CN111032476B - Regulation of mileage measurement parameters in a sensor-controlled manner as a function of weather conditions - Google Patents
Regulation of mileage measurement parameters in a sensor-controlled manner as a function of weather conditions Download PDFInfo
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- CN111032476B CN111032476B CN201880051104.1A CN201880051104A CN111032476B CN 111032476 B CN111032476 B CN 111032476B CN 201880051104 A CN201880051104 A CN 201880051104A CN 111032476 B CN111032476 B CN 111032476B
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- 238000005259 measurement Methods 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 claims abstract description 32
- 230000003287 optical effect Effects 0.000 claims description 7
- 238000003703 image analysis method Methods 0.000 claims description 4
- 238000004378 air conditioning Methods 0.000 claims description 2
- 239000003595 mist Substances 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 238000004590 computer program Methods 0.000 description 6
- 238000012544 monitoring process Methods 0.000 description 5
- 238000011156 evaluation Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 206010016326 Feeling cold Diseases 0.000 description 1
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- 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
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- 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
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- 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
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Image Processing (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Machines For Laying And Maintaining Railways (AREA)
Abstract
The invention relates to a method for adjusting a measurement parameter of a odometer unit (30) of a rail vehicle (40). In the method, sensor data (SD, TD, FSD, LSD) of the interior and/or the surroundings of a rail vehicle (40) are acquired by means of at least one sensor unit (10) which comprises an interior image recording unit (10). Based on the collected Sensor Data (SD), Weather Data (WD) is determined based on the collected Sensor Data (SD). Finally, a merge weight (FG) for merging mileage data (v, P (t)) determined on the basis of mileage sensor data (FD, DRD) from different types of mileage sensors (15, 16) is determined from the determined Weather Data (WD).
Description
Technical Field
The invention relates to a method for adjusting a measurement parameter of a odometer unit of a rail vehicle. Furthermore, the invention relates to an adjustment device. The invention further relates to a rail vehicle.
Background
Speed measurement is essential for automatic driving and assistance systems of vehicles. The speed data may be used for many different purposes. For this purpose, for example, compliance with legal requirements, planning of the journey, braking processes and the introduction of position determination are monitored. Typically, the speed is determined by combining the measurements of different sensors. Sensors used for speed determination may generate erroneous data. This may be due to, for example, severe weather conditions, such as rain, snow, etc. Snow, fog and rain may negatively affect the performance of the doppler radar sensor. Rain can cause a slippery roadway or rail surface, which can also cause the wheels to slip and skid, thereby degrading the measurement accuracy of the sensors that measure the rotational frequency of the wheels. Therefore, there are the following problems: errors occur in the measurement of the mileage data by the individual sensors and thus falsify the overall result of the mileage measurement.
DE 102006035597 a1 describes a method for determining the distance traveled and the speed of a vehicle, in particular for a train control system with stringent safety requirements. In this case, the sensor data of the different sensors are combined.
DE 102009006113 a1 describes a device for representing a vehicle environment, in which the presence of objects is determined on the basis of consolidated sensor data.
The detection of weather conditions by means of on-board sensors of a motor vehicle is described in US 2017/0307247 a 1.
Weather conditions which can have a negative effect on the functioning of the warning system of the rail vehicle are collected in US 9676393B 2.
Disclosure of Invention
The object of the invention is therefore to provide a method and a corresponding measuring device for measuring mileage that are adapted to provide more accurate results than today despite of severe weather conditions.
This object is achieved by a method for adjusting a measurement parameter of a odometer unit of a vehicle according to claim 1, an adjusting device according to claim 12 and a rail vehicle according to claim 13.
In the method according to the invention for adjusting a measurement parameter of a odometer unit of a rail vehicle, sensor data of an interior space and/or of the surroundings of the rail vehicle are acquired by means of at least one sensor unit, which comprises an interior image recording unit. The collected sensor data is used to determine weather data. The weather data are preferably determined automatically, so that no additional personnel expenditure is required and the analysis can be carried out in real time. Determining a merge weight for merging the mileage data depending on the determined weather data. The mileage data itself, e.g. the speed data or the position data, is determined by a weighted combination or merging, e.g. by a weighted addition in a mileage unit, based on the mileage sensor data from the different types of mileage sensors. Advantageously, by means of the determination of the weight for merging the mileage data, the current weather data can be taken into account by weighting the mileage sensors or their mileage data, which are negatively affected by the current weather situation, less strongly. The accuracy of the mileage data and the robustness of the determination of the data are improved with this measure. The determination of the combining weights is preferably also carried out automatically, so that the measurement parameters, i.e. the combining weights, can be adjusted in real time.
In rail vehicles, internal image recording units may already be present, for example as surveillance cameras, in order to improve the personal safety of the passengers. Advantageously, no additional cameras have to be installed for determining the weather situation, but already existing surveillance cameras can additionally take over the task of observing the weather situation. For this purpose, the surveillance camera can sometimes be directed in the direction of the window of the rail vehicle, so that the external environment can be captured and weather data can be determined.
The adjusting device according to the invention for a rail vehicle has a data input interface for receiving sensor data from an interior space and/or surroundings of the rail vehicle from a sensor unit, which comprises an interior image recording unit. Part of the adjusting device is also a weather determination unit for determining weather data based on the collected sensor data. The adjusting apparatus according to the present invention further comprises a specifying unit for determining a combining weight for combining mileage data, which has been determined based on mileage sensor data of different types of mileage sensors, depending on the determined weather data.
The rail vehicle according to the invention comprises at least one sensor unit comprising an interior image recording unit and the adjusting device according to the invention. The rail vehicle according to the invention shares the advantages of the adjusting device according to the invention.
Some components of the adjusting device according to the invention can be designed to a large extent in the form of software components. This relates in particular to the weather determination unit and to particular parts of the specification unit. In principle, however, these components can also be implemented in part, in particular when particularly fast calculations are involved, in the form of software-supported hardware, for example FPGAs or the like. Likewise, the required interface, for example when only involving the reception of data from other software components, may be designed as a software interface. However, the interface can also be designed as a hardware-designed interface which is controlled by means of suitable software.
The realization largely by software has the advantage that computer systems already present in rail vehicles can be upgraded in a simple manner by software updates to operate in the manner according to the invention, possibly after being supplemented by additional hardware components. In this respect, the object is also achieved by a corresponding computer program product with a computer program, which can be loaded directly into a memory device of such a computer system, having program sections for carrying out all the steps of the method according to the invention when the computer program is executed in the computer system.
Such a computer program product may comprise, in addition to the computer program, if necessary additional components, such as documents and/or additional components, and hardware components for using the software, such as hardware keys (dongle, etc.).
For transmission to a memory device of a computer system and/or for storage in a computer system, a computer-readable medium may be used, for example, a memory stick, a hard disk or other removable or fixed data carrier, on which program sections of a computer program are stored which can be read and executed by a computer unit. For this purpose, the computer unit may have, for example, one or more cooperating microprocessors or the like.
The dependent claims and the following description each contain particularly advantageous embodiments and developments of the invention. In particular, claims of one claim category can also be extended here analogously to dependent claims of another claim category and to the description thereof. Furthermore, different embodiments and different features of the claims may also be combined into new embodiments within the framework of the invention.
In a configuration of the method according to the invention for adjusting a measurement parameter of a odometer unit of a rail vehicle, the at least one sensor unit comprises at least one of the following sensor types:
-an external image recording unit for recording an external image,
-a temperature sensor for detecting the temperature of the gas,
-a humidity sensor for detecting the humidity of the atmosphere,
-an optical radar sensor for obstacle recognition.
The weather phenomenon can be visually detected and then recognized using an external image recording unit as a sensor unit. Conclusions about the reliability of the individual odometer sensors can in turn be drawn from the weather situation. The temperature sensor can also give important indications about the reliability of the odometer sensor. For example, a chilliness may indicate the presence of snow, which in turn makes speed measurements with doppler radar difficult. For example, moisture sensors for automatically operating wipers may already be present in rail vehicles, and it is now possible according to the invention to additionally use moisture sensors for obtaining weather data in order to evaluate the reliability of the distance sensor. The occurrence of fog can be recognized, for example, by means of an optical radar sensor. Fog in turn makes speed measurement with doppler radar difficult.
In a variant of the method according to the invention for adjusting a measurement parameter of a odometer unit of a rail vehicle, a surveillance camera is used as an internal image recording unit. As already mentioned, it is advantageously possible to use already existing devices, in which additionally an automatic analysis of the image data is added.
In a configuration of the method according to the invention for adjusting the measurement parameters of a odometer unit of a rail vehicle, the monitoring camera for weather observation is configured such that image data can be acquired from the environment outside the rail vehicle. Advantageously, information about the external environment of the rail vehicle can be collected with a surveillance camera, which can provide information about the current weather conditions.
In a variant of the method according to the invention for adjusting the measurement parameters of a odometer unit of a rail vehicle, the monitoring camera for weather observation is designed such that image data can be acquired from the interior region of the rail vehicle. In this variant, it is possible to keep the surveillance camera aimed inwards and to obtain indirect information about the weather conditions from the passenger's clothing and equipment. The monitoring of the interior space and the external environment can also be combined with each other to obtain more reliable weather data.
In a configuration of the method according to the invention for adjusting a measurement parameter of a odometer unit of a rail vehicle, the current weather situation is determined from image data acquired by a surveillance camera. Advantageously, the image data can be used for determining weather conditions in addition to monitoring, so that no additional hardware is required for collecting weather information.
In a preferred embodiment of the method according to the invention for adjusting the measurement parameters of a odometry unit of a rail vehicle, a machine vision-based image analysis method is applied to the acquired image data in order to determine the current weather situation.
In the image analysis method, the comparison of the image data may preferably be performed in different image patterns, which are respectively associated with different weather conditions.
The different weather conditions may for example include the following weather conditions:
-the snow is fallen off,
-a mist of water,
-rain.
As already mentioned, the mentioned weather conditions have an influence on the reliability of the mileage sensor. For example, snow can negatively affect the reliability of doppler radar. Rain may cause the wheels of the rail vehicle to slip, thereby causing the reliability of the rotational frequency sensor to be reduced.
For determining the weather situation, the current operating data of the air conditioning system of the rail vehicle can be used. From the operating data, a current temperature can be deduced, which in turn gives an indication of the current weather situation.
In a configuration of the method according to the invention for adjusting a measurement parameter of a odometer unit of a rail vehicle, the merge weight of sensors classified as failure-prone on the basis of weather data is reduced as a function of the determined weather data. Advantageously, the accuracy of the determined mileage data is improved in this way.
Drawings
The invention is explained in more detail below, again according to embodiments, with reference to the attached drawings, wherein:
fig. 1 shows a flow chart, which shows a method for adjusting a measurement parameter of a odometer unit of a rail vehicle according to a first embodiment of the invention,
fig. 2 shows a block diagram, which shows an adjustment device according to an embodiment of the invention,
fig. 3 shows a block diagram illustrating a rail vehicle according to an embodiment of the invention.
Detailed Description
A method for adjusting a measured parameter of a odometer unit of a rail vehicle is shown in fig. 1. In step 1.I, sensor data, in this example image data BD, are acquired from the surroundings of the rail vehicle, the image data being acquired by a surveillance camera, the temperature data TD being acquired by a temperature sensor measuring the outside temperature, the humidity sensor data FSD being acquired by a humidity sensor, the optical radar sensor data LSD being acquired by an optical radar sensor. In step 1.II, weather data WD is determined based on the acquired sensor data BD, TD, FSD, LSD. For example, it may be determined by means of humidity sensor data whether and how much rain is currently raining. Finally, in step 1.III, a merge weight FG for merging mileage data, for example measured speeds or traveled distances, is determined on the basis of the determined weather data WD. The range data itself is determined after adjustment, for example, by means of a rotational frequency sensor and a doppler radar, and then combined in a weighted manner by means of the aforementioned combining weights FG in order to determine the vehicle speed or the distance traveled.
Fig. 2 shows an adjusting device 20 for a rail vehicle 40 (see fig. 3). The adjusting device 20 comprises a data input interface 21, which data input interface 21 is designed to receive sensor data SD from the interior space and/or the surroundings of the rail vehicle 40. The sensor data SD are transmitted to a weather determination unit 22, which weather determination unit 22 is configured to determine the weather data WD on the basis of the collected sensor data SD. Part of the adjusting device 20 is also a provision unit 23 which is designed for determining a merging weight FG for merging mileage data v, p (t) which are determined on the basis of the sensor data FD, DRD of the different types of sensors 15, 16 (see fig. 3) in dependence on the determined weather data WD. The determined weight FG is output via the output interface 24 and transmitted to the evaluation unit 30 (see fig. 3).
A block diagram illustrating a rail vehicle 40 is shown in fig. 3. The rail vehicle 40 comprises a plurality of different sensor units 10, 11, 12, 13, with which sensor data BD, TD, FSD, LSD are collected as a basis for determining the weather data WD. The sensor unit 10, 11, 12, 13 includes: a monitoring camera 10 that records image data BD from the surroundings of the railway vehicle 40; a temperature sensor 11 for determining external temperature data TD; a humidity sensor unit 12 for determining humidity sensor data FSD, the humidity sensor data providing information about the humidity of the air; and an optical radar sensor unit 13, which can determine information about the occurrence of precipitation, for example rain or snow, and information about the occurrence of fog by means of an optical radar. The rail vehicle 40 also has two mileage sensors 15, 16. The first odometer sensor 15 is designed as a rotational frequency meter and the second odometer sensor as a doppler radar sensor. The frequency data FD or doppler radar data DRD are transmitted from the two range sensors to an evaluation unit 30, also referred to as a range unit, which evaluation unit 30 additionally obtains data from the adjustment device 20 about the combining weights FG to be applied. The evaluation unit 30 determines a first mileage data set v based on the mileage frequency data FDF，PF(t) which relates to the speed and position of the rail vehicle 40 and which determines a second odometry data set V on the basis of the Doppler radar data DRDD，PD(t), which also describes the speed and position of the rail vehicle 40. Determined mileage data set vF，PF(t)、vD，PD(t) combining the merged range data v, p (t) in a weighted manner by means of the determined weights FG. The merged mileage data v, p (t) is transmitted to the control unit 31, on the basis of which the control unit 31 performs an automatic control process, and the data v, p (t) is forwarded to a display unit (not shown), on which it is visually displayed to the operator.
Finally, it should be noted once again that the above-described method and device are only preferred embodiments of the invention and that a person skilled in the art may make modifications to the invention without departing from the scope thereof, as long as it is pre-given by the claims. For the sake of completeness, it is noted that the use of the indefinite article "a" or "an" does not exclude that a feature also referred to is present in plural. Likewise, the term "unit" does not exclude the composition of a plurality of components, which may also be spatially distributed if desired.
Claims (14)
1. A method for adjusting a measurement parameter of a odometry unit (30) of a rail vehicle (40), having the following steps:
-acquiring sensor data of an interior space and/or of a surroundings of a rail vehicle (40) by means of at least one sensor unit comprising an interior image recording unit (10),
-determining Weather Data (WD) based on the collected sensor data,
-determining a merging weight (FG) for merging mileage data determined based on sensor data from different types of mileage sensors (10) in dependence of the determined Weather Data (WD).
2. The method of claim 1, wherein the at least one sensor unit comprises at least one of the following sensor types:
-an external image recording unit for recording an external image,
-a temperature sensor (11),
-a humidity sensor (12),
-an optical radar sensor (13) for obstacle recognition.
3. The method according to claim 2, wherein a surveillance camera (10a) is used as the internal image recording unit (10).
4. Method according to claim 3, wherein the surveillance camera (10) for weather observation is designed such that image data (BD) can be acquired from the environment outside the rail vehicle (40).
5. A method according to claim 3, wherein the surveillance camera (10) for weather observation is designed such that image data (BD) can be acquired from the interior region of the rail vehicle (40).
6. The method according to claim 4 or 5, wherein the current weather situation is determined from image data (BD) acquired by the surveillance camera (10).
7. The method according to claim 6, wherein for determining the current weather situation a machine vision based image analysis method is applied to the acquired image data (BD).
8. Method according to claim 7, wherein the comparison of the image data (BD) is performed in an image analysis method in different image modes, the image modes being respectively associated with different weather conditions.
9. The method of claim 8, wherein the different weather conditions include the following weather conditions:
-the snow is fallen off,
-a mist of water,
-rain.
10. Method according to claim 6, wherein for determining the weather situation, the current operating data of the air conditioning of the rail vehicle (40) are used.
11. The method of claim 1, wherein the merge weight of sensors classified as being prone to failure based on weather data is reduced as a function of the determined weather data.
12. An adjusting device (20) for a rail vehicle (40) has
A data input interface (21) for receiving sensor data about an interior space and/or surroundings of the rail vehicle (40) from a sensor unit comprising an interior image recording unit (10),
a weather determination unit (22) for determining Weather Data (WD) based on the collected sensor data,
-a provision unit (23) for determining a merging weight (FG) for merging mileage data determined based on mileage sensor data of different types of mileage sensors in dependence on the determined Weather Data (WD).
13. A rail vehicle (40) has
-at least one sensor unit comprising an internal image recording unit (10), and
-the adjustment device (20) according to claim 12.
14. A computer-readable medium, on which program segments executable by a computer unit are stored for performing all the steps of the method according to any one of claims 1 to 11 when the program segments are executed by the computer unit.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
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| DE102017213991.9 | 2017-08-10 | ||
| DE102017213991 | 2017-08-10 | ||
| PCT/EP2018/069642 WO2019029969A1 (en) | 2017-08-10 | 2018-07-19 | Sensor-controlled adjustment of odometric measurement parameters to weather conditions |
Publications (2)
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| CN111032476A CN111032476A (en) | 2020-04-17 |
| CN111032476B true CN111032476B (en) | 2022-04-08 |
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| EP (1) | EP3625106B1 (en) |
| CN (1) | CN111032476B (en) |
| ES (1) | ES2946763T3 (en) |
| WO (1) | WO2019029969A1 (en) |
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| CN114529886B (en) * | 2022-04-24 | 2022-08-02 | 苏州挚途科技有限公司 | Method, device and system for determining obstacle |
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- 2018-07-19 EP EP18746651.1A patent/EP3625106B1/en active Active
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- 2018-07-19 CN CN201880051104.1A patent/CN111032476B/en active Active
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| Publication number | Publication date |
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| EP3625106A1 (en) | 2020-03-25 |
| CN111032476A (en) | 2020-04-17 |
| ES2946763T3 (en) | 2023-07-25 |
| US20200172135A1 (en) | 2020-06-04 |
| EP3625106B1 (en) | 2023-03-15 |
| WO2019029969A1 (en) | 2019-02-14 |
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