EP3431362A2 - Method for infrastructure-free detection of a transition of a section of track by a rail vehicle - Google Patents
Method for infrastructure-free detection of a transition of a section of track by a rail vehicle Download PDFInfo
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- EP3431362A2 EP3431362A2 EP18179902.4A EP18179902A EP3431362A2 EP 3431362 A2 EP3431362 A2 EP 3431362A2 EP 18179902 A EP18179902 A EP 18179902A EP 3431362 A2 EP3431362 A2 EP 3431362A2
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000001514 detection method Methods 0.000 title claims abstract description 15
- 230000007704 transition Effects 0.000 title 1
- 230000001419 dependent effect Effects 0.000 claims abstract description 8
- 230000036962 time dependent Effects 0.000 claims description 2
- 238000005259 measurement Methods 0.000 description 10
- 230000004807 localization Effects 0.000 description 9
- 230000001133 acceleration Effects 0.000 description 2
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
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Classifications
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- 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
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- 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
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- 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
- B61L15/0072—On-board train data handling
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- 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
- B61L15/0092—Memory means reproducing during the running of the vehicle or vehicle train, e.g. smart cards
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- 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
Definitions
- the invention relates to a computer-based method for the infrastructure-free detection of a crossing of a track section of a railway track by a rail vehicle.
- the detection is preferably carried out on board, ie in the rail vehicle.
- the infrastructureless detection is carried out according to the invention by means of a track signature, which can be understood as a virtual balise.
- a track signature is a location-dependent signal that is plotted along a traveled track of a rail network (see also DE-A-10 2012 219 111 ).
- a rail network is divided into contiguous tracks.
- the signature of the virtual balise is located on a section of a track, called a track section, with a certain length.
- the different sections of the track for different virtual balises are usually not related, but are separated by distances.
- Track signatures can be taken from measurements z.
- the invention relates to an addition to a method for train localization, such as ETCS (European Train Control System), with a virtual balise based on track signatures, in particular the magnetic field signature, the vibration signature and the track curvature signature.
- a track signature is a location-dependent signal from train-side measurement data that is plotted along a traveled path.
- the train localization determines, on the one hand, the track on which the rail vehicle, e.g. after crossing one (possibly crossing) switch, and on the other the longitudinal position on the track.
- the track identification number and the longitudinal position on the track form the localization result (track position).
- the track accuracy or track selectivity means the correct determination of the correct track in turnouts or parallel track scenarios.
- a method for locating a rail vehicle within a rail network wherein at least one during the trajectory of the track on the rail vehicle, depending on location-changing physical variable, such as the vibrations in the Z direction, ie vertical direction, the magnetic field, track bends and track peaks , is determined.
- location-changing physical variable such as the vibrations in the Z direction, ie vertical direction, the magnetic field, track bends and track peaks .
- the signature of a track section is determined in the known method.
- the location-dependent and / or time-dependent course of the at least one physical variable or its location and / or time dependence is compared with track signatures of the rail network, which were previously determined by driving on the rail network.
- the rail vehicle can be located at any time and anywhere in the rail network.
- balises for locating a rail vehicle (see, for example, US Pat. EP-A-1 674 371 ). These are usually physical balises (also called Eurobalises), which are excited when they pass over a rail vehicle and in turn emit an encoding. This is read out from the rail vehicle and represents, for example, the track position, whereby, for example, a rail vehicle own position detection system can be calibrated.
- the problem with the physical balises is that they first have to be positioned in the rail network, which means additional effort.
- a balise not only transmits given data, but can also send out modified data, for example Provide information about special, such as temporary, conditions of a track section or a subsequent track section.
- DE-A-196 11 775 A1 Various methods for determining the position of a track-bound vehicle are in DE-A-196 11 775 A1 .
- DE-A-10 2010 033 372 DE-A-10 2015 205 535 and WO-A-01/66401 described.
- Out DE-A-10 2010 024 800 is a speedometer for a rail vehicle known.
- the object of the invention is the infrastructure-free detection of a crossing of a track section of a rail track through a rail vehicle.
- the real balises required, for example, for the ETCS system are realized virtually on the basis of track signatures.
- the track signature used in the invention may be a magnetic field signature, a vibration signature, a track curve signature and / or a track pitch signature or the like.
- Signatur act which can be determined by measuring the physical size in the rail vehicle when driving over the rail track.
- a virtual balise according to the invention is to be positioned in the rail network
- the track signature of the track section is determined in advance.
- the rail vehicle traveling on the rail track continuously or quasi continuously records the signature of the rail track, i. the change or course (location dependent) of the physical quantity used for the track signature.
- the currently determined track signature is now compared with the previously created and stored track signatures.
- the rail vehicle or a superordinate control center can determine in which track section or which balise the rail vehicle is currently passing over or has just passed over.
- the data include the track position (ie track identification number and track length parameter) and / or the geographical position of the track section detected and / or the local maximum speed and / or other data associated with the ride and / or control represent the rail vehicle related, possibly changing circumstances.
- the other data transmitted by the virtual beacon next to the track position and / or, if applicable, the geographical position may be that information as exemplified in FIG DE-A-10 2004 063 049 are described in detail.
- the physical quantity describing a track signature is the magnetic field, the vibrations, the degree of curvature and / or the position angle of the track section or a combination of the aforementioned variables.
- the track sections are provided for the track signatures are provided by means of physical changes in the track section in question.
- Such a physical change is suitable for the infrastructureless detection according to the invention, since there are no real balises, real landmarks or the like. additional infrastructure is required for the detection of a track section crossing.
- the comparison of currently determined track signatures with previously created, stored in a database track signatures of the rail network can also be used to in the course of Update time-changing virtual balises based on track signatures.
- the track signature is determined and that track signature differs from the stored track signature associated with that track section by more than a first departure threshold and less than a second departure threshold
- the current track signature can be stored as a new virtual beacon for this track section in a database, and from then on this new updated track signature can be used as a virtual beacon for subsequent rail vehicle localizations.
- the virtual balise according to the invention with a plurality of track signatures, in order then also to check a plurality of measured track signatures for conformity with the track signatures of the balise. If, for example, the magnetic field track signature of the balise deviates from the currently measured magnetic field track signature but there is a coincidence with respect to other track signatures, it is recognized that the rail vehicle is currently passing the virtual balise.
- the concept of the virtual balise according to the invention by means of track signatures is as uncomplicated integration of further measurements, such as. e.g. Magnetic field, vibration, accelerations, rotation rates, etc., to be viewed in the ETCS.
- Current ETCS systems already have an interface for physical balises (Funkbake, Eurobalise), whereby a balise survey can be performed i.a. is used for track determination and longitudinal error correction.
- virtual balises can also be used via signatures according to the same principle.
- a big advantage is the use in tunnels and underground.
- the concept of the virtual balise for example DE-A-10 2004 063 049 by according to the invention signature-based virtual balises from a Signature (magnetic field / vibration / position / position / curvature) for the purpose of eg the Switzerland conjugate.
- This is particularly an advantage in tunnels, subway and train stations.
- real and virtual balises are used to calibrate on-board position detection.
- the rail vehicle determines from there on its particular track position on the basis of on-board sensors, namely speed and / or acceleration, from which the distance covered can then be determined. This determination is drifting. Therefore, the on-board position determination is updated again at the time of passing the next balise.
- a virtual balise can not only transmit position information, but also transmit other data associated with the detected track section and data associated therewith to the track signature concerned to the rail vehicle and / or a rail vehicle control center (keeper, interlocking, train driver).
- the concept of the virtual balise is therefore extended according to the invention by track signatures, in particular with the magnetic field signature, and / or the vibration signature and / or the track curvature signature.
- the signatures are generated from a measuring sequence of karside mounted sensors 3d and a sequence of speed values 3c and then filtered. Using the speed, the time-sampled measurement signal is transformed into the location area.
- the method requires velocity values that are derived from velocity sensors (wheel revolution, Doppler radar) or from magnetic field or vibration measurements come.
- a map or 3b contains longitudinally parameterized reference signatures of transformed and filtered measurement data stored together with a track identification number and the track length parameter (also track position). The localization result with track identification number and the track position from signatures is achieved by matching reference signatures from the map and the last measured measurement signature (block 3a).
- a detector 3e decides whether and, if so, which of the track signatures stored in the database 3b match the currently measured track signature, and outputs a true signal if a match is made with one of the stored track signatures.
- the crossing of a virtual balise is detected.
- the detected balise has a known position in the rail network, which is stored in a map. This provides the train localization unit with a track position as a measurement.
- the virtual balises are chosen in such a way that a virtual balise is available for each route at suitable and discrete positions, at specific intervals and especially after turnouts.
- a signal or message 3g is sent to the beacon interface of the train location unit 8 (e.g., ECTS).
- the beacon interface of the train location unit 8 e.g., ECTS
- permanent magnet or electromagnetic magnets may optionally be attached to the track. These magnets can be isolated or in a special arrangement with multiple magnets. This arrangement can also take place in a clearly identifiable manner, for example with the least possible cross-correlation to other positions. As an example, gold codes should be named.
- Fig. 2 shows the track areas in front of and behind a turnout 7 (or crossover).
- On the track 2 is the rail vehicle 1.
- the track 2 has a track section 2a with the track signature 2b.
- Behind the switch 7 close the two tracks 5 and 6, each having a track section 5a and 6a with the track signature 5b and 6b.
- the three track signatures 2b, 5b and 6b are different, as shown by the curves of the variables or variables characterizing them (eg vibration and / or magnetic field characteristics).
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Traffic Control Systems (AREA)
Abstract
Bei dem Verfahren zur infrastrukturlosen Detektion einer Überfahrt eines Gleisabschnitts eines Schienenweges durch ein Schienenfahrzeug wird für ausgewählte Gleisabschnitte des Schienenweges jeweils mindestens eine Gleissignatur bereitgestellt, die den Verlauf und/oder die Veränderung mindestens einer ortsabhängigen physikalischen Größe beschreibt, die während der Befahrung des betreffenden Gleisabschnitts auf das Schienenfahrzeug einwirkt und damit den Gleisabschnitt charakterisiert (gleissignaturbasierte, virtuelle Balise). Die mindestens eine physikalische Größe wird durch eine Sensorik des Schienenfahrzeugs beim Überfahren des Schienenwegs ermittelt und aufgezeichnet. Durch Vergleich des aufgezeichneten Verlaufs der mindestens einen physikalischen Größe und/oder deren Veränderung mit den bereitgestellten Gleissignaturen wird ermittelt, ob das Schienenfahrzeug einen der Gleisabschnitte überfährt oder verlässt, für den eine Gleissignatur existiert.In the method for infrastructure-free detection of a crossing of a track section of a rail track by a rail vehicle for each track sections of the rail path each provided at least one track signature that describes the course and / or the change of at least one location-dependent physical variable during the driving of the track section concerned the rail vehicle acts and thus characterizes the track section (track signature-based, virtual balises). The at least one physical variable is determined and recorded by a sensor system of the rail vehicle when driving over the rail track. By comparing the recorded course of the at least one physical variable and / or changing it with the provided rail signatures, it is determined whether the rail vehicle passes over or leaves one of the track sections for which a track signature exists.
Description
Die Erfindung betrifft ein computerbasiertes Verfahren zur infrastrukturlosen Detektion einer Überfahrt eines Gleisabschnitts eines Schienenweges durch ein Schienenfahrzeug. Die Detektion erfolgt vorzugsweise bordseitig, also im Schienenfahrzeug. Die infrastrukturlose Detektion erfolgt erfindungsgemäß anhand einer Gleissignatur, was als virtuelle Balise aufgefasst werden kann. Eine Gleissignatur ist ein ortsabhängiges Signal, das über einen gefahrenen Weg eines Gleisnetzwerks aufgetragen wird (siehe hierzu auch
Insbesondere betrifft die Erfindung eine Ergänzung zu einem Verfahren zur Zuglokalisierung, wie z.B. ETCS (European Train Control System), mit einer virtuellen Balise basierend auf Gleissignaturen, insbesondere der Magnetfeldsignatur, der Vibrationssignatur und der Gleiskrümmungssignatur. Eine Gleissignatur ist ein ortsabhängiges Signal aus zugseitigen Messdaten, das über einen gefahrenen Weg aufgetragen wird.In particular, the invention relates to an addition to a method for train localization, such as ETCS (European Train Control System), with a virtual balise based on track signatures, in particular the magnetic field signature, the vibration signature and the track curvature signature. A track signature is a location-dependent signal from train-side measurement data that is plotted along a traveled path.
Die Zuglokalisierung bestimmt zum einen das Gleis, auf dem sich das Schienenfahrzeug z.B. nach dem Überfahren einer (ggf. Kreuzungs-)Weiche befindet, und zum anderen die Längsposition auf dem Gleis. Die Gleisidentifikationsnummer und die Längsposition auf dem Gleis bilden das Lokalisierungsergebnis (Gleisposition). Die Gleisgenauigkeit oder auch Gleisselektivität bedeutet die korrekte Bestimmung des richtigen Gleises in Weichen oder Parallelgleisszenarien.The train localization determines, on the one hand, the track on which the rail vehicle, e.g. after crossing one (possibly crossing) switch, and on the other the longitudinal position on the track. The track identification number and the longitudinal position on the track form the localization result (track position). The track accuracy or track selectivity means the correct determination of the correct track in turnouts or parallel track scenarios.
In
Wie bereits oben beschrieben, ist es bekannt, zur Lokalisierung eines Schienenfahrzeugs Balisen einzusetzen (siehe z. B.
Aus
Diverse Verfahren zur Positionsbestimmung eines spurgebundenen Fahrzeugs sind in
Aufgabe der Erfindung ist die infrastrukturlose Detektion einer Überfahrt eines Gleisabschnitts eines Schienenwegs durch ein Schienenfahrzeug.The object of the invention is the infrastructure-free detection of a crossing of a track section of a rail track through a rail vehicle.
Zur Lösung dieser Aufgabe wird mit der Erfindung ein Verfahren zur infrastrukturlosen Detektion einer Überfahrt eines Gleisabschnitts eines Schienenwegs durch ein Schienenfahrzeug vorgeschlagen, wobei bei dem Verfahren
- für ausgewählte, nicht aneinander angrenzende Gleisabschnitte des Schienenweges jeweils mindestens eine Gleissignatur bereitgestellt wird, die den Verlauf und/oder die Veränderung mindestens einer ortsabhängigen physikalischen Größe beschreibt, die während der Befahrung des betreffenden Gleisabschnitts auf das Schienenfahrzeug einwirkt und damit den Gleisabschnitt charakterisiert,
- die mindestens eine physikalische Größe durch eine Sensorik des Schienenfahrzeugs beim Überfahren des Schienenwegs erfasst und aufgezeichnet wird,
- durch Vergleich des aufgezeichneten Verlaufs der mindestens einen physikalischen Größe und/oder deren Veränderung mit den in der Datenbank bereitgestellten Gleissignaturen ermittelt wird, ob das Schienenfahrzeug einen der Gleisabschnitte, für den in der Datenbank eine Gleissignatur existiert, überfährt oder verlässt, und
- ein Wahr-Signal ausgegeben wird, wenn der aufgezeichnete aktuelle Verlauf der mindestens einen physikalischen Größe mit einer der in der Datenbank existierenden Gleissignaturen übereinstimmt oder von dieser um weniger als eine vorgegebene tolerierbare Maximalabweichungsschwelle abweicht.
- at least one track signature is provided for selected, non-adjoining track sections of the rail track, which describes the course and / or the change of at least one location-dependent physical variable, which acts on the rail vehicle during the passage of the track section in question and thus characterizes the track section,
- the at least one physical variable is detected and recorded by a sensor system of the rail vehicle when crossing the rail track,
- by comparing the recorded history of the at least one physical quantity and / or changing it with the track signatures provided in the database, it is determined whether the rail vehicle passes over or leaves one of the track sections for which a track signature exists in the database, and
- a true signal is output if the recorded current history of the at least one physical quantity matches one of the existing in the database track signatures or less by this deviates as a predetermined tolerable maximum deviation threshold.
Erfindungsgemäß werden die beispielsweise für das ETCS-System erforderlichen realen Balisen virtuell auf Basis von Gleissignaturen realisiert. Bei der erfindungsgemäß verwendeten Gleissignatur kann es sich um eine Magnetfeldsignatur, eine Vibrationssignatur, eine Gleiskrümmungssignatur und/oder eine Gleislängsneigungssignatur o.dgl. Signatur handeln, die als physikalische Größe im Schienenfahrzeug beim Überfahren des Schienenwegs messtechnisch ermittelbar ist. Dort, wo im Schienennetz eine erfindungsgemäße virtuelle Balise zu positionieren ist, wird die Gleissignatur des Gleisabschnitts vorab ermittelt. Das den Schienenweg befahrende Schienenfahrzeug erfasst laufend bzw. quasi kontinuierlich die Signatur des Schienenwegs, d.h. die Veränderung bzw. den Verlauf (ortsabhängig) der physikalischen Größe, wie sie für die Gleissignatur verwendet wird. Die aktuell ermittelte Gleissignatur wird nun mit den vorab erstellten und abgelegten Gleissignaturen verglichen. Dadurch kann das Schienenfahrzeug oder eine übergeordnete Leitstelle ermitteln, in welchem Gleisabschnitt bzw. welcher Balise das Schienenfahrzeug gerade überfährt bzw. gerade überfahren hat.According to the invention, the real balises required, for example, for the ETCS system are realized virtually on the basis of track signatures. In the track signature used in the invention may be a magnetic field signature, a vibration signature, a track curve signature and / or a track pitch signature or the like. Signatur act, which can be determined by measuring the physical size in the rail vehicle when driving over the rail track. Wherever a virtual balise according to the invention is to be positioned in the rail network, the track signature of the track section is determined in advance. The rail vehicle traveling on the rail track continuously or quasi continuously records the signature of the rail track, i. the change or course (location dependent) of the physical quantity used for the track signature. The currently determined track signature is now compared with the previously created and stored track signatures. As a result, the rail vehicle or a superordinate control center can determine in which track section or which balise the rail vehicle is currently passing over or has just passed over.
In Abgrenzung zur Lokalisierung mittels Gleissignaturen, wie sie in
In zweckmäßiger Ausgestaltung der Erfindung kann vorgesehen sein, dass die Daten die Gleisposition (d.h. Gleisidentifikationsnummer und Gleislängsparameter) und/oder die geografische Position des detektierten Gleisabschnitts und/oder die örtliche Höchstgeschwindigkeit und/oder andere Daten beinhalten, die mit der Fahrt und/oder Steuerung des Schienenfahrzeugs im Zusammenhang stehende, ggf. sich verändernde Gegebenheiten repräsentieren. Hierbei kann es sich bei den anderen Daten, die von der virtuellen Balise neben der Gleisposition und/oder ggf. der geografischen Position ausgesendet werden, um diejenigen Informationen handeln, wie sie beispielhaft in
Vorteilhafterweise wird als eine Gleissignatur beschreibende physikalische Größe das Magnetfeld, die Vibrationen, der Grad der Krümmung und/oder der Lagewinkel des Gleisabschnitts oder eine Kombination der zuvor genannten Größen verwendet.Advantageously, the physical quantity describing a track signature is the magnetic field, the vibrations, the degree of curvature and / or the position angle of the track section or a combination of the aforementioned variables.
In weiterer zweckmäßiger Ausgestaltung der Erfindung kann vorgesehen sein, dass die Gleisabschnitte, für die Gleissignaturen bereitgestellt werden, mittels physikalischer Veränderungen im betreffenden Gleisabschnitt versehen werden. Eine derartige physikalische Veränderung ist für die erfindungsgemäße infrastrukturlose Detektion geeignet, da weiterhin keine realen Balisen, reale Landmarken odgl. zusätzliche Infrastruktur für die Detektion einer Gleisabschnittsüberfahrt erforderlich ist.In a further advantageous embodiment of the invention can be provided that the track sections are provided for the track signatures are provided by means of physical changes in the track section in question. Such a physical change is suitable for the infrastructureless detection according to the invention, since there are no real balises, real landmarks or the like. additional infrastructure is required for the detection of a track section crossing.
Gemäß einem weiteren Aspekt der Erfindung kann der Vergleich aktuell ermittelter Gleissignaturen mit vorab erstellten, in einer Datenbank abgelegten Gleissignaturen des Schienennetzes auch dazu benutzt werden, um sich im Laufe der Zeit verändernde virtuelle Balisen auf Basis von Gleissignaturen zu aktualisieren. Wenn also beispielsweise beim Überfahren eines mit einer virtuellen Balise versehenen Gleisabschnitts durch ein zu lokalisierendes Schienenfahrzeug die Gleissignatur ermittelt wird, und diese Gleissignatur sich um mehr als eine erste Abweichungsschwelle und um weniger als eine größere zweite Abweichungsschwelle von der diesem Gleisabschnitt zugeordneten abgespeicherten Gleissignatur unterscheidet, so kann die aktuelle Gleissignatur als neue virtuelle Balise für diesen Gleisabschnitt in einer Datenbank abgelegt werden und von da an diese neue aktualisierte Gleissignatur als virtuelle Balise für anschließende Schienenfahrzeuglokalisierungen eingesetzt werden.According to a further aspect of the invention, the comparison of currently determined track signatures with previously created, stored in a database track signatures of the rail network can also be used to in the course of Update time-changing virtual balises based on track signatures. Thus, for example, when crossing a track section provided with a virtual balise by a rail vehicle to be located, the track signature is determined and that track signature differs from the stored track signature associated with that track section by more than a first departure threshold and less than a second departure threshold For example, the current track signature can be stored as a new virtual beacon for this track section in a database, and from then on this new updated track signature can be used as a virtual beacon for subsequent rail vehicle localizations.
Alternativ ist es auch möglich, die erfindungsgemäße virtuelle Balise mit mehreren Gleissignaturen zu versehen, um dann auch mehrere gemessene Gleissignaturen auf Übereinstimmung mit den Gleissignaturen der Balise zu überprüfen. Wenn dann beispielsweise die Magnetfeldgleissignatur der Balise von der aktuell gemessenen Magnetfeldgleissignatur abweicht, aber bezüglich anderer Gleissignaturen eine Übereinstimmung besteht, so wird erkannt, dass das Schienenfahrzeug gerade die virtuelle Balise passiert.Alternatively, it is also possible to provide the virtual balise according to the invention with a plurality of track signatures, in order then also to check a plurality of measured track signatures for conformity with the track signatures of the balise. If, for example, the magnetic field track signature of the balise deviates from the currently measured magnetic field track signature but there is a coincidence with respect to other track signatures, it is recognized that the rail vehicle is currently passing the virtual balise.
Das Konzept der erfindungsgemäßen virtuellen Balise mittels Gleissignaturen ist als unkomplizierte Integration von weiteren Messungen, wie. z.B. Magnetfeld, Vibration, Beschleunigungen, Drehraten usw, in das ETCS anzusehen. Aktuelle ETCS Systeme verfügen bereits über eine Schnittstelle für physische Balisen (Funkbake, Eurobalise), wobei eine Balisenvermessung u.a. zur Gleisbestimmung und Längsfehlerkorrektur genutzt wird. Ergänzend zu den virtuellen Balisen mittels GNSS können erfindungsgemäß auch virtuelle Balisen über Signaturen nach dem gleichen Prinzip verwendet werden. Ein großer Vorteil ist der Einsatz in Tunnel und im Untergrund.The concept of the virtual balise according to the invention by means of track signatures is as uncomplicated integration of further measurements, such as. e.g. Magnetic field, vibration, accelerations, rotation rates, etc., to be viewed in the ETCS. Current ETCS systems already have an interface for physical balises (Funkbake, Eurobalise), whereby a balise survey can be performed i.a. is used for track determination and longitudinal error correction. In addition to the virtual balises by means of GNSS, according to the invention, virtual balises can also be used via signatures according to the same principle. A big advantage is the use in tunnels and underground.
Erfindungsgemäß kann also das Konzept der virtuellen Balise nach z.B.
Grundsätzlich werden reale und virtuelle Balisen eingesetzt, um die bordseitige Positionsermittlung zu kalibrieren. Ausgehend von einer erkannten Balise ermittelt das Schienenfahrzeug von da ab seine insbesondere Gleisposition anhand von bordseitiger Sensorik, nämlich Geschwindigkeit und/oder Beschleunigung, aus der dann der zurückgelegte Weg ermittelt werden kann. Diese Ermittlung ist driftbehaftet. Deshalb wird die bordseitige Positionsermittlung zum Zeitpunkt der Vorbeifahrt an der nächsten Balise wieder aktualisiert.Basically, real and virtual balises are used to calibrate on-board position detection. Starting from a detected balise, the rail vehicle determines from there on its particular track position on the basis of on-board sensors, namely speed and / or acceleration, from which the distance covered can then be determined. This determination is drifting. Therefore, the on-board position determination is updated again at the time of passing the next balise.
Eine virtuelle Balise kann nicht nur Positionsinformationen übertragen, sondern auch andere, dem detektierten Gleisabschnitt zugeordnete Daten und damit der betreffenden Gleissignatur zugeordnete Daten an das Schienenfahrzeug und/oder eine Schienenfahrzeug-Steuerungszentrale (Leistelle, Stellwerk, Zugführer) übertragen.A virtual balise can not only transmit position information, but also transmit other data associated with the detected track section and data associated therewith to the track signature concerned to the rail vehicle and / or a rail vehicle control center (keeper, interlocking, train driver).
Das Konzept der virtuellen Balise wird also erfindungsgemäß um Gleissignaturen erweitert, insbesondere mit der Magnetfeldsignatur, und/oder der Vibrationssignatur und/oder der Gleiskrümmungssignatur.The concept of the virtual balise is therefore extended according to the invention by track signatures, in particular with the magnetic field signature, and / or the vibration signature and / or the track curvature signature.
Der Aufbau der erfindungsgemäß signaturbasierten Zuglokalisierung mit virtuellen Balisen mit Signaturen ist in den
Die Signaturen werden aus einer Messsequenz von zugseitig montierten Sensoren 3d und einer Sequenz von Geschwindigkeitswerten 3c erzeugt und anschließend gefiltert. Mithilfe der Geschwindigkeit wird das zeitlich abgetastete Messsignal in den Ortsbereich transformiert. Das Verfahren benötigt Geschwindigkeitswerte, die aus Geschwindigkeitssensoren (Radumdrehung, Dopplerradar) oder aus Magnetfeld- oder Vibrationsmessungen stammen. Eine Karte bzw. 3b beinhaltet längsparametrisierte Referenzsignaturen aus transformierten und gefilterten Messdaten, die zusammen mit einer Gleisidentifikationsnummer und dem Gleislängenparameter (auch Gleisposition) gespeichert sind. Das Lokalisierungsergebnis mit Gleisidentifikationsnummer und der Gleisposition aus Signaturen wird durch Abgleich von Referenzsignaturen aus der Karte und der zuletzt gemessenen Messsignatur erreicht (Block 3a). Ein Detektor 3e (JA/NEIN-Entscheider) entscheidet, ob und, wenn ja, mit welcher in der Datenbank 3b gespeicherten Gleissignaturen die aktuell gemessene Gleissignatur übereinstimmt und gibt ein Wahr-Signal aus, wenn eine Übereinstimmung mit einer der gespeicherten Gleissignaturen festgestellt wird.The signatures are generated from a measuring sequence of zugside
Zur Zuglokalisierung mittels einer erfindungsgemäßen virtuellen Balise wird die Überfahrt einer virtuellen Balise detektiert. Die detektierte Balise hat eine bekannte Position im Gleisnetzwerk, die in einer Karte hinterlegt ist. Damit steht der Zuglokalisierungseinheit eine Gleisposition als Messung zur Verfügung. Die virtuellen Balisen sind dabei so gewählt, dass an geeigneten und diskreten Positionen, in bestimmten Abständen und besonders nach Weichen eine virtuelle Balise für jeden Fahrweg zur Verfügung steht.For train localization by means of a virtual balise according to the invention, the crossing of a virtual balise is detected. The detected balise has a known position in the rail network, which is stored in a map. This provides the train localization unit with a track position as a measurement. The virtual balises are chosen in such a way that a virtual balise is available for each route at suitable and discrete positions, at specific intervals and especially after turnouts.
Bei Detektion der Überfahrt eines der Gleisabschnitte, für die in der Datenbank eine Gleissignatur abgelegt ist, wird ein Signal oder Telegramm 3g an die Balisenschnittstelle der Zuglokalisierungseinheit 8 (z.B. ECTS) gesendet.Upon detection of the passage of one of the track sections for which a track signature is stored in the database, a signal or
Wird für die erfindungsgemäße infrastrukturlose Detektion einer Gleisabschnittsüberfahrt eine Magnetfeldsignatur verwendet, so können ggf. permanent erregte oder elektromagnetische Magnete an der Strecke angebracht werden. Diese Magnete können vereinzelt oder in einer speziellen Anordnung mit mehreren Magneten erfolgen. Diese Anordnung kann auch in einer eindeutig identifizierbaren Art erfolgen, z.B. mit einer möglichst geringen Kreuzkorrelation zu anderen Positionen. Als Beispiel sind u.a. Goldcodes zu benennen.If a magnetic field signature is used for the infrastructureless detection of a track section crossing according to the invention, permanent magnet or electromagnetic magnets may optionally be attached to the track. These magnets can be isolated or in a special arrangement with multiple magnets. This arrangement can also take place in a clearly identifiable manner, for example with the least possible cross-correlation to other positions. As an example, gold codes should be named.
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Fig. 1Fig. 1 - 11
- Schienenfahrzeugtrack vehicle
- 22
- Gleistrack
- 2a2a
- Gleisabschnitttrack section
- 2b2 B
-
Gleissignatur des Gleisabschnitts 2aTrack signature of the
track section 2a - 33
- Referenzsystem mit SignaturmessungenReference system with signature measurements
- 3a3a
- Lokalisierungsverfahren des Referenzsystems mit SignaturLocalization method of the reference system with signature
- 3b3b
- Streckenkarte mit Signaturen (Datenbank)Route map with signatures (database)
- 3c3c
- Geschwindigkeitsinformationspeed information
- 3d3d
- Magnetfeldsensor zur SignaturmessungMagnetic field sensor for signature measurement
- 3e3e
- Detektor (JA-/NEIN-Entscheider)Detector (YES / NO decision maker)
- 3g3g
- Telegramm, Signal zur BalisenschnittstelleTelegram, signal to the balise interface
- 88th
- Zuglokalierungssystem (z.B. ETCS)Train location system (e.g., ETCS)
-
Fig. 2Fig. 2 - 44
- Gleistrack
- 4a4a
- Gleisabschnitttrack section
- 4b4b
- Gleissignatur des Gleisabschnitts 4aTrack signature of the track section 4a
- 55
- Gleistrack
- 5a5a
- Gleisabschnitttrack section
- 5b5b
-
Gleissignatur des Gleisabschnitts 5aTrack signature of
track section 5a - 77
- Weicheswitch
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DE102021101958B3 (en) | 2021-01-28 | 2021-12-30 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Method and system for determining the distance or the current relative speed of at least two route-bound, in particular rail-bound, mobile objects |
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DE19532104C1 (en) * | 1995-08-30 | 1997-01-16 | Daimler Benz Ag | Method and device for determining the position of at least one location of a track-guided vehicle |
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