EP2038160A1 - System and method for determining the current local position of vehicles, especially of trains - Google Patents

System and method for determining the current local position of vehicles, especially of trains

Info

Publication number
EP2038160A1
EP2038160A1 EP07787214A EP07787214A EP2038160A1 EP 2038160 A1 EP2038160 A1 EP 2038160A1 EP 07787214 A EP07787214 A EP 07787214A EP 07787214 A EP07787214 A EP 07787214A EP 2038160 A1 EP2038160 A1 EP 2038160A1
Authority
EP
European Patent Office
Prior art keywords
distance
vehicles
determined
placemarks
determining
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Withdrawn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
EP07787214A
Other languages
German (de)
French (fr)
Inventor
Wolfgang Kampe
Karsten Rahn
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 AG
Original Assignee
Siemens AG
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 Siemens AG filed Critical Siemens AG
Publication of EP2038160A1 publication Critical patent/EP2038160A1/en
Withdrawn legal-status Critical Current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
    • 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

Definitions

  • the invention relates to a system and a method for determining the current spatial position of vehicles, in particular trains, according to the preambles of claims 1 and 5.
  • Train control systems for trains that move within a route network are known.
  • sensor devices are arranged in the vehicles, which determine the distance traveled in each case and determine the current location position based on the travel path.
  • the sensor devices can work by means of position encoders, which determine the travel path on the basis of the wheel diameter and the completed wheel revolutions.
  • Doppler radar sensors or optical sensors For reasons of safety, the sensor devices must be checked at regular intervals to determine whether their accuracy is within specified tolerances. For example, the wear of the wheels in sensor devices with position encoders causes the guideway determination has a systematic error, which is corrected by readjustment and recalibration of the sensor devices. This is done previously so that new or modified accordingly characteristic values in the context of maintenance cycles manually by service personnel to be entered (in a vehicle device), wherein the maintenance cycle, depending on the vehicle type and Ki ⁇ lometer mecanic at about 6 months. This causes re ⁇ regularly maintenance costs. Further, it is known to arrange along the routes placemarks in the form of balises, whose spatial position and their distance from each other is known. The placemarks can be detected by the vehicle while driving by.
  • the object of the invention is to improve the accuracy of Bestim ⁇ tion of the current location position without regularly incur maintenance costs.
  • the invention is based on the system and based on the method by the features of claims 1 and 5 ge ⁇ triggers; the dependent claims correspond to advantageous Ausgestal ⁇ lines.
  • the solution envisages that, when passing a placemark, the distance from one of the placemarks already passed is compared with the self-determined distance, and the relative distance difference is formed from this, that the average value is determined in each case after a predetermined number of determined relative distance differences, and the sensor devices are each readjusted if the shift in the average values over time exceeds a predetermined threshold value.
  • the sensor devices for route detection calibrate automatically during operation.
  • the solution is based on a constant comparison between setpoint and actual values of the traveled routes.
  • the setpoints result from the known distances between the track-side placemarks.
  • the values measured by the sensor devices represent the associated actual values.
  • the setpoint values as well as the actual values are subject to errors (tolerances).
  • the errors of the setpoint result in particular from the installation accuracy. the location of the placemarks and the accuracy with which the vehicle detects the placemark.
  • the errors of the actual value are determined by the accuracy of the sensor device.
  • the current location positions can be used for security purposes; Only local positions that have been determined according to predefined criteria will be used for the calibration. This almost eliminates outliers.
  • the static measurement errors must be below a defined threshold. This is achieved by the measurement value acquisition ⁇ is possibly extending over a plurality of placemarks time.
  • the setpoint results in this case from the sum of the known location intervals between the location markings. The deviation of the actual value from the setpoint is called
  • the distance from the last pas ⁇ s elected placemark is compared with the self-determined distance and forms each of the relative distance difference.
  • the two distribution curves of the figure belong to a system for determining the current location of vehicles, preferably trains.
  • the vehicles move on routes of a route network on which locomotives in the form of balises are arranged for train control.
  • the placemarks are detected by the vehicles as they drive by, the location of each placemark and the distances of the placemarks, at least to the immediate neighbors, the vehicles being known.
  • Vehicles are further arranged sensor devices, which include position encoders that emit a pulse at least for each wheel revolution, so that based on the wheel diameter of each covered track can be determined.
  • the determination of the current spatial position is carried out in each case based on the travel path from the last place marker.
  • the frequency H of the relative distance differences is shown in the figure as a normalized curve 1. It is a normal distribution that runs symmetrically to a mean xm.
  • the agent is ⁇ value xm every predetermined number of ermit- telten relative distance differences determined, ie, for example, from 1000 distance differences.
  • the sensor device is recalibrated in each case, for example by correcting the wheel diameter on the basis of the displacement of the mean value xm.
  • the determination of the average value xm for the determination of the relative distance differences is restarted, that is, the mean value of the normalized distribution curve is again at 1.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Train Traffic Observation, Control, And Security (AREA)

Abstract

The invention relates to a system and a method for determining the current local position of vehicles, especially of trains, that travel on routes along which location markings are arranged that are detected by the passing vehicles and whose local position and distance from each other is known to the vehicles. Said system comprises sensor devices which are arranged in the vehicles and which detect the covered distance, especially via the wheel diameter by means of path pulse generators and Doppler radars, and determine the local position based on route. The aim of the invention is to improve exactness of local positioning while avoiding regular maintenance costs. The method according to the invention is characterized by comparing, when a location marking is passed, the distance from one of the location markings already passed with the distance determined by the system itself and producing the respective relative distance difference (x), determining, after a defined number of determined relative distance differences (x), the average value (xm) thereof, and recalibrating the sensor device every time the shift of the average values over time exceeds a defined threshold value (xs).

Description

Beschreibungdescription
System und Verfahren zur Bestimmung der momentanen Ortsposition von Fahrzeugen, insbesondere von ZügenSystem and method for determining the current location of vehicles, in particular trains
Die Erfindung betrifft ein System und ein Verfahren zur Bestimmung der momentanen Ortsposition von Fahrzeugen, insbesondere von Zügen, gemäß den Oberbegriffen der Ansprüche 1 und 5.The invention relates to a system and a method for determining the current spatial position of vehicles, in particular trains, according to the preambles of claims 1 and 5.
Zugbeeinflussungssysteme für Züge, die sich innerhalb eines Streckennetzes bewegen, sind bekannt. Zur Durchführung der Zugbeeinflussung ist es erforderlich, insbesondere die Ortsposition der Züge zu erfassen. Aus diesem Grunde sind in den Fahrzeugen Sensoreinrichtungen angeordnet, welche den jeweils zurückgelegten Fahrweg ermitteln und anhand des Fahrwegs die momentane Ortsposition bestimmen. Die Sensoreinrichtungen können mittels Wegimpulsgebern arbeiten, welche anhand des Raddurchmessers und der erfolgten Radumdrehungen den Fahrweg ermitteln. Ebenso können Sensoreinrichtungen mitTrain control systems for trains that move within a route network are known. In order to carry out the train control, it is necessary to detect in particular the local position of the trains. For this reason, sensor devices are arranged in the vehicles, which determine the distance traveled in each case and determine the current location position based on the travel path. The sensor devices can work by means of position encoders, which determine the travel path on the basis of the wheel diameter and the completed wheel revolutions. Likewise, sensor devices with
Doppler-Radar-Sensoren oder auch optischen Sensoren ausgerüstet sein. Aus Gründen der Sicherheit müssen die Sensoreinrichtungen in regelmäßigen Abständen dahingehend überprüft werden, ob deren Genauigkeit innerhalb vorgegebener Toleran- zen liegt. Beispielsweise führt die Abnutzung der Räder bei Sensoreinrichtungen mit Wegimpulsgebern dazu, dass die Fahrwegbestimmung einen systematischen Fehler aufweist, was durch Nachstellung und Neukalibrierung der Sensoreinrichtungen korrigiert wird. Dies erfolgt bisher so, dass neue bzw. entspre- chend geänderte Kennwerte im Rahmen von Wartungszyklen vom Wartungspersonal manuell (in ein Fahrzeuggerät) eingegeben werden, wobei der Wartungszyklus je nach Fahrzeugtyp und Ki¬ lometerleistung etwa bei 6 Monaten liegt. Dies verursacht re¬ gelmäßig Instandhaltungskosten. Weiter ist es bekannt, entlang der Fahrstrecken Ortsmarkierungen in Form von Balisen anzuordnen, deren Ortsposition und deren Abstand voneinander bekannt ist. Die Ortsmarkierungen können vom Fahrzeug während des Vorbeifahrens erfasst werden.Doppler radar sensors or optical sensors. For reasons of safety, the sensor devices must be checked at regular intervals to determine whether their accuracy is within specified tolerances. For example, the wear of the wheels in sensor devices with position encoders causes the guideway determination has a systematic error, which is corrected by readjustment and recalibration of the sensor devices. This is done previously so that new or modified accordingly characteristic values in the context of maintenance cycles manually by service personnel to be entered (in a vehicle device), wherein the maintenance cycle, depending on the vehicle type and Ki ¬ lometerleistung at about 6 months. This causes re ¬ regularly maintenance costs. Further, it is known to arrange along the routes placemarks in the form of balises, whose spatial position and their distance from each other is known. The placemarks can be detected by the vehicle while driving by.
Die Aufgabe der Erfindung ist es, die Genauigkeit der Bestim¬ mung der momentanen Ortsposition zu verbessern, ohne dass regelmäßig Wartungskosten anfallen.The object of the invention is to improve the accuracy of Bestim ¬ tion of the current location position without regularly incur maintenance costs.
Die Erfindung wird bezogen auf das System und bezogen auf das Verfahren durch die Merkmale der Patentansprüche 1 und 5 ge¬ löst; die Unteransprüche entsprechen vorteilhaften Ausgestal¬ tungen .The invention is based on the system and based on the method by the features of claims 1 and 5 ge ¬ triggers; the dependent claims correspond to advantageous Ausgestal ¬ lines.
Die Lösung sieht vor, dass jeweils beim Passieren einer Ortsmarkierung der Abstand von einer der bereits passierten Ortsmarkierungen mit dem selbst bestimmten Abstand verglichen und daraus jeweils die relative Abstandsdifferenz gebildet wird, dass jeweils nach einer vorgegebenen Zahl von ermittelten relativen Abstandsdifferenzen deren Mittelwert bestimmt wird und dass die Sensoreinrichtungen jeweils neu eingestellt wer¬ den, wenn die Verschiebung der Mittelwerte im Laufe der Zeit einen vorgegebenen Schwellwert überschreitet. Auf diese Weise ist es möglich, dass sich die Sensoreinrichtungen zur Fahrwegerfassung während des Betriebs selbsttätig kalibrieren. Die Lösung basiert auf einem ständigen Vergleich zwischen Soll- und Istwerten der zurückgelegten Fahrwege. Die Sollwerte ergeben sich dabei aus den bekannten Abständen zwischen den streckenseitigen Ortsmarkierungen. Die von den Sensoreinrichtungen (der Ortungssensorik) gemessenen Werte stellen die zugehörigen Istwerte dar. Dabei sind die Sollwerte als auch die Istwerte mit Fehlern (Toleranzen) behaftet: Die Fehler des Sollwertes resultieren insbesondere aus der Verlegegenau- igkeit der Ortsmarkierungen und der Genauigkeit, mit der das Fahrzeug die Ortsmarkierung erfasst. Die Fehler des Istwertes sind durch die Genauigkeit der Sensoreinrichtung bestimmt.The solution envisages that, when passing a placemark, the distance from one of the placemarks already passed is compared with the self-determined distance, and the relative distance difference is formed from this, that the average value is determined in each case after a predetermined number of determined relative distance differences, and the sensor devices are each readjusted if the shift in the average values over time exceeds a predetermined threshold value. In this way, it is possible that the sensor devices for route detection calibrate automatically during operation. The solution is based on a constant comparison between setpoint and actual values of the traveled routes. The setpoints result from the known distances between the track-side placemarks. The values measured by the sensor devices (the location sensor system) represent the associated actual values. The setpoint values as well as the actual values are subject to errors (tolerances). The errors of the setpoint result in particular from the installation accuracy. the location of the placemarks and the accuracy with which the vehicle detects the placemark. The errors of the actual value are determined by the accuracy of the sensor device.
Die momentanen Ortspositionen können sicherungstechnisch verwendet werden; nur Ortspositionen, die unter Einhaltung vorgegebener Kriterien ermittelt wurden, werden zur Kalibrierung herangezogen. Dadurch werden Ausreißer nahezu ausgeschlossen.The current location positions can be used for security purposes; Only local positions that have been determined according to predefined criteria will be used for the calibration. This almost eliminates outliers.
Ferner müssen die statischen Messfehler unterhalb einer definierten Schwelle liegen. Dies wird erreicht, indem die Mess¬ werterfassung sich ggf. über mehrere Ortsmarkierungen hinweg erstreckt. Der Sollwert ergibt sich in diesem Fall aus der Summe der bekannten Ortsintervalle zwischen den Ortsmarkie- rungen. Die Abweichung des Istwertes vom Sollwert wird alsFurthermore, the static measurement errors must be below a defined threshold. This is achieved by the measurement value acquisition ¬ is possibly extending over a plurality of placemarks time. The setpoint results in this case from the sum of the known location intervals between the location markings. The deviation of the actual value from the setpoint is called
Messwert aufgenommen. Nachdem genügend adäquate Messwerte ge¬ sammelt wurden, wird die mittlere Abweichung erstmals be¬ stimmt. Die mittlere Abweichung wird im weiteren Betrieb ü- berwacht . Mit zunehmender Abnutzung des Rades wird die mitt- lere Abweichung größer. Bei Überschreitung eines Schwellwertes wird der Korrekturfaktor bestimmt, mit dem die Kennwerte der Sensorik automatisch korrigiert werden.Measured value recorded. After sufficient adequate measurements were ge ¬ collects, the mean deviation for the first time be true ¬. The mean deviation is monitored during further operation. With increasing wear of the wheel, the mean deviation becomes larger. If a threshold value is exceeded, the correction factor is determined with which the characteristic values of the sensor system are automatically corrected.
Eine technisch einfache Lösung sieht vor, dass die Ortsmar- kierungen als Balisen ausgebildet sind.A technically simple solution provides that the location markings are designed as balises.
Im einfachsten Falle wird der Abstand von der zuletzt pas¬ sierten Ortsmarkierung mit dem selbst bestimmten Abstand verglichen und daraus jeweils die relative Abstandsdifferenz ge- bildet.In the simplest case, the distance from the last pas ¬ sierten placemark is compared with the self-determined distance and forms each of the relative distance difference.
Nach Bestimmung des Mittelwertes wird jeweils die Ermittlung der relativen Abstandsdifferenz neu gestartet, um so systematisch auftretende Veränderungen zu erfassen. Die Erfindung wird nachfolgend anhand einer Zeichnung näher beschrieben, dessen einzige Figur zwei gegeneinander verschobene Verteilungskurven zeigt .After determination of the mean value, the determination of the relative distance difference is restarted in each case in order to detect systematically occurring changes. The invention will be described in more detail with reference to a drawing, the single figure shows two mutually shifted distribution curves.
Die beiden Verteilungskurven der Figur gehören zu einem System zur Bestimmung der momentanen Ortsposition von Fahrzeugen, vorzugsweise von Zügen. Die Fahrzeuge bewegen sich auf Fahrstrecken eines Streckennetzes, an denen zur Zugbeeinflus- sung Ortsmarkierungen in Form von Balisen angeordnet sind.The two distribution curves of the figure belong to a system for determining the current location of vehicles, preferably trains. The vehicles move on routes of a route network on which locomotives in the form of balises are arranged for train control.
Die Ortsmarkierungen werden von den Fahrzeugen beim Vorbeifahren erfasst, wobei die Ortsposition jeder Ortsmarkierung und die Abstände der Ortsmarkierungen, zumindest zu den un- mittelbaren Nachbarn, den Fahrzeugen bekannt sind. In denThe placemarks are detected by the vehicles as they drive by, the location of each placemark and the distances of the placemarks, at least to the immediate neighbors, the vehicles being known. In the
Fahrzeugen sind weiter Sensoreinrichtungen angeordnet, zu denen Wegimpulsgeber gehören, die zumindest bei jedem Radumlauf einen Impuls abgeben, so dass anhand des Raddurchmessers der jeweils zurückgelegte Fahrweg ermittelt werden kann.Vehicles are further arranged sensor devices, which include position encoders that emit a pulse at least for each wheel revolution, so that based on the wheel diameter of each covered track can be determined.
Die Bestimmung der momentanen Ortsposition erfolgt jeweils anhand des Fahrwegs ausgehend von der zuletzt passierten Ortsmarkierung.The determination of the current spatial position is carried out in each case based on the travel path from the last place marker.
Zur Überwachung der Sensoreinrichtungen wird jeweils beimTo monitor the sensor devices is in each case
Passieren einer Ortsmarkierung der bekannte Abstand zwischen den beiden Ortsmarkierungen mit dem anhand des Fahrwegs selbst bestimmten Abstand verglichen und daraus eine relative Abstandsdifferenz x gebildet . Die Häufigkeit H der relativen Abstandsdifferenzen ist in der Figur als normierte Kurve 1 dargestellt. Es handelt sich dabei um eine Normalverteilung, die symmetrisch zu einem Mittelwert xm verläuft. Der Mittel¬ wert xm wird jeweils nach einer vorgegebenen Zahl von ermit- telten relativen Abstandsdifferenzen bestimmt, also z.B. aus 1000 Abstandsdifferenzen.Passing a placemark the known distance between the two placemarks compared with the distance determined on the basis of the travel itself and formed therefrom a relative distance difference x. The frequency H of the relative distance differences is shown in the figure as a normalized curve 1. It is a normal distribution that runs symmetrically to a mean xm. The agent is ¬ value xm every predetermined number of ermit- telten relative distance differences determined, ie, for example, from 1000 distance differences.
Aufgrund des durch Abnutzung kleiner werdenden Raddurchmes- sers kommt es im Laufe der Zeit zu einer Verschiebung des Mittelwertes xm zu xm' , was gleichbedeutend damit ist, dass sich die Verteilungskurve 1 nach rechts verschiebt. Die ver¬ schobene Verteilungskurve ist in der Figur mit dem Bezugszei¬ chen 2 versehen. Eine Verschiebung der Verteilungskurve 1 ist gleichbedeutend mit einer Vergrößerung des Mittelwerts xm; in der Figur hat sich der Mittelwert xm von 1 nach 1,005 verschoben .Due to the wheel diameter decreasing as a result of wear, the average value xm to xm 'is shifted over time, which is equivalent to the distribution curve 1 shifting to the right. The ver ¬ deferred distribution curve is provided in the figure with Bezugszei ¬ chen. 2 A displacement of the distribution curve 1 is equivalent to an increase of the mean value xm; in the figure, the mean value xm has shifted from 1 to 1.005.
Überschreitet nun die Verschiebung einen vorgegebenen Schwellwert xs, so erfolgt jeweils eine Neukalibrierung der Sensoreinrichtung, beispielsweise durch Korrektur des Raddurchmessers anhand der Verschiebung des Mittelwertes xm.If the displacement now exceeds a predetermined threshold value xs, the sensor device is recalibrated in each case, for example by correcting the wheel diameter on the basis of the displacement of the mean value xm.
Nach Korrektur des Raddurchmessers wird die Bestimmung des Mittelwerts xm zur Ermittlung der relativen Abstandsdifferenzen neu gestartet, d.h., der Mittelwert der normierten Verteilungskurve liegt wieder bei 1. After correction of the wheel diameter, the determination of the average value xm for the determination of the relative distance differences is restarted, that is, the mean value of the normalized distribution curve is again at 1.

Claims

Patentansprüche claims
1. System zur Bestimmung der momentanen Ortsposition von Fahrzeugen, insbesondere von Zügen, die sich auf Fahrstre- cken, insbesondere eines Streckennetzes, bewegen, wobei ent¬ lang der Fahrstrecken Ortsmarkierungen angeordnet sind, die von den Fahrzeugen beim Vorbeifahren erfasst werden und deren Ortsposition und deren Abstand voneinander den Fahrzeugen bekannt ist, mit in den Fahrzeugen angeordneten Sensoreinrichtungen, welche den jeweils zurückgelegten Fahrweg erfassen, insbesondere über den Raddurchmesser mittels Wegimpulsgebern und Dopplerradaren, und anhand des Fahrwegs ausgehend von einer der pas¬ sierten Ortsmarkierungen die momentane Ortsposition bestim- men, d a d u r c h g e k e n n z e i c h n e t , dass jeweils beim Passieren einer Ortsmarkierung der Abstand von einer der bereits passierten Ortsmarkierungen mit dem selbst bestimmten Abstand verglichen und daraus jeweils die relative Abstandsdifferenz (x) gebildet wird, dass jeweils nach einer vorgegebenen Zahl von ermittelten relativen Abstandsdifferenzen (x) deren Mittelwert (xm) bestimmt wird und dass die Sensoreinrichtung jeweils neu kalibriert wird, wenn die Verschiebung der Mittelwerte im Laufe der Zeit einen vorgegebenen Schwellwert (xs) überschreitet.1. System for determining the current spatial position of vehicles, in particular of trains that move on routes, in particular a route network, ent ¬ lang the routes are arranged placemarks, which are detected by the vehicles when driving past and their spatial position and whose distance is known to the vehicles from each other with disposed in the vehicles sensor means which detect the respective distance traveled path, in particular on the wheel diameter by Wegimpulsgebern and Doppler radars, and on the basis of the travel path starting from one of the pas ¬ overbased placemarks measures the instantaneous spatial position determine, characterized in that in each case when passing a placemark, the distance from one of the already passed placemarks compared with the self-determined distance and from each of the relative distance difference (x) is formed, that in each case after a predetermined number of determined relative Distance differences (x) whose mean value (xm) is determined and that the sensor device is recalibrated each time the shift of the mean values over time exceeds a predetermined threshold value (xs).
2. System nach Anspruch 1, d a d u r c h g e k e n n z e i c h n e t , dass die Ortsmarkierungen als Balisen ausgebildet sind.2. System according to claim 1, characterized in that the placemarks are designed as balises.
3. System nach Anspruch 1 oder 2, d a d u r c h g e k e n n z e i c h n e t , dass der Abstand von der zuletzt passierten Ortsmarkierung mit dem selbst bestimmten Abstand verglichen und daraus je¬ weils die relative Abstandsdifferenz (x) gebildet wird.3. System according to claim 1 or 2, characterized that the distance from the last passed placemark compared with the self-determined distance and depending therefrom ¬ weils the relative difference in distance (x) is formed.
4. System nach einem der Ansprüche 1 - 3, d a d u r c h g e k e n n z e i c h n e t , dass jeweils nach Bestimmung des Mittelwerts (xm) die Er¬ mittlung der relativen Abstandsdifferenzen (x) neu gestartet wird.4. System according to any one of claims 1-3, characterized in that after each determination of the mean value (xm) the He averaging ¬ the relative differences in distance (x) is restarted.
5. Verfahren zur Bestimmung der momentanen Ortsposition von Fahrzeugen, insbesondere von Zügen, die sich auf Fahrstre¬ cken, insbesondere eines Streckennetzes, bewegen, wobei ent¬ lang der Fahrstrecken Ortsmarkierungen angeordnet sind, die von den Fahrzeugen beim Vorbeifahren erfasst werden und deren Ortsposition und deren Abstand voneinander den Fahrzeugen bekannt ist, bei dem in den Fahrzeugen Sensoreinrichtungen angeordnet sind, welche den jeweils zurückgelegten Fahrweg erfassen und anhand des Fahrwegs ausgehend von einer der passierten Orts¬ markierungen die momentane Ortsposition bestimmen, d a d u r c h g e k e n n z e i c h n e t , dass jeweils beim Passieren einer Ortsmarkierung der Abstand von einer der bereits passierten Ortsmarkierungen, insbeson- dere der zuletzt passierten Ortsmarkierung, mit dem selbst bestimmten Abstand verglichen und daraus jeweils die relative Abstandsdifferenz (x) gebildet wird, dass jeweils nach einer vorgegebenen Zahl von ermittelten relativen Abstandsdifferenzen (x) deren Mittelwert (xm) be- stimmt wird und dass die Sensoreinrichtung jeweils neu kalibriert wird, wenn die Verschiebung der Mittelwerte (xm) einen vorgegebenen Schwellwert (xs) überschreitet. 5. A method for determining the current spatial position of vehicles, in particular trains, which move on Fahrstre ¬ bridges, in particular a route network, move ent ¬ long of the routes location markers are arranged, which are detected by the vehicles when driving by and their spatial position and whose distance from each other the vehicles is known, in which sensors are arranged in the vehicles, which detect the distance traveled and determine based on the travel path from one of the passed location ¬ markings the current location position, characterized in that each case when passing a placemark the distance of one of the already passed placemarks, in particular the last passed placemark, compared with the self-determined distance and from each of the relative distance difference (x) is formed, that in each case after a predetermined number of determined relative distance difference (x) whose average value (xm) is determined and that the sensor device is recalibrated each time the displacement of the average values (xm) exceeds a predetermined threshold value (xs).
EP07787214A 2006-07-12 2007-07-09 System and method for determining the current local position of vehicles, especially of trains Withdrawn EP2038160A1 (en)

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DE200610033210 DE102006033210A1 (en) 2006-07-12 2006-07-12 System and method for determining the current location of vehicles, in particular trains
PCT/EP2007/056932 WO2008006789A1 (en) 2006-07-12 2007-07-09 System and method for determining the current local position of vehicles, especially of trains

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