EP3444786A1 - Détermination de la position ou de la vitesse d'un véhicule - Google Patents

Détermination de la position ou de la vitesse d'un véhicule Download PDF

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Publication number
EP3444786A1
EP3444786A1 EP18186440.6A EP18186440A EP3444786A1 EP 3444786 A1 EP3444786 A1 EP 3444786A1 EP 18186440 A EP18186440 A EP 18186440A EP 3444786 A1 EP3444786 A1 EP 3444786A1
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EP
European Patent Office
Prior art keywords
analog
sensors
signal
value
output
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.)
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Application number
EP18186440.6A
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German (de)
English (en)
Inventor
Hans-Helmut Schweißthal
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 AG
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Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Publication of EP3444786A1 publication Critical patent/EP3444786A1/fr
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    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time

Definitions

  • the invention relates to a method and a device for determining a value indicating a speed or a location of a vehicle, in particular a railway vehicle.
  • the value may relate, for example, to the speed of the vehicle, the current location of the vehicle or a distance traveled by the vehicle.
  • odometry In railway engineering, the problem arises of specifying the location and speed of a train with the least possible error and a high probability of correctness (so-called odometry). This requires high processing power according to conventional methods. It is often not possible to detect rapid changes in the analog input data within predetermined intervals and process them adequately. For this purpose, a secure computer must read the measured values acquired and output by suitable sensors, such as displacement encoders, radar sensors, GPS sensors or accelerometers, and then calculate a corresponding value indicating the location, route or speed.
  • sensors such as displacement encoders, radar sensors, GPS sensors or accelerometers
  • the object is to propose a method and a device which simplify the determination of a value indicating a speed or a location of a vehicle.
  • an analogue computing unit for determining a value indicating a speed or a location of a vehicle.
  • the analog computing unit is set up to calculate at least one consolidated signal from analog signals output by a plurality of sensors.
  • An analog signal output by one of the sensors in this case corresponds to a measured value which is acquired by the sensor and relates to the value.
  • the invention is based on the basic idea of not converting analog signals output from the sensors into digital signals and processing them digitally, but directly correlating the analog signals with one another without the use of computational time and calculating a consolidated signal which then if necessary, can be further processed digitally.
  • the analog calculation of a consolidated signal in the context of the present invention means at least one calculation of a signal by means of an analogue computing unit, the analogue computing unit receiving as input a plurality of analogue signals which are output signals of the sensors.
  • the invention offers a number of advantages over conventional, purely digital processing of measured values detected by the sensors.
  • a purely digital processing of measured values occurring steps in the secure digital computer, such as a cyclic reading of the measured values, a normalization of the measured values, a correlation of the measured values, and optionally a special treatment for completely or partially failed sensors can be omitted.
  • the proposed analog processing of the measured values has the following advantages in particular: Current measured values are continuously available; no fixed cycles are required for reading measured values, for example, to read in cyclic radar telegrams. Standardization of measured values can be carried out by uniform analog interfaces. Even a temporal correlation of measured values is no longer necessary because all necessary measured values are continuously available; the measured values only have to be read in more or less simultaneously. The absolute time is irrelevant. Finally, the special treatment for completely or partially failed sensors can be considerably simplified, as will be shown in detail below.
  • Computing the consolidated signal may include an analog computation of a sum of analog signals, as well as an analog computation of k times an analog signal.
  • the measured values of similar sensors can be correlated and averaged, i. H. an average value of various input signals can be calculated by means of the analogue computing unit.
  • the computation of the consolidated signal may further comprise an analog computation of a difference of analog signals. This makes it possible to compare measured values recorded by different sensors and if necessary to detect a malfunction of a sensor in that a calculated difference is greater than a predefined reference value. Also this calculation, d. H. the comparison of whether a signal is greater than a predetermined reference signal can be carried out by means of the analogue computing unit.
  • a first consolidated signal is calculated from a plurality of the signals output by the sensors by means of a first analogue computing unit.
  • a second consolidated signal is then calculated on the basis of the same signals by means of a second analogue computing unit different from the first analogue computing unit.
  • the first consolidated signal may be an average correspond to two corresponding measured values.
  • the second consolidated value may indicate whether the difference between the two measurements is within a given tolerance or not.
  • the output of the second analogue computing unit can be a digital signal, which can be understood as an alarm signal in the case of a defective sensor - and a resulting large difference between the measured values.
  • the step of detecting may be performed in parallel by a first group of sensors and by a second group of sensors different from the first group.
  • the acquired measured values generate a redundancy.
  • a first consolidated signal is then calculated from the analogue signals output by the first group of sensors, and in parallel thereto a third consolidated signal is generated by means of a third analogue computing unit different from the first analogue computing unit from the analogue signals output by the second group of sensors calculated. This generates redundant consolidated signals that increase the reliability of the value determined below.
  • this embodiment is not limited to two groups of sensors and two analogue computing units. A larger number of groups of sensors or analogue processing units can be used as needed.
  • Similar sensors are used within a group of sensors, since they behave identically in certain speed ranges (radar sensors are rather inaccurate, for example, at very low speeds). Sensors that belong to different groups can belong to different technologies.
  • an apparatus for determining a value indicative of a speed or a location of a vehicle comprises a plurality of sensors. These sensors are each set up to detect a measured value relating to the value and to output an analog signal corresponding to the detected measured value.
  • the device further comprises at least one analogue computing unit described above.
  • the sensors comprise a normalized analog output interface.
  • the analog output signals of the sensors can then be processed directly, without further normalization, by the analogue computing unit.
  • sensors can be used in the device, which are set up to detect measured values on the basis of which a local or speed value of the vehicle can be determined.
  • suitable sensors are position encoders, radar sensors, GPS sensors, acceleration sensors or other odometric suitable sensors.
  • the device is preferably set up to carry out a method described above.
  • a value indicating the speed of the vehicle is determined.
  • a distance traveled can be determined in an analogous manner as an integral of the speed over time.
  • high output voltages which can not be limited in advance, can occur, which could make the analog calculation with real components more difficult.
  • a preferred embodiment of a vehicle, in particular a railway vehicle, comprises a device described above.
  • a railway vehicle 1 is shown with a device 100 for determining a value indicative of a speed or location of the railway vehicle 1. It is understood that any type of vehicle may include a corresponding device and the invention is not limited to use in railway engineering.
  • the device 100 comprises a plurality of sensors 40, 40 ', 42, 42' and an analogue computing unit 10, which in turn has a plurality of analogue computing units 62, 62 ', 72, 72 'may include.
  • the apparatus 100 further comprises one or more analog-to-digital converters 20 for converting analogue output signals of the analogue computing units 62, 62 'into corresponding digital signals and a digital arithmetic unit 30, preferably in the form of a secure digital computer, for finally determining the one speed or a location of the vehicle 1 indicative value from the received digital signals.
  • the sensors 40, 40 ', 42, 42' are set up to detect the values to be determined, for example a speed value, and to output corresponding measured output signals to the measured values.
  • suitable sensors 40, 40 ', 42, 42' are position encoders, radar sensors, GPS sensors or acceleration sensors.
  • the sensors 40, 40 ', 42, 42' comprise a standardized analog output interface. An analog output signal of a sensor 40 is proportional to the measured value detected by the sensor 40.
  • the analog computing unit 10 or the individual analogue computing units 62, 62 ', 72, 72' present therein are generally composed of conventional circuits 50, 52, 54, 56, 60, 70 known in operational amplifier technology, as described in US Pat FIGS. 2 to 8 are shown as examples.
  • circuit 60 is off FIG. 6 as in FIG. 7 indicated as circuit 62 shown (see. Fig. 1 ).
  • FIG. 8 shows a circuit 70, which consists of the circuits 52, 56 of the FIGS. 3 and 5 is composed, and outputs as output value U out (in digital form), whether the difference between two input signals U1 and U2 is greater than a reference value Uref.
  • Uout Max . if U 1 - U 2 > Uref . 0 . otherwise ,
  • circuit 70 is off FIG. 8 as in FIG. 9 indicated as circuit 72 shown (see. Fig. 1 ).
  • step S1 measured values relating to the value are detected by means of the sensors 40, 40 ', 42, 42' and analogous signals which are corresponding to the measured values are sent from the sensors 40, 40 ', 42, 42' to the connected analogue computing unit 10 or the analogue computing unit 10 Analog computing units 62, 72, 62 ', 72' output.
  • step S2 the analog calculation units 62, 72, 62 ', 72' calculate a consolidated signal from the analog signals received as input signals.
  • the first analog computing unit 62 calculates, as a consolidated signal, an average value of the analog output signals received by the sensors 40, 40 '.
  • the second analog computing unit 72 calculates whether the difference of the signals is greater than a predetermined reference value based on the same input signals. In this way, a malfunction of one of the sensors 40, 40 'can be detected.
  • output signals of a second group of similar sensors 42, 42 ' can be evaluated by the analogue computing units 62', 72 '.
  • the consolidated signals calculated as results by analog computational units are again used as inputs to compute further consolidated signals.
  • a further average could be calculated from the consolidated signals calculated by the analogue calculation units 62, 62 ', which correspond to mean values.
  • step S3 the output signals of the analogue calculation units 62, 62 '(insofar as these are analogue signals) are converted into digital signals by means of the analog-to-digital converters 20.
  • step S4 the digitized outputs (if necessary) of the analog calculation units 62, 62 ', 72, 72' are input to the digital calculation unit 30.
  • the digital computing unit 30 determines the value indicative of the speed or location of the railway vehicle 1 based on the received digital signals.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
EP18186440.6A 2017-08-14 2018-07-31 Détermination de la position ou de la vitesse d'un véhicule Withdrawn EP3444786A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102017214146.8A DE102017214146A1 (de) 2017-08-14 2017-08-14 Bestimmen von Ort oder Geschwindigkeit eines Fahrzeugs

Publications (1)

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EP3444786A1 true EP3444786A1 (fr) 2019-02-20

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EP18186440.6A Withdrawn EP3444786A1 (fr) 2017-08-14 2018-07-31 Détermination de la position ou de la vitesse d'un véhicule

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EP (1) EP3444786A1 (fr)
DE (1) DE102017214146A1 (fr)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH504677A (de) * 1967-11-14 1971-03-15 Sun Electric Corp Harlem And A Rollenprüfstand für Motorfahrzeuge
DE1549655A1 (de) * 1966-03-07 1971-04-01 Int Standard Electric Corp Stochastische Rechenanlage
DE1773508A1 (de) * 1967-05-31 1973-01-04 Aviat Electric Ltd Steuerkurs- bzw. navigationssystem
DE2430202A1 (de) * 1973-06-26 1975-01-23 Plasser Bahnbaumasch Franz Vorrichtung zur bestimmung der zulaessigen streckenhoechstgeschwindigkeit
DE2345106A1 (de) * 1973-09-06 1975-04-24 Standard Elektrik Lorenz Ag Einrichtung zum messen der geschwindigkeit eines koerpers, insbesondere eine fahrzeuges
DE2754888A1 (de) * 1977-12-09 1979-06-13 Kramer Guenter Automatischer koppelnavigator und steuerhilfe
DE19710451A1 (de) * 1996-09-20 1998-04-02 Mitsubishi Electric Corp Einrichtung zum Detektieren einer Fahrzeugkollision und Einrichtung zum Bestimmen des Starts einer Passagierschutzeinrichtung
EP2302398A1 (fr) * 2009-09-25 2011-03-30 Continental Automotive GmbH Agencement de tachygraphe pour un véhicule et dispositif de capteur pour un tachygraphe

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1549655A1 (de) * 1966-03-07 1971-04-01 Int Standard Electric Corp Stochastische Rechenanlage
DE1773508A1 (de) * 1967-05-31 1973-01-04 Aviat Electric Ltd Steuerkurs- bzw. navigationssystem
CH504677A (de) * 1967-11-14 1971-03-15 Sun Electric Corp Harlem And A Rollenprüfstand für Motorfahrzeuge
DE2430202A1 (de) * 1973-06-26 1975-01-23 Plasser Bahnbaumasch Franz Vorrichtung zur bestimmung der zulaessigen streckenhoechstgeschwindigkeit
DE2345106A1 (de) * 1973-09-06 1975-04-24 Standard Elektrik Lorenz Ag Einrichtung zum messen der geschwindigkeit eines koerpers, insbesondere eine fahrzeuges
DE2754888A1 (de) * 1977-12-09 1979-06-13 Kramer Guenter Automatischer koppelnavigator und steuerhilfe
DE19710451A1 (de) * 1996-09-20 1998-04-02 Mitsubishi Electric Corp Einrichtung zum Detektieren einer Fahrzeugkollision und Einrichtung zum Bestimmen des Starts einer Passagierschutzeinrichtung
EP2302398A1 (fr) * 2009-09-25 2011-03-30 Continental Automotive GmbH Agencement de tachygraphe pour un véhicule et dispositif de capteur pour un tachygraphe

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