EP3253642B1 - Verfahren und vorrichtung für fahrzeuge, die das auffahren eines weiteren fahrzeuges detektieren - Google Patents

Verfahren und vorrichtung für fahrzeuge, die das auffahren eines weiteren fahrzeuges detektieren Download PDF

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Publication number
EP3253642B1
EP3253642B1 EP16713374.3A EP16713374A EP3253642B1 EP 3253642 B1 EP3253642 B1 EP 3253642B1 EP 16713374 A EP16713374 A EP 16713374A EP 3253642 B1 EP3253642 B1 EP 3253642B1
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EP
European Patent Office
Prior art keywords
vehicle
warning message
vehicles
advancing
detection
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.)
Active
Application number
EP16713374.3A
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German (de)
English (en)
French (fr)
Other versions
EP3253642A1 (de
Inventor
Lothar Becke
Karsten Rahn
Luis Riera Sanchez
Frauke Schossig
Rene Wettig
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens Mobility GmbH
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Siemens Mobility GmbH
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Publication date
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Publication of EP3253642A1 publication Critical patent/EP3253642A1/de
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61H—BRAKES OR OTHER RETARDING DEVICES SPECIALLY ADAPTED FOR RAIL VEHICLES; ARRANGEMENT OR DISPOSITION THEREOF IN RAIL VEHICLES
    • B61H13/00—Actuating rail vehicle brakes
    • 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
    • B61L23/34—Control, warning or like safety means along the route or between vehicles or trains for indicating the distance between vehicles or trains by the transmission of signals therebetween
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes

Definitions

  • track-bound vehicles which may be, for example, rail vehicles, track-guided vehicles with rubber tires or magnetic levitation
  • two vehicles should be able to approach in an automatic, possibly driverless operation in special situations to a relatively small distance.
  • this relates in particular to the case where one of the vehicles in a depot or a siding is to be brought as close as possible to an already parked further vehicle.
  • EP 1 391 365 A1 is an "electronic drawbar" known. This makes it possible to introduce a subsequent train to a few meters to a train in front and to let him drive electronically coupled at this distance.
  • a rail vehicle transmits at zero speed or at a speed below a predetermined minimum speed a telegram, which control information on the driving and braking distance control or ready signals to activate the includes electronic drawbar for a subsequent rail vehicle.
  • the following rail vehicle approaches after receiving the telegram of the preceding rail vehicle to the preceding rail vehicle to a predetermined distance.
  • a driver assistance system of the preceding vehicle determines too small a distance and / or too high a relative speed between the vehicles, whereupon the driver assistance system of the preceding vehicle emits a signal via at least one rear-side optical signal generator. It is provided that the signal is a code which is received by an optical image sensor of the following vehicle and detected by a driver assistance system of the following vehicle. The driver assistance system of the following vehicle then takes a measure to avoid a rear-end collision.
  • the object of the present invention is to specify a method for operating vehicles, in particular track-bound vehicles, which permits an approach of two vehicles to short distances and can be implemented with comparatively little effort.
  • This object is achieved by a method for operating vehicles, in particular of track-bound vehicles, wherein a driving up of a first vehicle a second vehicle is detected by the second vehicle, triggered by the second vehicle by detecting the startup a warning message is emitted and the part of the first vehicle due to the emitted from the second vehicle warning message a braking operation is triggered.
  • the method according to the invention for operating vehicles, in particular track-bound vehicles is characterized in that a drive-on of a first vehicle to a second vehicle is detected by the second vehicle.
  • a corresponding Auffahrvorgang is not necessarily desired, but admitted or accepted to the extent that a detection of the start of the first vehicle on the second vehicle takes place.
  • the corresponding detection is not carried out by the approaching first vehicle itself, but by the second vehicle on which the first vehicle ascends.
  • the detection of the launching of the first vehicle by the second vehicle can take place in any manner known per se.
  • a vehicle-side odometer or odometer for example in the form of a Wegimpulsgebers
  • an acceleration sensor, a vibration sensor or vibration detector or a radar sensor can be used.
  • a warning message is then emitted by the second vehicle triggered by detecting the startup.
  • the emission of the warning message can be done in any manner known per se. This includes, in particular, a radio-based transmission of the warning message.
  • a corresponding warning message for example, also be transmitted optically or in the case of vehicles in the form of rail vehicles on the rails as a transmission medium.
  • a braking operation is triggered by the first vehicle on the basis of the warning message emitted by the second vehicle.
  • the method according to the invention therefore dissolves from the usual idea that starting up a first vehicle onto a second vehicle can and must be prevented at all times in all operational situations occurring. Based on this, the method according to the invention, in the event that the first vehicle ascends to the second vehicle, makes it possible in a reliable and robust manner to ensure that the first vehicle brakes. This happens because of the second vehicle triggered by the detection of the startup a warning message is emitted, on the basis of which a braking operation is triggered by the first vehicle. It is basically conceivable that the first vehicle itself has means to determine the collision with the second vehicle and then initiate a braking operation.
  • the second vehicle emits a corresponding warning message, which increases overall the robustness and operational safety.
  • the drive-up of the first vehicle to the second vehicle is detected exclusively by the second vehicle. This is particularly favorable in that in this case the first vehicle itself does not have to have means for detecting the approach to the second vehicle. This is advantageous in particular in those situations in which it is easier for the second vehicle, as a result of the situation, to reliably detect a collision of the first vehicle with the second vehicle.
  • both the first vehicle and the second vehicle may consist of any number of driven and / or non-driven, fixed or loosely connected or coupled or coupled units.
  • the approach of the first vehicle to the stationary second vehicle is detected by the second vehicle based on a standstill monitoring.
  • a standstill monitoring can now advantageously be used to detect the approach of the first vehicle to the second vehicle.
  • the inventive method can also be configured such that the emitted from the second vehicle warning message is received directly from the first vehicle.
  • the warning message is thus received without the interposition of further, in particular trackside components of the first vehicle.
  • the sending of the warning message by the second vehicle for example in the form of a "broadcast" message, which thus does not explicitly specify the first vehicle as the recipient.
  • the sending of the warning message is preferably radio-based, for example using a WLAN (Wireless Local Area Network), for example in accordance with the IEEE 802.11 standard.
  • the method according to the invention can advantageously also be developed in such a way that the warning message emitted by the second vehicle is received by the first vehicle with the interposition of a trackside device.
  • This embodiment of the method according to the invention is particularly advantageous in that in many cases the second vehicle will already be connected in any case with a link-side device, for example in the form of a route device of a train control system.
  • the corresponding track-side device can therefore be used to receive the warning message emitted by the second vehicle and forward it to the first vehicle in unchanged or changed form.
  • use is therefore advantageously made of the transmission of the warning message of such communication channels, which already exist anyway.
  • the inventive method can also be configured such that the emitted by the second vehicle warning message is received and logged by a central control device.
  • a central control device e.g., a central control device
  • received warning messages are received from the central control device with regard to their frequency and / or the circumstances of their occurrence.
  • the inventive method can also be developed such that in the event that the first vehicle and the second vehicle are track-bound vehicles, the warning message emitted by the second vehicle is received and logged by a central control device of a train control system ,
  • a central control device of a train control system This is advantageous because, especially in the case of lane-bound vehicles, commonly used train control systems have central control facilities that are suitable for receiving and logging the alerts.
  • the method runs in the context of an automatic shutdown of the first vehicle, in particular in a depot or in a siding from.
  • the method according to the invention is particularly advantageous in situations in which the second vehicle is in front of the drive-up process.
  • the method according to the invention can advantageously also be developed in such a way that it is within the scope of an automatic clutch operation, wherein the emitted from the second vehicle warning message is used by the first vehicle as a criterion for detection of an automatic clutch operation.
  • This embodiment of the method according to the invention has the advantage that the first vehicle with the warning message, a criterion is provided that a coupling of the first vehicle is carried out with the second vehicle.
  • the warning message can be used on the one hand as an additional criterion.
  • the warning signal emitted by the second vehicle from the first vehicle may be used as the sole criterion for detecting an automatic clutch operation in the event that no clutch contacts are provided or, for example, a related malfunction of the first vehicle.
  • the vehicles operated in the context of the method according to the invention may be vehicles of any type.
  • the inventive method is so pronounced that vehicles are operated in the form of driverless vehicles.
  • driverless is to be understood such that at least at the time of the procedure, the vehicle has no driver. This therefore also includes the case that vehicles are operated in normal operation with the driver and, for example, only parking and / or clutch operations are carried out without a driver.
  • the method according to the invention is particularly advantageous in the case of driverless vehicles, as approaching two vehicles at small distances is technically difficult for driverless vehicles, so that Auffahrvor réelle can be avoided only with additional technical effort with high reliability.
  • the present invention further relates to a device for a vehicle, in particular a track-bound vehicle.
  • the present invention has for its object to provide a device for a vehicle, in particular a track-bound vehicle, which allows an approach of two vehicles to short distances and can be realized with relatively little effort.
  • a device for a vehicle in particular a track-bound vehicle, with a detection device for detecting a collision of another vehicle on the vehicle, a transmission device for triggered by detecting the startup emitting a warning message and for receiving a warning message from another vehicle in the event that the vehicle itself is driven on the other vehicle, and with a control device for triggering a braking operation in the event of receiving the warning message from the other vehicle.
  • the device according to the invention can thus be used both in the first vehicle and in the second vehicle, based on the method according to the invention.
  • the device according to the invention comprises a detection device for detecting a collision of another vehicle on the vehicle and a transmission device for emitting a warning message triggered by the detection of the startup.
  • the transmission device is also configured to receive a warning message from another vehicle in the event that the vehicle itself has ascended onto the further vehicle.
  • the control device is designed to trigger a braking event in the case of receiving the warning message from the other vehicle.
  • the device according to the invention is configured such that the detection device is designed, in the event that the vehicle is standing, to detect the approaching of the other vehicle to the vehicle based on standstill monitoring of the stationary vehicle.
  • the transmission device is designed to receive the warning message emitted by the further vehicle directly from the further vehicle.
  • the device according to the invention can also be developed in such a way that the transmission device is designed to receive the warning message emitted by the further vehicle with the interposition of a trackside device.
  • the transmission device is formed, triggered by detecting the startup of the other vehicle to send the warning message to the trackside device in order to transmit the warning message to the other vehicle.
  • a first vehicle 10 and a second vehicle 20 can be seen.
  • the vehicles 10, 20 are track-bound vehicles in the form of rail vehicles. Accordingly, the vehicles 10, 20 run on a track or a track 30th
  • the vehicle 20 is a vehicle parked in a depot or on a siding.
  • the first vehicle 10 now approaches in the direction indicated by an arrow 40, i. driving from left to right. It is assumed that the first vehicle 10 should be parked or parked as close as possible to the second vehicle 20.
  • first vehicle 10 and the second vehicle 20 unlike the representation of the figure, usually consist of more than one unit, i. for example, from a plurality of cars, will exist.
  • the two vehicles 10, 20 are designed such that an approach of the first vehicle 10 to the second vehicle 20 is detected.
  • the two vehicles 10, 20 each have a control device 11 or 21, a detection device 12 or 22 and an indicated in the form of an antenna transmission device 13 and 23, respectively.
  • the control device 11 is connected via communication links 14 or 15 in terms of communication technology to the detection device 12 and the transmission device 13.
  • the arrangement shown in the figure can now be operated such that a start-up of the first vehicle 10 on the second vehicle 20 by the second vehicle 20 by means of the detection device 22 is detected.
  • This is advantageously done based on a standstill monitoring, since a movement of the second vehicle 20, starting from its standstill usually can be detected reliably more than a caused by a Auffahrvorgang speed or acceleration change of the first vehicle 10.
  • the detection device 22, for example Position encoders are executed or comprise such a Wegimpulsgeber as a component.
  • a warning message is emitted by the control device 21 by means of the transmission device 23.
  • the emission of the warning message is radio-based.
  • the warning message emitted by the second vehicle 20 is received by the first vehicle 10 with the interposition of a trackside device 60.
  • the trackside device 60 is communication technology on the one hand to a trackside transmission device 50, which may be, for example, a wireless access point, and on the other hand connected to a central control device 70. It should be understood that the trackside transmitter 50 as well as the trackside device 60 could of course also be implemented as a common component.
  • this warning message from the trackside device 60 via the trackside transmission device 50 and the transmission device 13 are transmitted to the first vehicle 10 or forwarded.
  • This offers the advantage that corresponding communication channels for data transmission between the vehicles 10, 20 and trackside devices 60 in automatic train control systems usually already exist anyway. This is especially true in the case that the automatic train control system is designed as a CBTC system.
  • a braking operation is triggered by the first vehicle 10 and its control device 11 due to the emitted from the second vehicle 20 warning message.
  • the warning message emitted by the second vehicle 20 is received and logged by the central control device 70 directly or indirectly via the trackside transmission device 50 and the trackside device 60.
  • This allows received alerts to be evaluated by the central controller 70 with regard to their frequency and / or the circumstances of their occurrence. This creates the prerequisite for optimizing the parking of the track-bound vehicles 10, 20 in the future in such a way that undesirable driveways are avoided as far as possible or at least reduced in their frequency and / or severity.
  • the situation could also be present in the figure, for example, that the corresponding approach takes place in the context of an automatic clutch operation.
  • a (slow) driving of the first vehicle 10 onto the second vehicle 20 is thus basically desirable.
  • the warning message emitted by the second vehicle 20 can be used by the first vehicle 10 in this situation, on the one hand again to decelerate the first vehicle 10.
  • the warning message from the first vehicle 10 or its control device 11 continues to serve as a criterion for a Detection of an automatic coupling process can be used.
  • the warning message depending on the particular circumstances serve as an exclusive or as an additional criterion for detecting the coupling process.
  • the method according to the invention and the device according to the invention in accordance with the embodiments in connection with the embodiments described above in particular have the advantage that they allow an approach of two vehicles to short distances or support and can be realized with relatively little effort.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Traffic Control Systems (AREA)
EP16713374.3A 2015-03-27 2016-03-24 Verfahren und vorrichtung für fahrzeuge, die das auffahren eines weiteren fahrzeuges detektieren Active EP3253642B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015205608.2A DE102015205608A1 (de) 2015-03-27 2015-03-27 Verfahren zum Betreiben von Fahrzeugen sowie Vorrichtung für ein Fahrzeug
PCT/EP2016/056577 WO2016156215A1 (de) 2015-03-27 2016-03-24 Verfahren und vorrichtung für fahrzeuge, die das auffahren eines weiteren fahrzeuges detektieren

Publications (2)

Publication Number Publication Date
EP3253642A1 EP3253642A1 (de) 2017-12-13
EP3253642B1 true EP3253642B1 (de) 2019-09-25

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EP16713374.3A Active EP3253642B1 (de) 2015-03-27 2016-03-24 Verfahren und vorrichtung für fahrzeuge, die das auffahren eines weiteren fahrzeuges detektieren

Country Status (7)

Country Link
US (1) US10737708B2 (zh)
EP (1) EP3253642B1 (zh)
CN (1) CN107428350B (zh)
DE (1) DE102015205608A1 (zh)
ES (1) ES2761700T3 (zh)
HK (1) HK1244471A1 (zh)
WO (1) WO2016156215A1 (zh)

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US11318842B2 (en) * 2016-12-27 2022-05-03 Nec Corporation First train-installed device, method, and recording medium
HUE054645T2 (hu) * 2017-09-01 2021-09-28 Siemens Mobility GmbH Berendezés és eljárás vasúti jármûhálózat üzemeltetésére
US11753054B2 (en) 2018-12-14 2023-09-12 Thales Canada Inc Rail vehicle obstacle avoidance and vehicle localization
CN111376952B (zh) * 2018-12-29 2022-06-07 交控科技股份有限公司 一种基于全自动运行无cg的双列位库入库方法
DE102019008794A1 (de) * 2019-12-18 2021-06-24 Michael Nold Zahnradbahnabstandssynchronisationssytem zum mechanischen und virtuellen Kuppeln
CA3128759A1 (en) * 2020-08-24 2022-02-24 Siemens Mobility, Inc. Prevention of collision between trains

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Also Published As

Publication number Publication date
HK1244471A1 (zh) 2018-08-10
EP3253642A1 (de) 2017-12-13
WO2016156215A1 (de) 2016-10-06
US20180105190A1 (en) 2018-04-19
CN107428350B (zh) 2019-11-01
ES2761700T3 (es) 2020-05-20
DE102015205608A1 (de) 2016-09-29
CN107428350A (zh) 2017-12-01
US10737708B2 (en) 2020-08-11

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