EP3321147A1 - Procédé de détection de la courbe de rails - Google Patents

Procédé de détection de la courbe de rails Download PDF

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Publication number
EP3321147A1
EP3321147A1 EP16197867.1A EP16197867A EP3321147A1 EP 3321147 A1 EP3321147 A1 EP 3321147A1 EP 16197867 A EP16197867 A EP 16197867A EP 3321147 A1 EP3321147 A1 EP 3321147A1
Authority
EP
European Patent Office
Prior art keywords
pattern
rails
objects
rail vehicle
course
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Withdrawn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
EP16197867.1A
Other languages
German (de)
English (en)
Inventor
Ruprecht Anz
Florian Feile
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Priority to EP16197867.1A priority Critical patent/EP3321147A1/fr
Publication of EP3321147A1 publication Critical patent/EP3321147A1/fr
Withdrawn legal-status Critical Current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
    • B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
    • 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
    • B61L25/06—Indicating or recording the setting of track apparatus, e.g. of points, of signals

Definitions

  • the invention relates to a method, an arrangement and a device for detecting a course of rails.
  • a rail vehicle is to be guided by its rail vehicle driver. It is possible to relieve the rail vehicle driver by sensors for detecting an environment of the rail vehicle.
  • a collision warning system for trams which includes a camera and a radar sensor.
  • a course and thus a trajectory of rails to be driven to recognize directly, from which again a danger space is determined, is searched in the radar sensor for any existing obstacles.
  • a location of the tram by using a global navigation satellite system are usually carried out only limited.
  • a method for detecting obstacles of rail vehicles that travel a certain distance is from the document DE 197 46 970 A1 known.
  • an on-board computer is used for the storage of route data.
  • Track data stores coordinates of points that are centered between rails at specific intervals. These points are targeted by a vehicle sensor, wherein a sensor signal is inter alia dependent on a track curvature.
  • a railable by a rail vehicle track comprises two side by side parallel and thus arranged rails.
  • objects are arranged, usually fastened, next to at least one of the rails at a relevant point before the start of a section, for example a curve whose course can be recognized Objects are arranged in front of the route ahead in accordance with a pattern defined for the respective route section adjacent to the at least one rail of the track.
  • the course of the route section can be indirectly recognized by an arrangement of objects of the pattern.
  • at least one object of the pattern is located to the left of the two rails of the track, between the two rails or to the right of the two rails. This may mean that all objects of a pattern are located to the left of the two rails, between the two rails or to the right of the two rails. It is also possible that objects of a pattern are arranged on the left of the rails and between the rails, between the rails and on the right of the rails, to the left and right of the rails or to the left of the rails, between the rails and to the right of the rails.
  • Such a pattern of objects can be easily recognized by at least one sensor which is arranged on a rail vehicle.
  • a detection range of the at least one sensor is oriented in the direction of travel of the rail vehicle.
  • the objects are embodied as triangular mirrors and thus as so-called triple mirrors which can be easily recognized, for example, by at least one sensor embodied as a radar sensor.
  • a shape or type of a respective pattern and thus a shape of the arrangement of the objects for the respective pattern, is defined by the shape of the section of road ahead to be traveled.
  • a certain shape after which the objects of the pattern are arranged to announce a certain type and thus a specific course of a link before the start of this section.
  • a route section as a curve for example. Left or right curve, be formed.
  • a direction of a curve as well as a radius as a parameter of this section designed as a curve is to be indicated by a respective pattern.
  • a section designed as a gradient or gradient is likewise to be defined by a respectively defined shape of the pattern formed from the objects. It is possible that the respective pattern also indicates a percentage value as a parameter for the slope or the slope as an example of a route section.
  • a certain type of pattern is provided for a certain type of track sections.
  • the objects arranged on the track for example, between the rails according to a respectively defined pattern, which are easily recognizable for the at least one sensor, are used in an embodiment for orientation and / or location of the rail vehicle, for example a train.
  • At least one object of a pattern to an actuator, for example a switch.
  • the at least one object moves in accordance with a movement of the actuator, whereby, for example, a current position of the switch or a position of a trained as a railway signal actuator is always present.
  • At least one operating parameter of the rail vehicle eg. Its speed to automatically adapt to the announced by the pattern course of the section and in design automatically trigger a braking.
  • the method, the arrangement and the device for detecting the course of rails in combination with a sensor-based collision warning for the rail vehicle to use are different sensors, for example.
  • a radar sensor, a laser sensor or a camera to use which are used anyway for an automatic system for collision warning.
  • the at least one sensor of the arrangement and of the device is, for example, designed as a radar sensor, with which patterns of objects can be seen well even in the dark and / or in a tunnel.
  • the arrangement, the device and the method are furthermore for a fully automatic rail vehicle, For example, a subway or a tram to use without train driver.
  • FIG. 1 shows a schematic representation of a track that includes two rails 2, 4, which are arranged parallel to each other and are driven by a here designed as a tram rail vehicle 6.
  • at least one sensor 8 for detecting an environment of the rail vehicle 6 is arranged here at a front side of the rail vehicle 6 in its direction of travel.
  • the rail vehicle 6 comprises a control device 10, which is designed for controlling and thus for controlling and / or regulating an embodiment of the method according to the invention.
  • FIG. 1 shows a first pattern 12 of here three objects 14 is arranged between the two rails 2, 4, these three objects 14 being designed as identically formed triangular mirrors which are referred to as triple mirrors.
  • the at least one sensor 8 and the control device 10 as components of the rail vehicle 6 and the pattern 12 of the three objects 14 are formed as components of the first embodiment of the inventive arrangement 16.
  • FIG. 1 also shows detection areas 18 of the at least one sensor 8.
  • the at least one sensor 8 and the control device 10 are also formed as components of the device according to the invention.
  • the rails 2, 4 lying ahead and the pattern 12 from the objects 14 are detected by the at least one sensor 8.
  • a shape of the pattern 12 defined by an arrangement of the objects 14 within the pattern 12 is analyzed and identified by the controller 10.
  • the shape of the pattern 12 also describes and / or defines a shape of a route section which, for example, is arranged directly after the pattern 12 in the direction of travel of the rail vehicle 6.
  • the pattern 12 is detected by the at least one sensor 8 and evaluated and / or detected by the control unit 10, the type of course of the track section following the pattern 12 is automatically derived from the control device 10 taking into account the rules.
  • the detected and analyzed pattern 12 may also provide information as to the distance behind the pattern 12 of the preceding stretch.
  • control device 10 comprises a database in which different patterns are already predefined.
  • a respective pattern 12 is to be identified with the control device 10 by comparison with the patterns from the database and, in turn, the course of the track section of the rails 2, 4 derived therefrom.
  • FIG. 2a shows a trained as a right turn section 22, which is formed from the two rails 2, 4.
  • a second example of a pattern 20 is arranged at the beginning of this section 22 between the rails 2, 4, the in FIG. 2b is shown in detail.
  • This second pattern 20 likewise includes an arrangement of three objects 21 here.
  • FIG. 3a is another example of a section 24 of the two rails 2, 4 shown schematically.
  • a third example of a pattern 26 is arranged between the rails 2, 4, which in FIG. 3b is shown enlarged and includes three objects 27.
  • the objects 21, 27 of the respective patterns 20, 26 are arranged in accordance with a profile of a spline function and thus according to a profile of an n-th degree polynomial. Since the objects 21, 27 are of uniform shape and have a uniform, normalized size, it can be seen by the at least one sensor 8 of the rail vehicle 6 how far a respective pattern 20, 26 is away from a respectively current position of the rail vehicle 6. In addition, it is furthermore provided that a virtual coordinate system is provided for each pattern 20, 26, on the basis of which, and taking into account the uniform size of the objects 21, 27, a n-th degree polynomial respectively represented by the pattern 20, 26 is uniquely identified. Thus, a rule for defining a respective pattern 20, 26 by the n-th degree polynomial will be described here.
  • the above-presented patterns 12, 20, 26 each comprise three objects 14, 21, 27, which are arranged one behind the other in the direction of travel of the rail vehicle 6 and according to a respective polynomial n-th degree, wherein the objects 14, 21, 27 each along a through the polynomial defined mathematical curve are arranged, wherein in the case of a formed as a curve track section 22, 24 of the course of the mathematical curve, which is described by the polynomial, the course of the track section 22, 24, the respective pattern 12, 20, 26 follows, at least in sections.
  • the fourth example of the pattern 28 is both in FIG. 4a as well as in FIG. 4b shown schematically.
  • This pattern 30 is arranged here on a switch 32 as an actuator for rails 36, 38 and 40, 42 to be traveled.
  • a first, designed here as a right turn section 48 or a second formed as a left turn section 50 is defined for the approaching rail vehicle.
  • the first route section 48 extends along the rails 36, 38 and the second route section 50 extends along the rails 40, 42.
  • the pattern 30 arranged on the switch 32 comprises a first object 44 arranged fixedly between the rails 36, 38 or 40, 42 and designed as a cusp mirror.
  • a second object 46 of the pattern 30, also embodied as a cusp mirror, is here as if through a Double arrow 52 in FIG. 4a indicated, movably connected to a switch tongue of the switch 32.
  • FIG. 4a predetermined by the current position of the switch 32 for the rail vehicle 6 a ride along the first trained as a right-hand stretch section 48, which is indicated here by an arrow 54.
  • This first section 48 is determined by the current position of the two objects 44, 46 of the pattern 32 relative to each other, wherein it is provided that the second object 46 is arranged in the direction of travel of the rail vehicle 6 behind the first object 44, also to the right of the first object 44 is arranged.
  • the second object 46 is arranged after switching the switch 32 in the direction of travel of the rail vehicle 6 to the left of the first object 44.
  • the second link formed as a link section 50 is given, which in FIG. 4b indicated by an arrow 56.
  • the here triangular objects 14, 21, 27, 44, 46 are formed as a triple mirror and usually for at least one sensor 8 designed as a radar sensor clearly visible. If the at least one sensor 8 of the rail vehicle 6 is embodied as a laser sensor, well-recognizable objects 14, 21, 27, 44, 46 are to be used for this, which may have a different shape and / or to represent a respective pattern 12, 20, 26, 30 have different colors.
  • At least one object 14, 21, 27, 44, 46 of a pattern 12, 20, 26, 30 on the left of the two rails 2, 4, 36, 38, 40, 42, between the two rails 2, 4, 36, 38th , 40, 42 or right of both rails 2, 4, 36, 38, 40, 42 are arranged.
  • FIGS. 1 . 2 . 3 . 4 Embodiments presented are all objects 14, 21, 27, 44, 46 of a pattern 12, 20, 26, 30 between the two rails 2, 4, 36, 38, 40, 42.
  • a pattern 12 is arranged in each case in front of the track section 22, 24, 48, 50 next to at least one of the two rails 2, 4, 36, 38, 40, 42 , 20, 26, 30 a rule for the arrangement of the objects 14, 21, 27, 44, 46 taken into account.
  • different rules are to be considered.
  • a respective course of the route section 22, 24, 48, 50 is, inter alia, by a number of the objects 14, 21, 27, 44, 46, a shape of the pattern 12, 20, 26, 30, which, for example, an n-th degree polynomial corresponds, and possibly a relative distance of the objects 14, 21, 27, 44, 46 within the pattern 12, 20, 26, 30 to each other and / or described.
  • a size of the objects 14, 21, 27, 44, 46 is usually normalized, taking into account a normalized size of the objects 14, 21, 27, 44, 46 of a respective pattern 12, 20, 26, 30 positions that the Objects 14, 21, 27, 44, 46 within the respective pattern 12, 20, 26, 30 relative to each other, are recognized, and the respective pattern 12, 20, 26, 30 is identified.
  • Information about an arrangement or sequence of the patterns 12, 20, 26, 30 along at least one route section 22, 24, 48, 50 of rails 2, 4, 36, 38, 40, 42 to be traveled are known and stored in a database.
  • a current position of the rail vehicle 6 is determined on the basis of the previously recorded during a trip pattern 12, 20, 26, 30 by comparison with information about patterns 12, 20, 26, 30 from the database.
  • At least one operating parameter of the rail vehicle 6, for example its speed, is adapted to it after a course of the preceding track section 22, 24, 48, 50 recognized on the basis of a pattern 12, 20, 26, 30.
  • the at least one sensor 8 of the rail vehicle 6 is adapted to the objects 14, 21, 27, 44, 46 by eventual emission, but at least by receiving signals from electromagnetic waves from the objects 14, 21, 27, 44, 46 emitted, for example, are reflected, to detect, with a detection range 18 of the at least one sensor 8 is oriented in the direction of travel of the rail vehicle 6.
  • This at least one sensor 8 is designed as a radar sensor, laser sensor (lidar) and / or camera.
  • At least one object 14, 21, 27, 44, 46 of a pattern 30 is fixedly arranged between the rails 36, 38, 40, 42 and / or with an actuator, for example a switch or a railway signal for the rails 36, 38 , 40, 42 movably connected.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
EP16197867.1A 2016-11-09 2016-11-09 Procédé de détection de la courbe de rails Withdrawn EP3321147A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP16197867.1A EP3321147A1 (fr) 2016-11-09 2016-11-09 Procédé de détection de la courbe de rails

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP16197867.1A EP3321147A1 (fr) 2016-11-09 2016-11-09 Procédé de détection de la courbe de rails

Publications (1)

Publication Number Publication Date
EP3321147A1 true EP3321147A1 (fr) 2018-05-16

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Family Applications (1)

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EP16197867.1A Withdrawn EP3321147A1 (fr) 2016-11-09 2016-11-09 Procédé de détection de la courbe de rails

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EP (1) EP3321147A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3868631A4 (fr) * 2018-10-15 2022-07-20 Hitachi, Ltd. Système de détection d'obstacle et procédé de détection d'obstacle pour véhicule se déplaçant sur une voie

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19721901A1 (de) * 1997-05-26 1997-11-13 Bernhard Prof Dr Liesenkoetter Verfahren und Vorrichtung zur Hinderniserkennung auf Bahngleisen mit einem fahrzeugbasierten Radarsystem
DE19746970A1 (de) 1997-10-24 1999-04-29 Cit Alcatel Verfahren und Vorrichtung zur Erkennung von Hindernissen vor Schienenfahrzeugen
WO2015043974A1 (fr) * 2013-09-30 2015-04-02 Siemens Aktiengesellschaft Détermination de position d'un véhicule ferroviaire
DE102015201041A1 (de) * 2015-01-22 2015-12-24 Siemens Aktiengesellschaft Verfahren und Vorrichtung zur fahrzeugseitigen Positionsdatenerfassung bei einem Schienenfahrzeug

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19721901A1 (de) * 1997-05-26 1997-11-13 Bernhard Prof Dr Liesenkoetter Verfahren und Vorrichtung zur Hinderniserkennung auf Bahngleisen mit einem fahrzeugbasierten Radarsystem
DE19746970A1 (de) 1997-10-24 1999-04-29 Cit Alcatel Verfahren und Vorrichtung zur Erkennung von Hindernissen vor Schienenfahrzeugen
WO2015043974A1 (fr) * 2013-09-30 2015-04-02 Siemens Aktiengesellschaft Détermination de position d'un véhicule ferroviaire
DE102015201041A1 (de) * 2015-01-22 2015-12-24 Siemens Aktiengesellschaft Verfahren und Vorrichtung zur fahrzeugseitigen Positionsdatenerfassung bei einem Schienenfahrzeug

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3868631A4 (fr) * 2018-10-15 2022-07-20 Hitachi, Ltd. Système de détection d'obstacle et procédé de détection d'obstacle pour véhicule se déplaçant sur une voie

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