schienenfahrzeug umfasst mindestens eine Sensoreinheit, welche eine interne Bildaufnahmeeinheit um¬ fasst, und die erfindungsgemäße Justage-Einrichtung. Das er- findungsgemäße Schienenfahrzeug teilt die Vorteile der erfin¬ dungsgemäßen Justage-Einrichtung . Odometric sensor data from different types of odometric sensors were determined, depending on the determined weather data. The rail vehicle according to the invention comprises at least one sensor unit which combines an internal image pickup unit to ¬, and the adjustment device according to the invention. The ER-making modern rail vehicle shares the benefits of OF INVENTION ¬ to the invention adjustment facility.
Einige Komponenten der erfindungsgemäßen Justage-Einrichtung können zum überwiegenden Teil in Form von Softwarekomponenten ausgebildet sein. Dies betrifft insbesondere Teile der Wet¬ ter-Ermittlungseinheit und der Festlegungseinheit. Grundsätz¬ lich können diese Komponenten aber auch zum Teil, insbesondere wenn es um besonders schnelle Berechnungen geht, in Form von softwareunterstützter Hardware, beispielsweise FPGAs oder dergleichen, realisiert sein. Ebenso können die benötigtenSome components of the adjustment device according to the invention can be formed predominantly in the form of software components. This relates in particular to parts of the weather determination unit and the determination unit. Grundsätz ¬ lich but these components may also partly, particularly when it comes to particularly quick calculations, in the form of software-supported hardware such as FPGAs or the like to be realized. Likewise, the needed
Schnittstellen, beispielsweise wenn es nur um eine Übernahme von Daten aus anderen Softwarekomponenten geht, als Softwareschnittstellen ausgebildet sein. Sie können aber auch als hardwaremäßig aufgebaute Schnittstellen ausgebildet sein, die durch geeignete Software angesteuert werden. Interfaces, for example, when it comes only to a transfer of data from other software components, be designed as software interfaces. However, they can also be configured as hardware-based interfaces, which are controlled by suitable software.
Eine weitgehend softwaremäßige Realisierung hat den Vorteil, dass auch schon bisher in einem Schienenfahrzeug vorhandene Rechnersysteme nach einer eventuellen Ergänzung durch zusätz- liehe Hardwareelemente auf einfache Weise durch ein Software- Update nachgerüstet werden können, um auf die erfindungsgemä¬ ße Weise zu arbeiten. Insofern wird die Aufgabe auch durch ein entsprechendes Computerprogrammprodukt mit einem Compu¬ terprogramm gelöst, welches direkt in eine Speichereinrich- tung eines solchen Rechnersystems ladbar ist, mit Programmab¬ schnitten, um alle Schritte des erfindungsgemäßen Verfahrens auszuführen, wenn das Computerprogramm in dem Rechnersystem ausgeführt wird. Ein solches Computerprogrammprodukt kann neben dem Computer¬ programm gegebenenfalls zusätzliche Bestandteile, wie z.B. eine Dokumentation und/oder zusätzliche Komponenten, auch Hardware-Komponenten, wie z.B. Hardware-Schlüssel (Dongles etc.) zur Nutzung der Software, umfassen A largely software implementation has the advantage that existing computer systems can be retrofitted after a possible addition of additional Liehe hardware elements easily by a software update has been in a rail vehicle to work on the invention shown SSE manner. Insofar as the object is also achieved by a corresponding computer program product with a Compu ¬ terprogramm, which is directly loadable into an Speichereinrich- processing of such a computer system, with Programmab cut ¬ to perform all the steps of the inventive method when the computer program is executed in the computer system , Such a computer program product , in addition to the computer ¬ program optionally additional components, such as a documentation and / or additional components, also Hardware components, such as hardware keys (dongles, etc.) for using the software include
Zum Transport zur Speichereinrichtung des Rechnersystems und/oder zur Speicherung an dem Rechnersystem kann ein computerlesbares Medium, beispielsweise ein Memorystick, eine Festplatte oder ein sonstiger transportabler oder fest eingebauter Datenträger dienen, auf welchem die von einer Rechnereinheit einlesbaren und ausführbaren Programmabschnitte des Computerprogramms gespeichert sind. Die Rechnereinheit kann z.B. hierzu einen oder mehrere zusammenarbeitende Mikropro¬ zessoren oder dergleichen aufweisen. For transport to the storage device of the computer system and / or for storage on the computer system, a computer-readable medium, for example a memory stick, a hard disk or another portable or permanently installed data carrier can be used, on which the computer program readable and executable by a computer unit are stored. The computer unit may be for example a purpose or more cooperating micropro ¬ processors or the like.
Die abhängigen Ansprüche sowie die nachfolgende Beschreibung enthalten jeweils besonders vorteilhafte Ausgestaltungen und Weiterbildungen der Erfindung. Dabei können insbesondere die Ansprüche einer Anspruchskategorie auch analog zu den ab¬ hängigen Ansprüchen einer anderen Anspruchskategorie und deren Beschreibungsteilen weitergebildet sein. Zudem können im Rahmen der Erfindung auch die verschiedenen Merkmale unterschiedlicher Ausführungsbeispiele und Ansprüche auch zu neuen Ausführungsbeispielen kombiniert werden. The dependent claims and the following description each contain particularly advantageous embodiments and further developments of the invention. The claims of claim category may further be formed analogously to the dependent claims ¬ from a different category of claim and the description parts in particular. In addition, in the context of the invention, the various features of different embodiments and claims can also be combined to form new embodiments.
In einer Ausgestaltung des erfindungsgemäßen Verfahrens zum Anpassen von Messparametern einer Odometrieeinheit einesIn one embodiment of the method according to the invention for adapting measurement parameters of an odometry unit of a
Schienenfahrzeugs umfasst die mindestens eine Sensoreinheit mindestens eine der folgenden Sensorarten: Rail vehicle, the at least one sensor unit comprises at least one of the following sensor types:
- eine externe Bildaufnahmeeinheit,  an external image acquisition unit,
- einen Temperatursensor,  a temperature sensor,
- einen Feuchtigkeitssensor, a humidity sensor,
- einen LIDAR-Sensor zur Hinderniserkennung.  - a LIDAR sensor for obstacle detection.
Mit einer externen Bildaufnahmeeinheit als Sensoreinheit kön¬ nen Wetterphänomene bildlich erfasst und anschließend identi- fiziert werden. Aus der Wetterlage können wiederum Schluss¬ folgerungen hinsichtlich der Zuverlässigkeit einzelner odometrischer Sensoren gezogen werden. Temperatursensoren können ebenfalls wichtige Anhaltspunkte über die Zuverlässig- b Are recognized as the sensor unit Kgs ¬ NEN weather phenomena visually with an external image pickup unit and then fied identical. Final ¬ clusions can in turn be drawn regarding the reliability of individual odometrischer sensors from the weather. Temperature sensors can also provide important clues about the reliability of b
keit odometrischer Sensoren geben. Beispielsweise kann Frost auf das Auftreten von Schnee hinweisen, was wiederum eine Geschwindigkeitsmessung mit Hilfe eines Doppler-Radars er¬ schwert. Feuchtigkeitssensoren können zum Beispiel zum auto- matisierten Betrieb von Scheibenwischern in Schienenfahrzeugen bereits vorhanden sein und können nun erfindungsgemäß zu¬ sätzlich dazu genutzt werden, um Wetterdaten zur Beurteilung der Zuverlässigkeit odometrischer Sensoren zu gewinnen. Mit LIDAR-Sensoren kann zum Beispiel das Auftreten von Nebel er- kannt werden. Nebel erschwert wiederum die Anwendung einer Geschwindigkeitsmessung mit Hilfe eines Doppler-Radars. odometrical sensors. For example, frost can indicate the occurrence of snow, which in turn makes it difficult to measure the speed with the aid of a Doppler radar. Humidity sensors can already be present, for example, for automated operation of windshield wipers in rail vehicles and can be used according to the invention to additionally ¬ to now to gain weather information for assessing the reliability odometrischer sensors. With LIDAR sensors, for example, the occurrence of fog can be detected. Fog in turn makes it difficult to apply a speed measurement using a Doppler radar.
In einer Variante des erfindungsgemäßen Verfahrens zum Anpas¬ sen von Messparametern einer Odometrieeinheit eines Schienen- fahrzeugs wird als interne Bildaufnahmeeinheit eine Überwa¬ chungskamera eingesetzt. Wie bereits erwähnt, kann vorteil¬ haft auf bereits vorhandene Installationen zurückgegriffen werden, wobei zusätzlich eine automatisierte Auswertung der Bilddaten hinzukommt. In one variant of the inventive method for ANPAS ¬ sen by measuring parameters of a Odometrieeinheit of a rail vehicle, a surveil ¬ monitoring camera is used as an internal image pickup unit. As already mentioned, can be made to existing installations beneficial ¬ only, with additional joins an automated analysis of the image data.
In einer Ausgestaltung des erfindungsgemäßen Verfahrens zum Anpassen von Messparametern einer Odometrieeinheit eines Schienenfahrzeugs wird die Überwachungskamera zur Wetterbeo¬ bachtung derart ausgerichtet, dass von der externen Umgebung des Schienenfahrzeugs Bilddaten erfasst werden können. Vor¬ teilhaft können mit den Überwachungskameras Informationen über die externe Umgebung des Schienenfahrzeugs erfasst wer¬ den, welche Auskunft über die aktuelle Wetterlage geben. In einer Variante des erfindungsgemäßen Verfahrens zum Anpas¬ sen von Messparametern einer Odometrieeinheit eines Schienenfahrzeugs wird die Überwachungskamera zur Wetterbeobachtung derart ausgerichtet, dass von einem Innenbereich des Schie¬ nenfahrzeugs Bilddaten erfasst werden können. Bei dieser Va- riante kann die Ausrichtung der Überwachungskameras nach in¬ nen beibehalten werden und es werden indirekte Informationen über die Wetterlage anhand der Bekleidung und Ausrüstung der Passagiere. Die Überwachung des Innenraums und der äußeren Umgebung können auch miteinander kombiniert werden, um zuverlässigere Wetterdaten zu erhalten. In one embodiment of the inventive method for adapting measuring parameters of a Odometrieeinheit a rail vehicle monitoring camera for Wetterbeo ¬ bach tung is aligned in such a way that can be detected from the external environment of the railway vehicle image data. Before ¬ geous can ¬ to which provide information on the current weather situation with the surveillance cameras information on the external environment of the rolling stock acquired. In one variant of the inventive method for ANPAS ¬ sen by measuring parameters of a Odometrieeinheit of a rail vehicle, the monitoring camera is aligned for weather observation such that can be recorded from an inner area of the slide ¬ nenfahrzeugs image data. In this Va riante the orientation of the surveillance cameras to be maintained in ¬ nen and there are indirect information about the weather based on the clothing and equipment of the passengers. The monitoring of the interior and exterior Surroundings can also be combined with each other for more reliable weather data.
In einer Ausgestaltung des erfindungsgemäßen Verfahrens zum Anpassen von Messparametern einer Odometrieeinheit einesIn one embodiment of the method according to the invention for adapting measurement parameters of an odometry unit of a
Schienenfahrzeugs wird anhand der von der Überwachungskamera erfassten Bilddaten eine aktuelle Wetterlage ermittelt. Vor¬ teilhaft können die Bilddaten zusätzlich zur Überwachung auch zur Ermittlung der Wetterlage genutzt werden, so dass keine zusätzliche Hardware zur Erfassung von Wetterinformationen benötigt wird. Rail vehicle is determined based on the detected by the surveillance camera image data a current weather conditions. Before ¬ geous the image data can also be used to monitor and to determine the conditions, so no additional hardware for recording weather information is needed.
In einer bevorzugten Ausgestaltung des erfindungsgemäßen Verfahrens zum Anpassen von Messparametern einer In a preferred embodiment of the method according to the invention for adjusting measurement parameters of a
Odometrieeinheit eines Schienenfahrzeugs wird zur Ermittlung der aktuellen Wetterlage ein Bildauswertungsverfahren auf die erfassten Bilddaten angewendet, welches auf dem maschinellen Sehen basiert. Bei dem Bildauswertungsverfahren kann vorzugsweise ein Vergleich der Bilddaten mit unterschiedlichen Bildmustern durchgeführt werden, welche jeweils einer unterschiedlichen Wetterlage zugeordnet sind. Die unterschiedlichen Wetterlagen können beispielsweise die folgenden Wetterlagen umfassen: Odometry unit of a rail vehicle is used to determine the current weather situation, an image evaluation method on the captured image data, which is based on the machine vision. In the image evaluation method, a comparison of the image data with different image patterns, which are each assigned to a different weather situation, can preferably be carried out. The different weather conditions may include, for example, the following weather conditions:
- Schneefall,  - snowfall,
- Nebel,  - fog,
- Regen.  - Rain.
Wie bereits erwähnt habe die genannten Wetterlagen Einfluss auf die Zuverlässigkeit der odometrischen Sensoren. Bei¬ spielsweise kann Schnee die Zuverlässigkeit eines Doppier- Radars beeinträchtigen. Regen kann zu einem Rutschen der Rä- der des Schienenfahrzeugs und damit zu einer geringeren Zu¬ verlässigkeit der Drehfrequenzsensoren führen. Zur Ermittlung der Wetterlage können aktuelle Betriebsdaten einer Klimaanlage des Schienenfahrzeugs verwendet werden. An¬ hand der Betriebsdaten kann auf eine aktuelle Temperatur geschlossen werden, welche wiederum Hinweise auf die aktuelle Wetterlage gibt. As already mentioned, the mentioned weather conditions influenced the reliability of the odometric sensors. In ¬ play some snow may affect the reliability of a Doppier- radar. Rain can cause a slippage of the RAE of the rail vehicle and therefore to lower to ¬ reliability of the rotation frequency sensors. To determine the weather situation, current operating data of an air conditioning system of the rail vehicle can be used. An ¬ hand of the operating data can be closed to a current temperature, which in turn provides clues to the current weather conditions.
In einer Ausgestaltung des erfindungsgemäßen Verfahrens zum Anpassen von Messparametern einer Odometrieeinheit eines Schienenfahrzeugs werden in Abhängigkeit von den ermittelten Wetterdaten, Fusionsgewichte von Sensoren, welche aufgrund der Wetterdaten als fehleranfällig eingestuft werden, redu¬ ziert. Vorteilhaft wird auf diese Weise die Genauigkeit der ermittelten odometrischen Daten verbessert. Die Erfindung wird im Folgenden unter Hinweis auf die beige¬ fügten Figuren anhand von Ausführungsbeispielen noch einmal näher erläutert. Es zeigen: In one embodiment of the inventive method for adapting measuring parameters of a Odometrieeinheit a railway vehicle will be a function of the detected weather data, Fusion weights of sensors which are classified as error-prone due to the weather information, redu ¬ sheet. Advantageously, the accuracy of the odometric data obtained is improved in this way. The invention will be explained in more detail below with reference to the beige ¬ added figures using exemplary embodiments. Show it:
FIG 1 ein Flussdiagramm, welches ein Verfahren zum Anpassen von Messparametern einer Odometrieeinheit eines Schienenfahrzeugs gemäß einem ersten Ausführungsbeispiel der Erfindung veranschaulicht, 1 shows a flowchart which illustrates a method for adjusting measurement parameters of an odometry unit of a rail vehicle according to a first exemplary embodiment of the invention,
FIG 2 ein Blockdiagramm, welches eine Justage-Einrichtung gemäß einem Ausführungsbeispiel der Erfindung veranschaulicht, FIG 3 ein Blockdiagramm, welches ein Schienenfahrzeug gemäß einem Ausführungsbeispiel der Erfindung veranschaulicht.  2 is a block diagram illustrating an adjustment device according to an embodiment of the invention. FIG. 3 is a block diagram illustrating a rail vehicle according to an embodiment of the invention.
In FIG 1 ist ein Verfahren zum Anpassen von Messparametern einer Odometrieeinheit eines Schienenfahrzeugs veranschau- licht. Bei dem Schritt 1.1 werden Sensordaten, in diesem Ausführungsbeispiel Bilddaten BD, von der Umgebung des Schienenfahrzeugs, welche von einer Überwachungskamera erfasst wer¬ den, Temperaturdaten TD von einem Temperatursensor, welcher eine Außentemperatur misst, Feuchtesensordaten FSD von einem Feuchtesensor und Lidar-Sensordaten LSD von einem Lidar-FIG. 1 illustrates a method for adjusting measurement parameters of an odometry unit of a rail vehicle. In step 1.1 are sensor data, in this embodiment, image data BD from the vicinity of the rail vehicle, which detected by a surveillance camera ¬ the, temperature data TD from a temperature sensor which measures outside temperature, humidity sensor data FSD by a humidity sensor and lidar sensor data LSD a lidar
Sensor erfasst. Auf Basis der erfassten Sensordaten BD, TD, FSD, LSD werden bei dem Schritt l.II Wetterdaten WD ermittelt. Beispielsweise kann mit Hilfe der Feuchtesensordaten ermittelt werden, ob es aktuell regnet und wie stark es reg¬ net. Schließlich werden bei dem Schritt l.III Fusionsgewichte FG für die Fusion von odometrischen Daten, beispielsweise eine gemessenen Geschwindigkeit oder zurückgelegte Wegstrecke, auf Basis der ermittelten Wetterdaten WD ermittelt. Die odometrischen Daten selbst werden nach der Justage beispielsweise mit Hilfe eines Drehfrequenzsensors und eines Doppler- Radas ermittelt und anschließend mit Hilfe der genannten Fu¬ sionsgewichte FG gewichtet kombiniert, um eine Fahrzeugge- schwindigkeit oder eine zurückgelegte Wegstrecke zu ermit¬ teln . Sensor detected. On the basis of the detected sensor data BD, TD, FSD, LSD weather data WD are determined in step l.II. For example, with the help of the humidity sensor data to determine if it rains to date and how strong it reg ¬ net. Finally, in step l.III, fusion weights FG for the fusion of odometric data, for example a measured speed or traveled distance, are determined on the basis of the determined weather data WD. The odometric data itself is combined to a speed or a distance covered Fahrzeugge- to ermit ¬ stuffs determined after the adjustment, for example by means of a rotational frequency sensor and a Doppler Rada and subsequently weighted by means of said Fu ¬ sion weights FG.
In FIG 2 wird eine Justage-Einrichtung 20 für ein Schienenfahrzeug 40 (siehe FIG 3) beschrieben. Die Justage-Einrich- tung 20 umfasst eine Dateneingangsschnittstelle 21, welche dazu eingerichtet ist, Sensordaten SD vom Innenraum und/oder der Umgebung des Schienenfahrzeugs 40 zu empfangen. Die Sen¬ sordaten SD werden an eine Wetter-Ermittlungseinheit 22 über¬ mittelt, die dazu dient, Wetterdaten WD auf Basis der erfass- ten Sensordaten SD zu ermitteln. Teil der Justage-Einrichtung 20 ist auch eine Festlegungseinheit 23, welche dazu einge¬ richtet ist, Fusionsgewichte FG für die Fusion von In FIG. 2, an adjustment device 20 for a rail vehicle 40 (see FIG. 3) is described. The adjustment device 20 comprises a data input interface 21, which is set up to receive sensor data SD from the interior and / or the surroundings of the rail vehicle 40. The Sen ¬ sordaten SD is a weather-determination unit 22 ¬ averages, which is used to determine weather data WD based on the erfass- th sensor data SD. Part of the adjustment device 20 is also a fixing unit 23, which is set up ¬ , merger weights FG for the merger of
odometrischen Daten v, P(t), welche auf Basis von Sensordaten FD, DRD von unterschiedlichen Arten von Sensoren 15, 16 (sie- he FIG 3) ermittelt wurden, in Abhängigkeit von den ermittel¬ ten Wetterdaten WD festzulegen. Die ermittelten Gewichte FG werden über eine Ausgangsschnittstelle 24 ausgegeben und an eine Auswertungseinheit 30 (siehe FIG 3) übermittelt. In FIG 3 ist ein Blockdiagramm gezeigt, welches ein Schienenfahrzeug 40 veranschaulicht. Das Schienenfahrzeug 40 umfasst eine Mehrzahl von unterschiedlichen Sensoreinheiten 10, 11, 12, 13, mit denen Sensordaten BD, TD, FSD, LSD als Grundlage für die Ermittlung von Wetterdaten WD erfasst werden. Die Sensoreinheiten 10, 11, 12, 13 umfassen eine Überwachungska¬ mera 10, welche Bilddaten BD von der Umgebung des Schienenfahrzeugs 40 aufnimmt, einen Temperatursensor 11 zum Ermit¬ teln von Außentemperaturdaten TD, eine Feuchtesensoreinheit 12 zum Ermitteln von Feuchtsensordaten FSD, welche Informationen über die Luftfeuchtigkeit vermitteln, und eine Lidar- Sensoreinheit 13, welche mit Hilfe von Lidar Informationen über das Auftreten von Niederschlägen, wie zum Beispiel Regen oder Schnee, sowie von Nebel ermitteln kann. Weiterhin weist das Schienenfahrzeug 40 noch zwei odometrische Sensoren 15, 16 auf. Ein erster odometrischer Sensor 15 ist als Drehfrequenzmesser ausgebildet und ein zweiter odometrischer Sensor ist als Doppler-Radarsensor ausgebildet. Von den beiden odometrischen Sensoren werden Frequenzdaten FD bzw. Doppier- Radardaten DRD an eine Auswertungseinheit 30, auch odometric data v, P (t), which were determined on the basis of sensor data FD, DRD of different types of sensors 15, 16 (seven he FIG 3) to define, in dependence on the ermittel ¬ th weather data WD. The determined weights FG are output via an output interface 24 and transmitted to an evaluation unit 30 (see FIG. 3). 3, a block diagram illustrating a rail vehicle 40 is shown. The rail vehicle 40 includes a plurality of different sensor units 10, 11, 12, 13, with which sensor data BD, TD, FSD, LSD are detected as a basis for the determination of weather data WD. The sensor units 10, 11, 12, 13 comprise a Überwachungska ¬ ra 10 which receives image data BD from the environment of the railway vehicle 40, a temperature sensor 11 for Ermit ¬ stuffs of external temperature data TD, a moisture sensor unit 12 for determining wet sensor data FSD, which provide information about the humidity, and a lidar sensor unit 13, which can use Lidar information about the occurrence of precipitation, such as rain or snow, and detect fog. Furthermore, the rail vehicle 40 has two odometric sensors 15, 16. A first odometric sensor 15 is designed as a rotational frequency meter and a second odometric sensor is designed as a Doppler radar sensor. Of the two odometric sensors, frequency data FD or dual radar data DRD to an evaluation unit 30, also
Odometrieeinheit genannt, übermittelt, welche zusätzlich von der Justage-Einrichtung 20 Daten bezüglich anzuwendender Fusionsgewichte FG erhält. Die Auswertungseinheit 30 ermittelt auf Basis der odometrischen Frequenzdaten FD erste Called odometry unit, transmitted, which additionally receives from the adjustment device 20 data relating to applied fusion weights FG. The evaluation unit 30 determines the first based on the odometric frequency data FD
odometrische Datensätze vF, PF(t) betreffend die Geschwindig¬ keit und die Position des Schienenfahrzeugs 40 und auf Basis der Doppler-Radardaten DRD zweite odometrische Datensätze vD, PD(t), welche ebenfalls die Geschwindigkeit und die Position des Schienenfahrzeugs 40 angeben. Die ermittelten odometric records v F, P F (t) concerning the VELOCITY ¬ resistance and the position of the rail vehicle 40, and second on the basis of the Doppler radar data DRD odometric records v D, P D (t), which is also the speed and the position of the rail vehicle 40 indicate. The determined
odometrischen Datensätze vF, PF(t), vD, Pü(t) werden mit Hilfe der ermittelten Gewichte FG gewichtet zu fusionierten Odometric data sets V F , P F (t), v D , P u (t) are weighted using the determined weights FG to be fused
odometrischen Daten v, P(t) kombiniert. Die fusionierten odometrischen Daten v, P(t) werden an eine Steuerungseinheit 31 übermittelt, welche auf deren Basis automatische Steue¬ rungsvorgänge durchführt und die Daten v, P(t) an eine Anzei¬ geeinheit (nicht gezeigt) weitersendet, auf der sie dem Be¬ dienpersonal bildlich dargestellt werden. Es wird abschließend noch einmal darauf hingewiesen, dass es sich bei den vorbeschriebenen Verfahren und Vorrichtungen lediglich um bevorzugte Ausführungsbeispiele der Erfindung han¬ delt und dass die Erfindung vom Fachmann variiert werden kann, ohne den Bereich der Erfindung zu verlassen, soweit er durch die Ansprüche vorgegeben ist. Es wird der Vollständig¬ keit halber auch darauf hingewiesen, dass die Verwendung der unbestimmten Artikel „ein" bzw. „eine" nicht ausschließt, dass die betreffenden Merkmale auch mehrfach vorhanden sein können. Ebenso schließt der Begriff „Einheit" nicht aus, dass diese aus mehreren Komponenten besteht, die gegebenenfalls auch räumlich verteilt sein können. odometric data v, P (t) combined. The fused odometric data v, P (t) are transmitted to a control unit 31 which performs on the basis of automatic Steue ¬ approximately operations and the data v, P (t) (not shown) to an Ad ¬ geeinheit more ends on which it is the Be ¬ service staff are depicted. It is finally pointed out once again that this han ¬ punched in the above-described methods and devices by only preferred embodiments of the invention and that the invention can be varied by the skilled person without departing from the scope of the invention in so far as determined by the claims is. It is the Fully ¬ ness sake also noted that the use of the indefinite article "a" and does not exclude "a" that the features in question also be present more than once can. Similarly, the term "unit" does not exclude that it consists of several components, which may also be spatially distributed.

Claims

Patentansprüche claims
1. Verfahren zum Anpassen von Messparametern einer Odometrie- einheit (30) eines Schienenfahrzeugs (40), aufweisend die Schritte: 1. A method for adjusting measurement parameters of an odometry unit (30) of a rail vehicle (40), comprising the steps:
- Erfassen von Sensordaten (SD, TD, FSD, LSD) vom Innenraum und/oder der Umgebung des Schienenfahrzeugs (40) mit Hilfe mindestens einer Sensoreinheit (10, 11, 12, 13), welche ei¬ ne interne Bildaufnahmeeinheit (10) umfasst, - Detecting sensor data (SD, TD, FSD, LSD) from the interior and / or the environment of the rail vehicle (40) by means of at least one sensor unit (10, 11, 12, 13), which ei ¬ ne internal image pickup unit (10) .
- Ermitteln von Wetterdaten (WD) auf Basis der erfassten Sensordaten (SD, TD, FSD, LSD), Determination of weather data (WD) on the basis of the acquired sensor data (SD, TD, FSD, LSD),
- Festlegen von Fusionsgewichten (FG) für die Fusion von odometrischen Daten (v, P(t)), welche auf Basis von Sensorda¬ ten (FD, DRD) von unterschiedlichen Arten von odometrischen Sensoren (10) ermittelt wurden, in Abhängigkeit von den er¬ mittelten Wetterdaten (WD) . - Set of fusion weights (FG) for the fusion of odometric data (v, P (t)), which were determined on the basis of Sensorda ¬ th (FD, DRD) of different types of odometric sensors (10), depending on the he ¬ mediated weather data (WD).
2. Verfahren nach Anspruch 1, wobei die mindestens eine Sensoreinheit (10, 11, 12, 13) mindestens eine der folgenden Sensorarten umfasst: 2. The method of claim 1, wherein the at least one sensor unit (10, 11, 12, 13) comprises at least one of the following sensor types:
- eine externe Bildaufnahmeeinheit,  an external image acquisition unit,
- einen Temperatursensor (11),  a temperature sensor (11),
- einen Feuchtigkeitssensor (12),  a humidity sensor (12),
- einen LIDAR-Sensor zur Hinderniserkennung (13).  - A LIDAR obstacle detection sensor (13).
3. Verfahren nach Anspruch 2, wobei als interne Bildaufnahme¬ einheit (10) eine Überwachungskamera (10a) eingesetzt wird. 3. The method according to claim 2, wherein a surveillance camera (10a) is used as the internal image recording ¬ unit (10).
4. Verfahren nach Anspruch 3, wobei die Überwachungskamera (10) zur Wetterbeobachtung derart ausgerichtet wird, dass von der externen Umgebung des Schienenfahrzeugs (40) Bilddaten (BD) erfasst werden können. 4. The method of claim 3, wherein the surveillance camera (10) for weather observation is oriented such that from the external environment of the rail vehicle (40) image data (BD) can be detected.
5. Verfahren nach Anspruch 3, wobei die Überwachungskamera (10) zur Wetterbeobachtung derart ausgerichtet wird, dass von einem Innenbereich des Schienenfahrzeugs (40) Bilddaten (BD) erfasst werden können. 5. The method of claim 3, wherein the surveillance camera (10) for weather observation is oriented such that from an inner region of the rail vehicle (40) image data (BD) can be detected.
6. Verfahren nach Anspruch 4 oder 5, wobei anhand der von der Überwachungskamera (10) erfassten Bilddaten (BD) eine aktuel¬ le Wetterlage ermittelt wird. 6. The method of claim 4 or 5, wherein on the basis of the surveillance camera (10) detected image data (BD) a aktuel ¬ le weather situation is determined.
7. Verfahren nach Anspruch 6, wobei zur Ermittlung der aktuellen Wetterlage ein Bildauswertungsverfahren auf die erfassten Bilddaten (BD) angewendet wird, welches auf dem maschinellen Sehen basiert. 7. The method of claim 6, wherein an image evaluation method is applied to the acquired image data (BD), which is based on the machine vision for determining the current weather situation.
8. Verfahren nach Anspruch 7, wobei bei dem Bildauswertungs¬ verfahren ein Vergleich der Bilddaten (BD) mit unterschiedlichen Bildmustern durchgeführt wird, welche jeweils einer un¬ terschiedlichen Wetterlage zugeordnet sind. 8. The method according to claim 7, being carried out in the image evaluation information model, a comparison of the image data (BD) with different image patterns which are each assigned to a un ¬ terschiedlichen weather.
9. Verfahren nach Anspruch 8, wobei die unterschiedlichen Wetterlagen die folgenden Wetterlagen umfassen: 9. The method of claim 8, wherein the different weather conditions include the following weather conditions:
- Schneefall,  - snowfall,
- Nebel,  - fog,
- Regen.  - Rain.
10. Verfahren nach einem der vorstehenden Ansprüche, wobei zur Ermittlung der Wetterlage aktuelle Betriebsdaten einer Klimaanlage des Schienenfahrzeugs (40) verwendet werden. 11. Verfahren nach einem der vorstehenden Ansprüche, wobei in Abhängigkeit von den ermittelten Wetterdaten, Fusionsgewichte von Sensoren (10, 10. The method according to any one of the preceding claims, wherein current operating data of an air conditioning system of the rail vehicle (40) are used to determine the weather conditions. 11. The method according to any one of the preceding claims, wherein, depending on the determined weather data, fusion weights of sensors (10,
11, 12, 13), welche aufgrund der Wetterda¬ ten als fehleranfällig eingestuft werden, reduziert werden. 11, 12, 13), which are classified as error-prone due to the Wetterda ¬ th can be reduced.
12. Justage-Einrichtung (20) für ein Schienenfahrzeug (40), aufweisend : 12. Adjustment device (20) for a rail vehicle (40), comprising:
- eine Dateneingangsschnittstelle (21) zum Empfangen von Sen¬ sordaten (TD, FSD, LSD) von einer Sensoreinheit, welche eine interne Bildaufnahmeeinheit (10) umfasst, bezüglich des Innenraums und/oder der Umgebung des Schienenahrzeugs (40),- a data input interface (21) for receiving Sen ¬ sordaten (TD, FSD, LSD) of a sensor unit which comprises an internal image pickup unit (10) relative to the interior and / or the surroundings of the Schienenahrzeugs (40)
- eine Wetter-Ermittlungseinheit (22) zum Ermitteln von Wet¬ terdaten (WD) auf Basis der erfassten Sensordaten (TD, FSD, LSD) , - ein Festlegungseinheit (23) zum Festlegen von Fusionsge¬ wichten (FG) für die Fusion von odometrischen Daten (v, P(t)), welche auf Basis von odometrischen Sensordaten (FD, DRD) von unterschiedlichen Arten von odometrischen Sensoren (15, 16) ermittelt wurden, in Abhängigkeit von den ermit¬ telten Wetterdaten (WD) . - a weather detection unit (22) for detecting Wet ¬ terdaten (WD) based on the acquired sensor data (TD, FSD, LSD) - a determining unit (23) for setting Fusionsge ¬ weights (FG) for the fusion of odometric data (v, P (t)), which based on odometric sensor data (FD, DRD) of different types of odometric sensors (15, 16) were determined (in dependence on the ermit ¬ telten weather data WD).
13. Schienenfahrzeug (40), aufweisend 13. Rail vehicle (40), comprising
- mindestens eine Sensoreinheit, welche eine interne Bildauf- nahmeeinheit (10) umfasst, und  - At least one sensor unit, which comprises an internal image pickup unit (10), and
- eine Justage-Einrichtung (20) nach Anspruch 12.  - An adjustment device (20) according to claim 12.
14. Computerprogrammprodukt mit einem Computerprogramm, wel¬ ches direkt in eine Speichereinheit einer Rechnereinheit ei- nes Schienenfahrzeugs (40) ladbar ist, mit Programmabschnit¬ ten, um alle Schritte eines Verfahrens nach einem der Ansprü¬ che 1 bis 11 auszuführen, wenn das Computerprogramm in der Rechnereinheit ausgeführt wird. 14. A computer program product with a computer program, directly wel ¬ ches in a storage unit of a computer unit of a rail vehicle (40) is loadable with Programmabschnit ¬ th to carry out all steps of a method according to one of Ansprü ¬ che 1 to 11, when the computer program is executed in the computer unit.
15. Computerlesbares Medium, auf welchem von einer Rechnereinheit ausführbare Programmabschnitte gespeichert sind, um alle Schritte des Verfahrens nach einem der Ansprüche 1 bis 11 auszuführen, wenn die Programmabschnitte von der Rechnereinheit ausgeführt werden. 15. A computer-readable medium on which are stored by a computer unit executable program sections to perform all the steps of the method according to one of claims 1 to 11, when the program sections are executed by the computer unit.
EP18746651.1A 2017-08-10 2018-07-19 Sensor-controlled adjustment of fusion weights to weather conditions in a odometric unit of a rail vehicle Active EP3625106B1 (en)

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