EP2812225B1 - Method for generating action recommendations for the driver of a rail vehicle or control signals for the rail vehicle by means of a driver assistance system and driver assistance system - Google Patents

Description

• eine Handlungsempfehlung erzeugt und in einer Handlungsempfehlungs-Anzeigeeinrichtung angezeigt wird oder
• ein Steuersignal erzeugt wird, welches auf eine Fahrzeugsteuereinrichtung einwirkt.

The invention relates to a method for generating recommendations for action for the driver of a rail vehicle or control signals for the rail vehicle by means of a driver assistance system in which driving data are calculated taking into account at least one journey information and on the basis of the driving data

• an action recommendation is generated and displayed in a recommended action indicator or
• a control signal is generated, which acts on a vehicle control device.

It is known to use driver assistance systems in semi-automatic operation with rail vehicles, which are based on model calculations. These model calculations, based on a stored route profile and the desired timetable, determine how to accelerate the rail vehicle and decelerate against turns, switches, or stops to optimally meet timetable requirements with minimal energy requirements. It has been shown in practice that driver assistance systems can reduce the energy requirement for the same driving time by an average of 20% compared to vehicles controlled only by the driver.

US 2009/0118970 A1 describes a method for optimizing an energy system and for monitoring and controlling the operation of a vehicle. The aim is to increase efficiency and at the same time comply with timetable conditions. There are generated action recommendations for the driver of the vehicle or control signals for the vehicle by means of a driver assistance system. Driving data is calculated taking into account the driving information.

The invention has for its object to propose a method for generating recommendations for action for the leader of a rail vehicle or control signals for the rail vehicle, by which an energy requirement can be further reduced, especially in high-speed cruises.

For this purpose, it is proposed that at least one air pressure parameter is taken into account as the travel information. As a result, at least one aerodynamic component of the driving resistance of the Rail vehicle in the calculation of the driving data for a recommended action or a control signal are taken into account by a related to a current air pressure characteristic is included in a model calculation on which the determination of the driving data is based. In contrast to conventional driver assistance methods in which the aerodynamic component is regarded as a constant in the model calculations, it is possible to achieve increased energy savings, in particular in the case of high-speed drives and large height differences along a route. A "high-speed drive" should be understood in particular to mean a drive in which a speed of more than 200 km / h, preferably more than 250 km / h, is achieved.

A "travel indication" should be understood to mean, in particular, an indication which characterizes the travel of a rail vehicle along a route at least at one point in time or during a time span or at least one position along the route or in a route section. A trip can be an input parameter of a model calculation to determine the driving data or it can be used to derive such an input parameter, for example by the input parameter is assigned to the trip. A trip indication, which is already taken into account in conventional driver assistance methods, may have a characteristic of the rail vehicle, such as a vehicle. a composition, a mass, a passenger occupancy, a maximum available power, etc., or a property of the route, such as a particular curve, slope or slope profile, the presence or approach of a switch or tunnel, a distance to a Breakpoint, a signal state, a timetable, etc. With the inventive consideration of a barometric pressure characteristic as a drive indication, an advantageous refinement of existing model calculations can be achieved.

From the "driving data" that serve to generate a recommendation for action or a control signal can minimize A set of driving data, the information content in particular a desired change of such driving characteristics with time and / or with the distance to the starting point or to the energy consumption to be observed driving characteristics to be derived, such as speed, acceleration, deceleration Contains target, can also be referred to as "driving curve". The driving data are calculated by a computing unit, which is preferably arranged on board the rail vehicle. Alternatively or additionally, the driving data can be calculated by means of a computing unit which is remote from the rail vehicle in a fixed computing station, wherein the driving data are transmitted to the rail vehicle.

An "air pressure parameter" is to be understood in particular as meaning a physical quantity by means of which a correspondence to an air pressure value can be established. The air pressure characteristic may be the air pressure itself or a characteristic proportional to the air pressure, e.g. an electrical characteristic detected by a sensor unit.

According to one embodiment of the invention, a one-time detection or determination of air pressure parameters before a journey of the rail vehicle can produce an air pressure profile of the route to be covered, which is included in the calculation of travel curves for the entire route.

In a further, preferred embodiment variant, however, in order to advantageously adapt the driving data for energy optimization to a variable air pressure along the route, it is proposed that the air pressure parameter be detected several times during a journey. In particular, the air pressure characteristic can be detected continuously while driving. The "ride" is expediently along a route connecting a predetermined starting point and a predetermined destination, which is to be covered in accordance with a schedule to be complied with.

In addition, the invention proposes that the air pressure characteristic is detected and, depending on the detection value, a factor stored in a database is included in the calculation of the driving data. By assigning a factor to a detected value of the air pressure parameter, wherein the factor is permanently stored in a memory unit, a particularly rapid determination of the driving data can be achieved. The factor associated with the detected air pressure parameter is preferably included as an input parameter of a model calculation for determining the driving data, wherein it represents an aerodynamic component of the rolling resistance of the rail vehicle. It is selected here in the database, which is stored in the memory unit and in which factors are assigned to values of the air pressure characteristic. The deposited factors are advantageously calculated in the development of the rail vehicle based on its aerodynamic properties and for different values of the air pressure characteristic. If an arithmetic unit for calculating the driving data is arranged on board the rail vehicle, the database is preferably also stored on board the rail vehicle.

The air pressure characteristic can be detected for example by means of air pressure sensors, which are arranged at different locations along the route. These may be components of weather stations located near the line. However, detection of the air pressure parameter at any position along the route can be achieved if the air pressure parameter is detected by a sensor unit on board the rail vehicle. This sensor unit can have a pressure sensor and a computing unit connected to it, which serves to take into account the influence of the driving speed on the detection value.

Alternatively or in addition to a detection by means of a pressure sensor, the air pressure characteristic can be detected by means of the detection of a height parameter. A correspondence of the height parameter to an air pressure parameter can hereby be prepared by the barometric height formula. The height parameter can itself serve as a barometric pressure parameter by being directly included as the input parameter of a model calculation for determining the driving data or directly assigned to such an input parameter, or it can be calculated from the height characteristic in addition to the height characteristic a separate air pressure parameter.

Advantageously, the altitude parameter is derived based on location information. This can be detected by means of a locating unit, which is arranged in particular on board the rail vehicle, and / or it can be determined based on stored route data.

The invention further relates to a driver assistance system for generating recommendations for action for the driver of a rail vehicle or control signals for the rail vehicle, having a computing unit which is provided for calculating driving data taking into account at least one journey indication, and a action recommendation display device for displaying one the basis of the driving data generated action recommendation and / or a vehicle control device, which acts on the basis of the driving data generated control signal.

In order to configure such a driver assistance system in such a way that an energy requirement can be further reduced, in particular in the case of high-speed cruises, it is proposed that the arithmetic unit be provided to take into account at least one air pressure parameter as the travel information. With such a driver assistance system can be mutatis mutandis achieve the same advantages as they have already been stated above in connection with the method according to the invention.

Figur 1:

ein Schienenfahrzeug mit einem Fahrassistenzsystem,

Figur 2:

ein Höhenprofil einer vom Schienenfahrzeug befahrenen Strecke und

Figur 3:

eine Datenbank, in welcher Werten einer Luftdruckkenngröße Berechnungsfaktoren für eine Modellrechnung des Fahrassistenzsystems zugeordnet sind.

An embodiment of the invention will be explained with reference to the drawings. Show it:

FIG. 1:

a rail vehicle with a driver assistance system,

FIG. 2:

a height profile of a track traveled by the rail vehicle and

FIG. 3:

a database in which values of an air pressure characteristic are assigned calculation factors for a model calculation of the driver assistance system.

FIG. 1 shows a rail vehicle 10 in a schematic side view. This is designed as a train train, which is designed in particular for high-speed operation. It has a multiplicity of wagons 12 coupled to one another. The wagons 12.1 and 12.5 are each equipped with a driver's cab 14, which in each case has an operating unit 16 for a driver. By means of the operating unit 16, this can enter driving commands for controlling the rail vehicle 10. For this purpose, the operating unit 16 is in operative connection with a vehicle control device 18.

The operating unit 16 has an action recommendation display device 20, which serves to indicate a recommended course of action for the driver. This action recommendation is generated on the basis of driving data FD, which are determined in a computing unit 22 taking account of journey information. A recommended action may in particular be a recommended driving speed, traction level, braking level, etc., wherein the information content of the calculated driving data FD is related to these driving parameters.

ermitteln, wobei S(x) die Gegebenheiten der Strecke in einem Streckenabschnitt ausgehend von der Position x und FP den Fahrplan darstellen. Die Streckendaten des Streckenprofils S bzw. der Fahrplan FP können insbesondere beim Aufrüsten des Schienenfahrzeugs 10 vor der Abfahrt am Startpunkt in eine mit der Recheneinheit 22 datentechnisch verbundene Speichereinheit 24 gespeichert werden. Die Beschleunigung a bzw. eine auf dieser Größe beruhende Information ist dann Bestandteil der Fahrdaten FD, die zu der Handlungsempfehlungs-Anzeigeeinrichtung 20 übertragen werden.The computing unit 22 is provided to calculate the driving data FD based on at least one model calculation M. This model calculation M determined at least taking into account a route profile S and a desired timetable FP as driving information on how to accelerate the rail vehicle 10 and to brake before curves, switches or stops to optimally meet the schedule requirements with minimal energy consumption. Such a model calculation M can, for example, be optimized with regard to the energy requirement Acceleration a depending on a current position x and speed v of the rail vehicle 10 according to $$\mathrm{a}\left(\mathrm{x}\right)=\mathrm{M}\left(\mathrm{x}.v\left(\mathrm{x}\right).S\left(\mathrm{x}\right).\mathrm{FP}\right)$$

determine where S (x) represent the conditions of the route in a section from the position x and FP the timetable. The route data of the route profile S or the schedule FP can be stored, in particular during the upgrade of the rail vehicle 10 before departure at the starting point in a data-logically connected to the computing unit 22 storage unit 24. The acceleration a or an information based on this size is then part of the driving data FD, which are transmitted to the action recommendation display device 20.

Furthermore, the control of the rail vehicle 10 can be taken over while driving by the vehicle control device 18. In this mode, actions that are performed in normal operation by the driver by means of the control unit 16, automatically made by the vehicle control device 18. In this mode, a control signal, which is generated on the basis of driving data FD obtained in the arithmetic unit 22, can act on the vehicle control device 18. As a result, the driving operation of the rail vehicle 10 in the automatic control mode with regard to the driving information can be optimized by generating control signals on the basis of a determined travel curve optimized in relation to the travel information and giving it to the vehicle control device 18.

FIG. 2 shows in the form of a two-dimensional diagram a route profile of a track to be traveled by the rail vehicle 10 from a starting point A to a destination B. The horizontal axis corresponds to the distance x to the starting point A and the vertical axis corresponds to the height H. As can be seen from the height profile , there are strong changes in height H along the route and thus for the driving dynamics relevant changes in air pressure.

The arithmetic unit 22 is provided to determine the driving data FD taking into account a journey information in the form of a parameter related to the current air pressure, also called the air pressure parameter L.

According to a first detection variant, the air pressure characteristic variable L is detected by means of a sensor unit 26 which is arranged on board the rail vehicle 10 (see FIG FIG. 1 ). The sensor unit 26 has a pressure sensor which records a parameter for the pressure of the air surrounding the rail vehicle 10 and, if necessary, an arithmetic unit which derives the air pressure parameter L from the detection value by taking account of the current vehicle speed v. The air pressure characteristic L can be detected continuously during the entire journey, whereby the driving data FD can always be adapted to the continuously changing air pressure.

The detected air pressure parameter L is greatly influenced by a travel of the rail vehicle 10 in a tunnel. It is therefore advantageous to take account of the stay of the rail vehicle 10 in a tunnel when detecting the air pressure parameter L. This can be done, in particular, on the basis of the route data of the route profile S, which are stored in the storage unit 24 when the rail vehicle 10 is upgraded at the starting point A.

ausgedrückt werden, wobei F_i(x) der der Luftdruckkenngröße L (x) an der Position x zugeordnete Faktor ist.After detection of the air pressure parameter L, this is included in the determination of the driving data FD by the arithmetic unit 22. This is done by means of a in FIG. 3 shown database 28, which is stored in the memory unit 24. With the aid of this database 28, a factor F _i , which represents an aerodynamic component of the driving resistance in a model calculation M ', can be assigned to a detection value of the air pressure parameter L in a specific interval [L _i ^A , L _i ^E ]. This model calculation M ', which is based on a Travel resistance formula is programmed, takes into account the factor F _i corresponding to the air pressure characteristic L in the determination of the driving data FD. Returning to the above example of a recommended energy-optimized acceleration a at a position x, the acceleration determination can be represented schematically as $$\mathrm{a}\left(\mathrm{x}\right)=\mathrm{M}\text{'}\left(x.v\left(\mathrm{x}\right).S\left(\mathrm{x}\right).\mathrm{FP}.F_{\mathrm{i}}\left(\mathrm{x}\right)\right)$$

where F _i (x) is the factor associated with the air pressure characteristic L (x) at position x.

The database 28 is created in the manufacture of the rail vehicle 10 on the basis of the aerodynamic properties of the rail vehicle 10 and is permanently stored in the storage unit 24.

According to a second detection variant, the air pressure characteristic variable L can be detected by the detection of a height parameter H, wherein a link between the two parameters L and H can be established by means of the barometric altitude formula. The height parameter H can be determined in particular from locating information of a locating unit 30 arranged on board the rail vehicle 10. For example, the locating unit 30 may be configured to receive GPS signals. Alternatively or additionally, the height parameter H can be derived from the known route data of the route profile S.

In the exemplary embodiment shown, the arithmetic unit 22 and the sensor unit 26 are arranged on board the rail vehicle 10. In further embodiments, it is conceivable that the computing unit 22 is arranged remotely from the vehicle in a fixed computing station, wherein the determined driving data FD are transmitted to the rail vehicle 10 and / or that the sensor unit 26 as a stationary, along-the-way unit, e.g. is designed as part of a weather station.

Claims (9)

1. Method for generating action recommendations for the driver of a rail vehicle (10) or control signals for the rail vehicle (10) by means of a driver assistance system, in which, taking at least one journey specification into account, driving data (FD) is calculated, and on the basis of the driving data (FD):

   - an action recommendation is generated and is displayed in an action recommendation display device (20) or

   - a control signal which acts on a vehicle control device (18) is generated,

   wherein,
   at least one air pressure characteristic variable (L) is taken into account as a journey specification,
   characterized in that
   the air pressure characteristic variable (L) is detected and a factor (F) which is stored in a database (28) is included in the calculation of the driving data (FD) as a function of the detection value.
2. Method according to Claim 1,
   characterized in that
   the air pressure characteristic variable (L) is detected repeatedly during a journey.
3. Method according to either of the preceding claims,
   characterized in that
   the air pressure characteristic variable (L) is detected by a sensor unit (26) on board the rail vehicle (10).
4. Method according to one of the preceding claims,
   characterized in that the air pressure characteristic variable (L) is detected by means of the detection of an altitude characteristic variable (H).
5. Method according to Claim 4,
   characterized in that
   the altitude characteristic variable (H) is derived on the basis of locating information.
6. Method according to Claim 5,
   characterized in that
   the locating information is detected by means of a locating unit (30).
7. Method according to Claim 5,
   characterized in that
   the locating information is determined on the basis of stored route data.
8. Driver assistance system for generating action recommendations for the driver of a rail vehicle (10) or control signals for the rail vehicle (10), having a computing unit (22) which is provided for calculating driving data (FD) taking at least one journey specification into account, and an action recommendation display device (20) for displaying an action recommendation which is generated on the basis of the driving data (FD), and/or a vehicle control device (18) on which a control signal which is generated on the basis of the driving data (FD) acts,
   wherein
   the computing unit (22) is provided for taking into account at least one air pressure characteristic variable (L) as a journey specification,
   characterized in that
   the air pressure characteristic variable (L) is detected and a factor (F) which is stored in a database (28) is included in the calculation of the driving data (FD) as a function of the detection value.
9. Rail vehicle having a driver assistance system according to Claim 8.

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