EP3339133B1 - Système et procédé pour déclencher un envoi d'une autorité de mouvement à un véhicule guidé - Google Patents

Système et procédé pour déclencher un envoi d'une autorité de mouvement à un véhicule guidé Download PDF

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Publication number
EP3339133B1
EP3339133B1 EP16380037.8A EP16380037A EP3339133B1 EP 3339133 B1 EP3339133 B1 EP 3339133B1 EP 16380037 A EP16380037 A EP 16380037A EP 3339133 B1 EP3339133 B1 EP 3339133B1
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European Patent Office
Prior art keywords
guided vehicle
track
processing unit
detected
boundary
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EP16380037.8A
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German (de)
English (en)
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EP3339133A1 (fr
Inventor
Oscar ALONSO GARRIDO
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Siemens Rail Automation SA
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Siemens Rail Automation SA
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Priority to PT16380037T priority Critical patent/PT3339133T/pt
Priority to EP16380037.8A priority patent/EP3339133B1/fr
Priority to ES16380037T priority patent/ES2749899T3/es
Publication of EP3339133A1 publication Critical patent/EP3339133A1/fr
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Publication of EP3339133B1 publication Critical patent/EP3339133B1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0062—On-board target speed calculation or supervision
    • 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
    • B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
    • B61L23/041—Obstacle detection
    • 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
    • B61L23/22—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in two directions over the same pair of rails
    • B61L23/30—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in two directions over the same pair of rails using automatic section blocking
    • 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
    • B61L25/04—Indicating or recording train identities
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/20—Trackside control of safe travel of vehicle or train, e.g. braking curve calculation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/20—Trackside control of safe travel of vehicle or train, e.g. braking curve calculation
    • B61L2027/202—Trackside control of safe travel of vehicle or train, e.g. braking curve calculation using European Train Control System [ETCS]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/20—Trackside control of safe travel of vehicle or train, e.g. braking curve calculation
    • B61L2027/204—Trackside control of safe travel of vehicle or train, e.g. braking curve calculation using Communication-based Train Control [CBTC]

Definitions

  • the present invention concerns a system and a method for safely and efficiently managing the movement of a guided vehicle on a railway network.
  • the present invention is essentially related to the control of the movement of guided vehicles within a railway network and the issuance of a movement authority (i.e. a permission to proceed with moving forward) by trackside Radio Block Centre (RBC), wherein "guided vehicle” refers to public transport means such as subways, trains or train subunits, etc., as well as load transporting means such as, for example, freight trains, for which safety is a very important factor and which are guided along a route or railway by at least one rail, in particular by two rails.
  • a movement authority i.e. a permission to proceed with moving forward
  • RBC Radio Block Centre
  • guided vehicle refers to public transport means such as subways, trains or train subunits, etc.
  • load transporting means such as, for example, freight trains, for which safety is a very important factor and which are guided along a route or railway by at least one rail, in particular by two rails.
  • ERTMS European Rail Traffic Management System
  • ECS European Train Control System
  • a fitted guided vehicle i.e. comprising equipment fitting the guided vehicle for radio-based signaling
  • the guided vehicle then reports periodically its position to trackside devices, for example the RBC, and receives from the latter movement authorities based on its position.
  • the RBC has to determine when, where and under which conditions a movement authority can be issued so that a guided vehicle may operate safely.
  • the first movement authority is in particular the movement authority sent to a fitted guided vehicle when the latter starts reporting its position to a wayside unit or the RBC for the first time or the movement authority sent to said fitted guided vehicle after the latter received a previous movement authority that was invalid
  • the RBC shall not rely on any guided vehicle separation distance hypothesis. This is based on the following facts: (a) unfitted guided vehicles which are not able to report its position to the RBC may be moving on the railway network too and (b) two guided vehicles may occupy the same track circuit at the same time.
  • One technique proposes a "Track Ahead Free" process handled on-board by the driver.
  • the driver of the guided vehicle shall confirm that the track section between the position of the head of the guided vehicle and the position of the next signal or board marking signal is free.
  • the driver has the responsibility to acknowledge if conditions to receive the movement authority are fulfilled. Nevertheless, human failures occur and additional safety measures are required.
  • Another process is an automatic Track Ahead Free process called "Prove Clear Ahead" (PCA).
  • the RBC can consider that the track portion ahead the guided vehicle up to the next clear track section is free of any guided vehicle and the RBC can start sending movement authorities to this train, at least up to this next clear track section.
  • the above-mentioned distance is sometimes very small which causes problems for high speed trains which have notably to decrease their speed, and PCA can usually only occur close to the border between two consecutive track sections. Additionally infrastructure failures may also occur, requiring therefore complementary systems for ensuring the safety of the guided vehicle movement.
  • An objective of the present invention is to propose a system and a method for safely and efficiently triggering the sending of movement authorities to a guided vehicle, specifically for issuing the first movement authority in a manner free of any driver input, wherein the first movement authority is the movement authority issued to a guided vehicle when the latter enters for the first time an operating part of a railway network or the first movement authority issued by an RBC after issuance by the latter of an invalid movement authority, and requiring for instance re-initialization of the RBC.
  • the present invention proposes to use a video sieving technique as disclosed by the objects of independent claims.
  • Other advantages of the invention are presented in the dependent claims.
  • the present invention proposes in particular a method for automatically triggering a sending of a movement authority to a guided vehicle moving on a track of a railway network, wherein said guided vehicle is moving from a first section of said track towards a second section of said track.
  • the RBC shall not rely on any separation hypothesis when starting issuances of movement authorities to a guided vehicle and thus it shall assume that the area between the front end of the guided vehicle and a boundary between the first and the second track section is not free of a guided vehicle.
  • the proposed method advantageously allows the RBC to send a valid movement authority that authorizes the guided vehicle to reach said boundary between the first and second section of track free of any driver confirmation or input, and/or already when the train is far away from said boundary.
  • the method according to the invention comprises notably the following steps:
  • the processing unit is thus configured for triggering the sending of a movement authority to the guided vehicle A only if specific conditions are met. Said conditions are notably the identification of the identification key which allows to uniquely identify the guided vehicle in the acquired image and the determination of the continuity of each rail between the boundary and the incoming guided vehicle which allows to determine an availability state of the track for the moving of the guided vehicle towards said boundary.
  • the present invention also concerns a video sieving system for automatically triggering the sending of a movement authority to a guided vehicle moving on a first track section towards a second track section notably according to a predefined path, wherein said video sieving system comprises:
  • Figures 1 and 2 illustrate a preferred embodiment of the method according to the invention wherein a video sieving system 3 is used for triggering ( Fig. 1 ), and optionally preventing ( Fig. 2 ), a sending of a movement authority to a guided vehicle A, wherein said movement authority is configured for authorizing the guided vehicle A to move from a first track section 10 wherein it is located to a next track section, called second track section 11.
  • a track section according to the present invention is a section (i.e. part or area) of a track 1 that comprises a detection device for detecting if the section (i.e. if said part or area) of the track it equips, is occupied or vacant, i.e. if a guided vehicle is respectively present or not on said track section, said detection device being usually a track circuit 13 managed by a track side device called RBC 4.
  • the track 1 might be divided into a plurality of sections, like the first section 10 of track and the second section 11 of track, which have a boundary 15 with one another, and wherein for each track section, movement authorities are managed by the RBC 4.
  • the guided vehicle A is moving on the first section 10 towards the second section 11.
  • One issue that has to be resolved is to determine if the part of track 1 of the first section 10 located ahead the guided vehicle A is free of any other guided vehicles.
  • Fig. 1 shows an embodiment wherein said part of track is occupied by a guided vehicle B located between the front of guided vehicle A and the boundary 15.
  • the RBC has to issue a movement authority for the first time (for instance when launching the RBC)
  • This situation can be problematic for instance for high speed trains which have to strongly decrease their speed until clarification of the availability of said part d of the track is made.
  • each section of track comprises a detection device for determining its occupancy state, i.e. either vacant or occupied.
  • Each detection device is preferentially connected, for instance wirelessly connected to a RBC 4 wherein each RBC 4 is in charge of managing movement authorities for one or several track sections, and is therefore configured for issuing or for preventing an issuance of a movement authority for guided vehicles that are moving or going to move on the track section it is responsible for.
  • the RBC 4 of Fig. 1 and 2 is responsible for issuing or not a movement authority to the guided vehicle A moving from the first section 10 to the second section 11. Due to the presence of two guided vehicles on the same track section 10 in Fig.
  • Each track section might comprise also a device enabling a guided vehicle to determine its position, like for example a beacon 14 that is able to communicate with the guided vehicle in order to exchange information, like position on the track or track section.
  • Each track section is separated from the next track section by a boundary, like the boundary 15 separating the first track section 10 from the second track section 11, a guided vehicle being authorized to pass said boundary 15 for entering the next track section only if the next track section has been proved clear, i.e. has a vacant state.
  • the present invention uses video sieving to clear the part d of track located between the boundary 15 and an incoming guided vehicle (guided vehicle A) whose predefined path goes through the boundary 15 in order to enter the second section 11.
  • the guided vehicle A comprises typically an on-board system 20 configured for managing a movement of the guided vehicle A on the track 1, said on-board system 20 comprising a position determination unit for determining the position of the guided vehicle A on the track 1.
  • said position determination unit is able to communicate with beacons 14 for determining the position of the guided vehicle A according to techniques known in the art.
  • said position determination unit may also comprise, additionally or alternately, a GPS system and/or an odometry system for determining said position of the guided vehicle A.
  • the on-board system 20 further comprises a communication device 21 for communicating with a communication device 41 of the RBC 4 in order to exchange, via a communication channel 23, messages or information, notably about the position of the guided vehicle A and occupancy state of the track sections.
  • a video sieving system 3 is used for improving the management of movement authority of guided vehicles by means of the RBC 4.
  • Said video sieving system 3 comprises notably a camera system 31 configured for acquiring images of the first track section 10 including its boundary with the second track section 11, detecting and identifying incoming guided vehicles, and a processing unit 32 configured for analyzing the images acquired by the camera system 31.
  • an identification key might be installed on the guided vehicle, for instance displayed by a marker board 33 configured for being installed in front of the guided vehicle A, said identification key helping in the identification of the detected incoming guided vehicle.
  • the identification key is configured for allowing an identification in a unique manner of the guided vehicle on which said identification key is installed and/or displayed, for instance displayed by the marker board 33.
  • each identification key corresponds one and only one guided vehicle, each identification key being unique.
  • the marker board 33 is an on-board device designed for being installed in front of the guided vehicle A so as to be identifiable by the processing unit 32 in images of the guided vehicle A acquired by the camera system 31. At least the identification key of the marker board 33, preferentially the marker board 33 and its identification key are visible from outside the guided vehicle.
  • the identification key is for instance a code comprising one or several letters or numbers that might be displayed on said marker board and/or a distinctive sign allowing an identification of the guided vehicle carrying the identification key.
  • the marker board 33 may comprise a display for displaying the identification key.
  • the marker board might comprise a thin piece of material wherein the identification key is inscribed so as to be identifiable in images of the guided vehicle taken by the camera system 31.
  • the identification key might be displayed using thermal radiations so that the identification key might be easily identifiable in bad weather conditions using an infrared camera of the camera system 31.
  • the camera system 31 is preferentially installed at a trackside location, for instance close to the boundary of two consecutive sections, like for instance in the surroundings of the boundary 15, so that incoming guided vehicles that are going to travel from the first section 10 through the boundary 15 in order to enter the second section 11 might be frontally imaged by the camera system 31. Additionally, the camera system 31 is preferentially configured for taking images of the first section so that a portion of track of said first section is imaged, wherein the track in said portion of track is continuously visible by means of the camera system from said boundary 15 to an area remotely located from said boundary 15 and wherein new incoming guided vehicles that desire to travel through the boundary 15 in order to reach the second track section 11 have to pass.
  • the camera system 31 might comprise one or several cameras, and/or redundant cameras, each camera being capable of taking day and/or night images.
  • the camera system 31 might also comprise an infrared camera designed for cooperating with identification key capable of radiating thermal radiations.
  • the marker boards may comprise a thermal radiation of the identification key.
  • the camera system 31 comprises a set of cameras wherein at least two cameras are installed at two different locations along the track 1 so that a longer portion of track 1 might be continuously visible for the camera system 31, allowing therefore the processing unit 32 to determine the availability (occupied or vacant state) of a longer portion of track in front of the incoming guided vehicle compared to the case wherein a camera system comprising one or several cameras located at a single location is used.
  • each set of cameras of the camera system 31 is configured for imaging a different part of the track 1 of the first section, wherein each of said different parts intersects with each of its adjacent parts so as to increase the continuously visible portion of track of the first track section.
  • the length of the part d that is under viewing of the camera system 31 is increased by the use of the different set of cameras installed at different locations along the track 1 of the first section and movement authorities might be given for guided vehicles A located far away from the boundary 15.
  • the processing unit 32 of the video sieving system 3 according to the invention is connected to the camera system 31 for receiving video data from the latter. Said video data are the images the acquired by the camera system 31.
  • the processing unit 32 is configured for analyzing said video data, i.e. the acquired images. It performs in particular the following tasks:
  • the processing unit 32 may comprise a database and/or a communication device 321 for communicating with the communication device 41 of the RBC 4 in order to enable the sending of the prevention signal or the authorization signal for each detected and identified incoming guided vehicle.
  • the authorization signal or the prevention signal might be sent by the processing unit 32 directly to the identified guided vehicle, wherein in this case, the processing unit 32 is further capable of exchanging data directly with the identified guided vehicle.
  • the authorization signal and the prevention signal both comprise an identification data related to the identified guided vehicle and configured for enabling the RBC to determine to which guided vehicle it has to send a movement authority or respectively for which guided vehicle it has to prevent the issuance of the movement authority.
  • Said identification data is for instance the identified identification key or a data encoding or related to the identification key that allows the RBC to send the movement authority to the correct guided vehicle or prevent its sending to the identified guided vehicle.
  • the RBC is preferentially configured to determine which guided vehicle is concerned by said authorization signal by reading and, if necessary, decoding the identification data comprised in said authorization signal, and is then further configured for automatically issuing a movement authority for the determined guided vehicle, unless a movement authority was already issued for said guided vehicle.
  • the RBC Upon reception of a prevention signal, the RBC is preferentially configured to determine which guided vehicle is concerned by said prevention signal by reading and, if necessary, decoding the identification data, comprised in said prevention signal, and is then further configured for automatically blocking an issuance of a movement authority for the determined guided vehicle.
  • the guided vehicle (A) is only allowed to move forward on the first track section (10) until the boundary (15) upon reception of the movement authority sent by the RBC (4).
  • the present invention proposes to use a camera system for enabling a video sieving, wherein a determination of the availability of a portion of track located in front of a guided vehicle travelling from a first track section to a second track section is performed by analyzing images acquired by the camera system, and wherein the result of this analysis automatically triggers the sending of a prevention signal or an authorization signal as soon as a guided vehicle has been detected and identified.
  • the use of the camera system allows to increase the length of the portion of track for which the availability is checked.

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

Claims (14)

  1. Procédé de déclenchement d'un envoi d'une autorisation de mouvement à un véhicule guidé (A) se déplaçant sur une voie (1) d'un réseau ferroviaire d'une première section de voie (10) vers une deuxième section de voie (11) limitées par une frontière (15), le procédé comprenant les étapes consistant :
    - à acquérir une image de la première section de voie (10) comportant la frontière (15) au moyen d'un système de caméra (31) d'un dispositif côté voie ;
    - à analyser au moyen d'une unité de traitement (32) l'image acquise par le système de caméra (31) afin de détecter la présence du véhicule guidé (A) dans l'image acquise de la première section de voie (10) ;
    - si la présence du véhicule guidé (A) est détectée par l'unité de traitement (32), à identifier alors le véhicule guidé (A) au moyen de ladite unité de traitement (32) ;
    - si le véhicule guidé (A) détecté a été identifié par l'unité de traitement (32), à déterminer alors si une partie de la voie (1) séparant une extrémité avant du véhicule guidé (A) détecté de la frontière (15) est exempte de tout obstacle ;
    - si le véhicule guidé détecté a été identifié et si la partie de la voie (1) a été déterminée comme étant exempte de tout obstacle par l'unité de traitement (32), à déclencher alors un envoi d'une autorisation de mouvement au véhicule guidé (A) détecté et identifié au moyen de ladite unité de traitement (32).
  2. Procédé selon la revendication 1, dans lequel l'unité de traitement (32) est configurée pour comparer l'image acquise à une image de référence de la première section de voie (10) comportant sa frontière (15) afin de détecter ladite présence du véhicule guidé (A).
  3. Procédé selon la revendication 1 ou 2, dans lequel l'identification du véhicule guidé (A) au moyen de ladite unité de traitement (32) comprend la détection et l'identification d'une clé d'identification affichée sur le véhicule guidé (A), où chaque clé d'identification est unique et est configurée pour identifier de manière unique le véhicule guidé (A) sur lequel elle est affichée.
  4. Procédé selon l'une des revendications 1 à 3, dans lequel la détermination du fait que la partie de la voie (1) séparant l'extrémité avant du véhicule guidé (A) détecté de la frontière (15) est exempte de tout obstacle comprend la vérification d'une continuité de chaque rail de la voie (1) pour ladite partie de la voie (1).
  5. Procédé selon l'une des revendications 1 à 4, dans lequel le déclenchement de l'envoi de l'autorisation de mouvement au véhicule guidé (A) détecté et identifié comprend l'envoi d'un signal d'autorisation à un dispositif chargé de la gestion de l'autorisation de mouvement pour des véhicules guidés sur ladite première section de voie (10), où ledit signal d'autorisation comprend des données d'identification relatives au véhicule guidé détecté et identifié, et est configuré pour déclencher l'envoi de l'autorisation de mouvement par ledit dispositif chargé de la gestion de l'autorisation de mouvement.
  6. Procédé selon l'une des revendications 1 à 5, dans lequel l'unité de traitement (32) est configurée pour empêcher une émission d'une autorisation de mouvement pour le véhicule guidé (A) détecté et identifié si elle a déterminé que ladite partie de la voie comprend un obstacle.
  7. Système
    d'analyse vidéo (3) pour déclencher un envoi d'une autorisation de mouvement à un véhicule guidé (A) se déplaçant sur une voie (1) d'un réseau ferroviaire d'une première section de voie (10) vers une deuxième section de voie (11) limitées par une frontière (15), ledit système d'analyse vidéo (3) comprenant :
    - un dispositif côté voie comprenant un système de caméra (31), où le système de caméra est configuré pour acquérir une image de la première section de voie (10) comportant la frontière (15) de ladite première section de voie (10) avec la deuxième section de voie (11) ;
    - une unité de traitement (32) configurée pour
    i. analyser l'image acquise par le système de caméra (31) ; et
    ii. détecter automatiquement la présence du véhicule guidé (A) dans l'image acquise ; et
    iii. identifier automatiquement le véhicule guidé (A) détecté ; et
    iv. déterminer automatiquement si une partie de la voie (1) séparant une extrémité avant du véhicule guidé (A) détecté et identifié de la frontière (15) est exempte de tout obstacle, et si cela est vrai, alors elle est en outre configurée pour déclencher un envoi d'une autorisation de mouvement au véhicule guidé (A) détecté et identifié.
  8. Système d'analyse vidéo (3) selon la revendication 7, dans lequel l'unité de traitement (32) est configurée pour comparer l'image acquise à une image de référence de la première section de voie (10) comportant sa frontière (15) afin de détecter ladite présence du véhicule guidé (A).
  9. Système d'analyse vidéo (3) selon la revendication 7 ou 8, comprenant l'affichage d'une clé d'identification sur le véhicule guidé (A), où chaque clé d'identification est unique et configurée pour identifier de manière unique le véhicule guidé (A) sur lequel elle est affichée au moyen de l'unité de traitement (32).
  10. Système d'analyse vidéo (3) selon l'une des revendications 7 à 9, dans lequel l'unité de traitement (32) est configurée pour vérifier une continuité de chaque rail de la voie (1) pour ladite partie de la voie (1) afin de déterminer si ladite partie de la voie est exempte de tout obstacle.
  11. Système d'analyse vidéo (3) selon l'une des revendications 7 à 10, dans lequel l'unité de traitement (32) est configurée pour envoyer soit un signal d'autorisation ou un signal d'interdiction à un dispositif gérant des autorisations de mouvement pour des véhicules guidés sur ladite première section de voie (10), où le signal d'interdiction et le signal d'autorisation comprennent tous deux des données d'identification relatives au véhicule guidé (A) détecté et identifié.
  12. Système d'analyse vidéo (3) selon la revendication 11, dans lequel le signal d'autorisation est configuré pour déclencher une émission d'une autorisation de mouvement pour le véhicule guidé détecté et identifié au moyen dudit dispositif gérant des autorisations de mouvement.
  13. Système d'analyse vidéo (3) selon la revendication 11 ou 12, dans lequel le signal d'interdiction est configuré pour interdire au dispositif gérant des autorisations de mouvement d'émettre une autorisation de mouvement pour le véhicule guidé détecté et identifié.
  14. Système d'analyse vidéo (3) selon l'une des revendications 7 à 13, dans lequel le système de caméra (31) comprend plusieurs ensembles de caméras, où chaque ensemble est situé à un emplacement différent le long de la voie (1) de la première section (10) de manière à imager différentes parties de la première section de voie (10), où chacune des différentes parties imagées croise chacune de ses parties imagées adjacentes.
EP16380037.8A 2016-12-22 2016-12-22 Système et procédé pour déclencher un envoi d'une autorité de mouvement à un véhicule guidé Active EP3339133B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
PT16380037T PT3339133T (pt) 2016-12-22 2016-12-22 Sistema e método para acionar um envio de uma autorização de movimento para um veículo guiado
EP16380037.8A EP3339133B1 (fr) 2016-12-22 2016-12-22 Système et procédé pour déclencher un envoi d'une autorité de mouvement à un véhicule guidé
ES16380037T ES2749899T3 (es) 2016-12-22 2016-12-22 Sistema y procedimiento para activar el envío de una autorización de circulación a un vehículo guiado

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Application Number Priority Date Filing Date Title
EP16380037.8A EP3339133B1 (fr) 2016-12-22 2016-12-22 Système et procédé pour déclencher un envoi d'une autorité de mouvement à un véhicule guidé

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EP3339133A1 EP3339133A1 (fr) 2018-06-27
EP3339133B1 true EP3339133B1 (fr) 2019-07-10

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ES (1) ES2749899T3 (fr)
PT (1) PT3339133T (fr)

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US11753054B2 (en) 2018-12-14 2023-09-12 Thales Canada Inc Rail vehicle obstacle avoidance and vehicle localization
CN112874577B (zh) * 2019-11-29 2022-05-13 比亚迪股份有限公司 列车管理方法及系统
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