EP3247976A1

EP3247976A1 - Determining the position of a vehicle

Info

Publication number: EP3247976A1
Application number: EP16713353.7A
Authority: EP
Inventors: Steffen SCHÄFER
Original assignee: Siemens AG
Current assignee: Siemens Mobility GmbH
Priority date: 2015-03-26
Filing date: 2016-03-22
Publication date: 2017-11-29
Also published as: WO2016150949A1; DE102015205535A1; US20180095157A1

Abstract

The invention relates to a sensor device for a vehicle that travels on a predetermined route, particularly a rail vehicle, comprising: a plurality of sensors designed to detect a movement of said sensor device and/or physical variables of an environment of said sensor device, and to issue corresponding measurement values, said sensors comprising magnetic sensors for detecting an orientation and/or pressure sensors and/or real time clocks; a data storage unit designed to store reference measurement values for the sensors, relating to predetermined positions on the predetermined route; and a computing unit designed to compare the measurement values issued by the sensors with the stored reference measurement values and, when the measurement values issued by the sensors coincide with said reference measurement values, to issue, as the current position of the sensor device, the position which corresponds to the respective reference measurement values. The invention also relates to a corresponding vehicle and a corresponding method.

Description

description

Determining the Position of a Vehicle The invention relates to a sensor device for determining the position of a vehicle, which runs on a predetermined route, in particular a rail vehicle. Further, the invention applies ^¬ be a vehicle, a use and a method.

Although the present invention is described below primarily with respect to rail vehicles, it can be used with any kind of vehicles which run on pre ^¬ added routes.

In modern mass transportation such as subways, trams and trains, it is often difficult to determine the exact position of each vehicle. Usually, for example, GPS receivers are used, which can be combined with wei ^¬ cal sensors. Beacons, for example, can be placed along a train route. In order to keep the costs for the installation of beacons low, the distances of the beacons are chosen so large that the number of beacons can be kept low. However, this leads to a less accurate position determination based on the beacon. The same applies to a triangulation based on mobile radio signals. Trains, especially high-speed trains, also travel at speeds that are so high that an exact position determination by means of GPS or triangulation is not possible. Furthermore, radio signals emanating for example from stationary beacons, be blocked by obstacles and tunnels. The same applies, for example, to subways that are moved ^almost exclusively underground. Frequently, passengers in trains or subways eg have smartphones or the like, which have a GPS receiver that can be used to determine the position. However apply to these same restrictions, provides ^¬ as already for GPS sensors, the vehicles themselves Darge.

DE 195 32 104 C1 discloses a device for determining the position of a track-guided vehicle. The

DE 101 04 946 A1 shows a method for determining and monitoring the planned position of an object. The

DE 10 2013 013 156 AI discloses a method in which an additional transmitter is integrated into a navigation system.

It is an object of the present invention to provide a verbes ^¬ serte position detection for vehicles.

This object is achieved by a sensor device according to claim 1, a vehicle according to claim 10, a use according to claim 11 and a method according to claim 12.

According to the invention, the sensor device has a number

- ie one or more - sensors, which are ^¬ forms to detect a movement of the sensor device and / or physical quantities of an environment of the sensor device and output corresponding measured values. The sensors can detect the movement directly or indirectly. This means that the sensors can provide a Positionsinfor ^¬ mation, for example, directly or the position can be derived from the sensor values, for example, by integration or differentiation. As physical variables, for example, all variables can be detected that enable a recognition of a position. The sensors have at least magnetic field sensors for detecting an orientation and / or pressure sensors and / or real-time clocks. The sensor device furthermore has a data memory which is designed to store reference measured values for the sensors at predetermined positions on the given route. For this purpose, the predefined positions can be defined on the given route, for example at intervals which correspond to the desired spatial resolution. The predefined positions consequently result in the predefined route strung together. For each of the predetermined positions, the corresponding reference measured values can be stored in the data memory, which are used for comparison with the measured values recorded by the sensors.

For this purpose, the sensor device has a computing device which is coupled to the sensors and compares the measured values output by the sensors with the stored reference measured values. If the measured values output by the sensors coincide with the reference measured values, the computing device outputs the position corresponding to the respective reference measured values as the current position of the sensor device or of the vehicle.

Intervals or maximum deviations can be specified for comparing the measured values output by the sensors with the reference measured values. If the measured values output by the sensors lie within one of the reference measured values within the respective interval or the maximum deviation, the comparison can be regarded as positive or true or it can be assumed that a match exists. The invention uses reference measured values for the position determination, which identify, for example, local conditions of the respective positions. The invention further exploits the insight that such local conditions are usually different for each Po ^¬ sition on a predetermined route.

Furthermore, these local conditions can be very easily detected by sensors that can be installed locally in the sensor device. A simple comparison of the recorded measured values with the reference measured values stored for the individual positions is therefore sufficient to determine the current position of the vehicle from the plurality of stored positions.

The present invention thus makes it possible to determine the position of a vehicle on a given route with very simple means and is not dependent on external signals.

Further, particularly advantageous embodiments and further ^¬ formations of the invention will become apparent from the dependent claims and the following description, wherein the independent claims of a claim category can also be developed analogous to the dependent claims of another claim category and the features of various embodiments to new embodiments combi ^¬ ned can be.

For example, Passengers of the vehicle to transmit the current position, the sensor device may have a wireless communication interface. For example, a Bluetooth interface, a WLAN interface, a GSM interface or the like may be provided. When using a GSM interface or any other

Interface with corresponding range, the current position can also be forwarded, for example, to a control center or control center. For example, if passengers have an exact location, for example, of the train they are currently in, they can retrieve information about places of interest around their current location via a smartphone. Furthermore, the passengers can be displayed, for example in a subway, the exact position of their train or of the train on which they are waiting. Furthermore, with knowledge of the train in which a passenger is located, the passenger can be shown, for example, detailed information about the current timetable, delays of the train and the like. In order to be able to determine the position of the vehicle or of the sensor device exactly, the sensors can have acceleration sensors and / or yaw rate sensors.

Furthermore, the computing device may be configured to calculate a movement of the sensor device based on the measured values output by the acceleration sensors and / or yaw rate sensors. This makes it possible, in addition to a comparison of the measured values recorded, e.g. also an inertial navigation or a dead-reckoning navigation. As a result, in addition to the comparison of the measured values with the reference measured values, a movement of the vehicle can be calculated precisely and compared with the stored predetermined positions.

Other possible sensors, in addition to the sensors already mentioned above, for example satellite-based position sensors, a microphone or the like. As mentioned, an orientation of the vehicle can be determined with a magnetic field sensor, eg a compass. With a pressure sensor, the height of the vehicle can be determined, and with a satellite ^¬ based position sensor, such as a GPS sensor, an approximate position of the vehicle can be determined. Particularly when using a satellite-based position sensor, the position of the vehicle which is determined by it inaccurately can be used to restrict the considered sets of reference measured values for comparison by the computing device. For example, the comparison may be limited to those sets of reference measurements that relate to positions within a given perimeter around the inaccurately determined position. As a result, the computing load of the computing device can be reduced.

In one embodiment, the data store may include reference measurements for a plurality of predetermined routes. In such an embodiment, the computing device may be forms based on the measured values output by the sensors on which of the predetermined routes the vehicle is moving. For example, reference ^{measured values} for a plurality of subway lines can be stored in the data memory, which can intersect, partially parallel to one another or one above the other, or the like. The computing device may, for example, store the acquired measured values over a predetermined period of time and, based on a temporal projection or temporal consideration of the measured values and the reference measured values, not only determine the current position but also the respective route from the multiplicity of routes.

In order to facilitate the transmission to, for example, smartphones of passengers of the vehicle, the sensor device can have at least three wireless communication interfaces, which can be designed, for example, as Bluetooth interfaces. If three wireless communication interfaces are provided, these can be used as so-called "iBeacons", whereby a particularly simple transmission of the current position becomes possible. <br/><br/> For this purpose, the computing device can, for example via each of the wireless Kommunikationsfilstel ^¬ len len the communication interfaces common predetermined unique identifier and for each current position output a unique primary identifier and a unique secondary identifier. each combination of egg ^¬ ner unique primary identifier and a unique secondary identifier identifying a respective position on the route. the sensor device can also be used in vehicles traveling a route for which no reference measurement ^¬ values are stored in the data memory. This may include re ^¬ cheneinrichtung eg in a reference run on the route specified ^differently surrounded the readings issued by the sensors in the data storage than the Ref Save erenzmesswerte together with the current position of the sensor device. So it is possible to include the reference ^¬ readings for any route. In order to be able to link the reference measured values detected thereby with a position on the route, the computing device can be designed to query the respectively current position of a reference sensor. For example, a calibrated by a user satellite-based sensor, such as a high-precision GPS sensor can be used. Any other kind of highly accurate positioning can also be used. Elaborate, high-precision measuring equipment can be removed from the vehicle after reference travel and reused in other applications.

The invention will be explained in more detail below with reference to the beige ^¬ added figures using ^exemplary embodiments. The same components are provided with identical reference numerals in the various figures. Show it:

1 shows a block diagram of an embodiment of a sensor device according to the invention,

2 shows a representation of an embodiment of a vehicle according to the invention,

3 shows a flow chart of an embodiment of a method according to the invention,

4 shows a representation of a route and the corresponding reference measured values.

1 shows a sensor device 1-1, which has a sensor 4. Further possible sensors are indicated by three points.

The sensor 4 delivers measured values 5 to a movement of the sensor device 1-1 or to physical variables of an environment of the sensor device 1-1 to the computing device 9-1.

The computing device 9-1 is coupled to a data memory 6, which has reference measurements 7-1 to 7-n on predefined positions 8-1 to 8-n on a route 3, which are shown in tabular form in FIG. The number of reference values 7-1 to 7-n or the specified positio ^¬ NEN 8-1 to 8-n on the route 3 is determined here in an embodiment with reference to the length of the route and the desired th spatial resolution. The distance between the individual positions 8-1 to 8-n corresponds to a maximum of the desired spatial resolution.

By comparing the measured values 5 recorded by the sensor 4 with the reference measured values 7-1 to 7-n, the computing device 9-1 can determine which of the predetermined positions 8-1 - 8-n correspond to the measured values 5 and these as ak ^¬ tuelle position 10 spend. When comparing the measured values 5 with the reference measured values 7-1 to 7-n, the computing device 9-1 can use predetermined intervals around the reference measured values 7-1 to 7-n. If a measured value ^¬ 5 within the predetermined interval to the jeweili ^¬ gen reference measured value 7-1 to 7-n, this can be interpreted as conformity. The predetermined intervals can be specified, for example, as a percentage or absolute deviation from the reference measured value 7-1 to 7-n.

In one embodiment, the sensor 4 can be designed as an acceleration sensor and / or yaw rate sensor. This makes it possible to detect a size (see FIG 2) on which the sensor device is arranged 1-1, directly depends on the Be ^¬ movement of the sensor device 1-1 or a vehicle 2. For example, generates a curve having a predetermined radius and is traversed by a subway at a predetermined speed, for example, a characteristic lateral acceleration and a characteristic ^¬ yaw rate, which depends on the radius of the curve and the Ge ^¬ speed of the subway are.

To different speeds of the vehicle 2 from ^¬ same to the sensor device 11 and the computing device 9-1, in an embodiment of the vehicle 2 receive information about the current speed of the vehicle 2. This makes it possible for the computing device 9-1 to normalize the measured values 5 based on the current speed or to adapt the reference measured values 7-1 to 7-n to the current speed.

Although only one sensor 4 is shown in FIG. 1, a large number of sensors can be used after application. For example, magnetic field sensors, pressure sensors, satellite-based position sensors, real-time clocks or any other suitable type of sensor can be used in an embodiment in addition to acceleration sensors and / or rotation rate sensors. Magnetic field sensors can be used, for example, as a compass and detect an orientation of the vehicle 2. This makes it possible, for example, to identify at intersecting subway lines on the basis of the orientation of the vehicle 2 on which of the subway lines the vehicle 2 moves. It can also be using a pressure sensor such as a height of the vehicle 2 ^¬ be true.

Satellite-based position sensors can e.g. are used to perform an inaccurate detection of the position of the vehicle 2. With the aid of the inaccurately detected position, the possible candidates for the current position 10 in the data memory 6 can be restricted and the computing device only has to compare the current measured values 5 with a limited data set. This speeds up the calculation of the current position. It can e.g. a radius can be specified around the inaccurately detected position. For comparison, only those reference measured values 7-1 to 7-n are then used, which relate to positions which lie within the predefined radius around the inaccurately detected position.

Behind the table, which is stored in the data memory 6, dashed another table is indicated. This is intended to illustrate that the data memory 6 in one embodiment may have reference measured values 8-1 to 8-n for a plurality of routes 3. In such an embodiment, the computing device 9-1 can compare the measured values 5 with the reference measured values 8-1 to 8-n of the different routes 3 and in this way determine on which route 3 the vehicle 2 is moving.

If in the context of this patent application one speaks of the measured values 5, not only the current measured values 5 can be meant. Rather, this may mean at the same time a temporal change of the measured values 5 or a historical consideration of the measured values 5. The computing device can, for example 9-1 also make a time derivative or integration of readings 5 or a transformation of the measured values in the 5 Fri ^¬ frequency range or the like. The reference measurement values 8-1 to 8-n may be stored in a corresponding form. In Figure 2, designed as a train car 2 is 2 Darge ^¬ is having an embodiment of a sensor device according to the invention 1-2. For clarity and to avoid repetition, only those components of the sensor device 1-2 are shown in FIG 2, which were not yet explained in detail to FIG 1.

The sensor device 1-2 of FIG. 2 has three wireless communication interfaces 12-1 to 12-3, which serve to output the current position 10 of the train 2 wirelessly. This information can for example be detected by a smartphone of an occupant of the train 2 and displayed to the occupant. In ei ^¬ ner embodiment, a wireless communication interface can also only be provided 12-1 to 12-3. If three wireless communication interfaces 12-1 to 12- 3 or more wireless communication interfaces are provided, the current position 10 can be transmitted, for example, to smartphones according to the iBeacon standard. In such an The wireless communication interfaces 12-1 to 12-3 are designed as Bluetooth interfaces 12-1 to 12-3. The iBeacon standard provides that a predetermined unique identifier is output over each of the wireless communication interfaces 12-1 through 12-3. This is the same for each of the wireless communication interfaces 12-1 to 12-3 and identifies, for example, the provider of the transport service or the like.

In order to be able to distinguish between the individual current positions 10, a unique primary identifier and a unique secondary identifier can also be specified for each of the predefined positions 8-1 to 8-n.

Identifies the computing device 9-2 by comparing the measured values 5 with the reference measured values 7-1 to 7-n one of the predetermined positions 8-1 to 8-n, is the computing device 9-2 on the at least three wireless Kommunikation ^¬ onsschnittstellen 12-1 to 12-3, the corresponding unique identifier together with the corresponding unique primary identifier and the corresponding unique secondary identifier.

This allows e.g. a smart phone equipped with a suitable application, the current position 10 on the basis of the corresponding unique identifier, the corresponding unique primary identifier and the corresponding unique secondary identifier, e.g. from a database.

The sensor device 1-2 of FIG. 2 furthermore has a reference sensor 11, which may be, for example, a calibrated or manually calibrated GPS sensor 11. For example, such sensors can achieve an accuracy of a few centimeters with the help of special auxiliary transmitters installed locally in the vicinity of the GPS sensor 11. For example, the controller 9-2 may be placed in a detection mode. In this mode, the vehicle 2 can perform a re ^¬ reference travel on a predetermined route. 3 However, instead of using the measured values 5 of the sensors 4 for comparison with the reference measured values 7-1 to 7-n of the data memory 6, the control device 9-2 can transmit the measured values 5 output by the sensors 4 in the data memory 6 as reference measured values 7 -1 to 7-n together with the current position 10, which can be detected by the GPS sensor 11, store. In this way, the sensor device 1-2 can also be used to detect the current position 10 of a vehicle 2 on a route 3 not yet stored in the data memory 6.

The method illustrated in FIG. 3 can be used to determine the current position 10 of a vehicle 2.

For this purpose, measured values 5 of a movement of the vehicle 2 and / or physical variables of an environment of the vehicle 2 are detected, SI. The acquired measured values 5 are then compared with stored reference ge ^¬ measured values 7-1 to 7-n, to each of which a predetermined position is stored 8-1 to 8-n, S2. Corresponding to the respective reference measurement values 7-1 to 7-n corresponding position 8-1 to 8-n is in an over ^¬ conformity of the detected measurement values 5 with the reference measuring values ^¬ 7-1 to 7-n as the current position 10 of the vehicle 2 issued, S3. If measured values 5 are detected within the scope of the method, they may have an acceleration, a rotation rate or the like of the vehicle 2. For example, a movement of the vehicle can also be calculated from these measured values 5. Furthermore, magnetic fields, pressures, satellite-based position data, a time or the like can also be detected.

In one embodiment, the current position 10 may be over a wireless communication interface 12-1 to 12-3. are given. This allows the simple transfer of the current position 10, for example, to smart phones, tablet PCs or notebooks, the occupant of the vehicle 2. For this purpose the wire-less communication interface ^¬ 12-1 to 12-3, in an exemplary form, eg as a Bluetooth interface, a

WLAN interface, a GSM interface or the like may be formed.

In order to be able to use the method for a multiplicity of different routes, reference measured values 7-1 to 7-n can be stored for a plurality of predetermined routes 3. Based on the detected measured values 5 can then be determined on which of the predetermined routes 3, the vehicle 2 moves.

In order to enable the use of the present process also routes 3, for which no reference values are to 7-n deposited 7-1, a reference movement of the vehicle 2 can be seen ^¬, wherein for a given route 3, the measured values 5 in the Data memory 6 as the reference measurement values

7- 1 to 7-n are stored together with the respective current position 10 of the vehicle 2.

In order to increase the accuracy of the reference measured values 7-1 to 7-n obtained in such a measuring run, the respectively current position 10 can be read by a reference sensor 11, e.g. a calibrated by a user satellite-based sensor 11, are queried. 4 shows a route 3, on which predetermined positions

8-2 - 8-6 are each marked by an asterisk. The route 3 may e.g. be the route 3 of a subway line.

In FIG. 4, by way of example only, the five positions 8-2 through 8-6 are shown. In further embodiments, the number of positions 8-2 to 8-6 may depend on the length of the route 3 and the desired spatial resolution. For example, if a spatial resolution of a maximum of five meters is desired, you can Route 3 every five meters corresponding positions 8-2 to 8-6 be provided.

Furthermore, in one embodiment, the computing device 9-1, 9-2 may be configured to interpolate the reference measured values 7-1 to 7-n between two positions 8-1 to 8-n. This makes it possible to increase the spatial resolution of having to hinterle ^¬ gen without further re ^¬ ference readings 7-1 to 7-n in the data memory. 6

For example, if a subway moves clockwise on route 3 and starts driving between positions 8-2 and 8-3, the curve at which position 8-3 is located will be reflected in reference measurements 7-3, for example characteristic acceleration values and ^yaw rates which are reproduced by the sensors 4 and the measured values 5 during a travel through this curve. The same applies to all other positions 8-2 - 8-6. The greater the number of simultaneously used measured values 5, the greater the probability that the measured values 5 will differ sufficiently to identify different positions.

In one embodiment, the reference measurements 7-1 to 7-n may be e.g. also have SSIDs and corresponding signal strengths of WLAN networks or the like. Vibration sensors may e.g. also detect characteristic vibrations, e.g. be generated in a certain section of the route 3.

By detecting the time, for example, certain routes 3 may also be excluded in one embodiment, since e.g. no vehicle on the corresponding route 3 or corresponding positions 8-1 to 8-n of the respective route at the respective time.

Finally, it is pointed out again that the sensor components described in detail above Devices, vehicles, uses and methods are merely exemplary embodiments, which can be modified by the skilled person in a variety of ways, without departing from the scope of the invention. Furthermore, the use of the indefinite article "on" or "one" does not exclude that the characteristics in question may also be present multiple times. Likewise, it is not excluded that illustrated as individual units elements of the present invention consist of several cooperating sub-components, which may optionally be spatially distributed.

Claims

claims

A sensor device for a vehicle traveling on a predetermined route, in particular a rail vehicle, comprising:

a number of sensors which are designed to detect a movement of the sensor device and / or physical variables of an environment of the sensor device and to output corresponding measured values, the sensors having magnetic field sensors for detecting an orientation and / or pressure sensors and / or real-time clocks;

a data memory which is designed to store reference measured values for the sensors at predetermined positions on the predetermined route; and

- a computing device which is configured to compare the measured values outputted by the sensors with the stored reference measurement values and in case of match of the output from the sensors the measured values with the reference measured values corresponding to the respective reference measurement values than that of the current positi ^¬ on the sensor device issue.

2. Sensor device according to claim 1, with a wireless communication interface, in particular a Bluetooth interface and / or a WLAN interface and / or ei ^¬ ner GSM interface, wherein the computing device is ausgebil ^¬ det, the current position of the sensor device via the wireless Output communication interface.

3. Sensor device according to one of the preceding claims, wherein the sensors have acceleration sensors and / or yaw rate sensors.

4. The sensor device according to claim 3, wherein the computing device is configured to calculate a movement of the sensor device based on the measured values output by the acceleration sensors and / or yaw rate sensors.

5. Sensor device according to one of the preceding claims, wherein the sensors further comprise satellite-based position sensors.

6. Sensor device according to one of the preceding claims, wherein the data store reference values comprising a plurality of predetermined routes and wherein the computing means is configured to determine based on the ausgege ^¬ surrounded by the sensors measured values on which the predetermined routes the vehicle is moving.

7. Sensor device according to one of the preceding claims, with at least three wireless communication interfaces, in particular Bluetooth interfaces, wherein the Recheneinrich- device is formed via each of the wireless communication ^¬ onsschnittstellen a vorgebebene unambiguous identification and for each current position a unique primary Ken ^¬ tion and output a unique secondary identifier.

8. Sensor device according to one of the preceding claims, wherein the computing device is formed, in a Refe ^¬ renzfahrt on the predetermined route of the vehicle on wel ^¬ chem, the sensor device is arranged, the measured values output by the sensors in the data memory as the reference measured values store together with the current position of the sensor device.

9. Sensor device according to claim 8, wherein the computing device is configured to query the respectively current position of a reference sensor, in particular a calibrated by a user satellite-based sensor.

10. Vehicle, in particular rail vehicle, with a Sen ^¬ sorvorrichtung according to one of the preceding claims.

11. Use of a sensor device according to one of the preceding claims 1 to 9 for determining the position of a vehicle, in particular a rail vehicle. WO 2016/150949 -, "PCT / EP2016 / 056234

12. A method for detecting a position of a vehicle, which runs on a predetermined route, in particular ei ^¬ nes rail vehicle, comprising:

Detecting (S1) measured values of a movement of the vehicle and / or physical variables of an environment of the vehicle, wherein the acquisition of measured values comprises the detection of an orientation based on magnetic fields and / or pressures and / or a time;

- comparing (S2) the acquired measured values with stored reference measured values, to each of which a position is stored; and

Outputting (S3) the position corresponding to the respective reference measured values as the current position of the vehicle if the measured values coincide with the reference measured values.

13. The method of claim 12, wherein the current position is output via a wireless communication interface, in particular a Bluetooth interface and / or a WLAN interface and / or a GSM interface.

14. A method according to any one of the preceding claims 12 and 13, wherein acquiring measurements comprises detecting at least an acceleration and / or at least a yaw rate of the vehicle, in particular a movement of the vehicle based on the detected at least one Be ^¬ acceleration and / or the detected at least one rotation rate is calculated; and or

wherein acquiring measurements comprises acquiring satellite-based position data.

15. The method according to any one of the preceding claims 12 to 14, wherein the reference measured values are stored for a plurality of predetermined routes and being determined based on the sensing ^¬ ten measured values on which the predetermined routes the vehicle is moving; and or wherein at a reference movement of the vehicle on a pre ^¬ passed route the measured values in the data memory as the Re ^¬ ferenz measured values are stored together with the current position of the vehicle, the current position in particular from a reference sensor, in particular a calibrated by a user satellite -based sensor, is queried.