EP3468855B1 - Method and system for controlling of railway vehicles - Google Patents

Method and system for controlling of railway vehicles Download PDF

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Publication number
EP3468855B1
EP3468855B1 EP17739928.4A EP17739928A EP3468855B1 EP 3468855 B1 EP3468855 B1 EP 3468855B1 EP 17739928 A EP17739928 A EP 17739928A EP 3468855 B1 EP3468855 B1 EP 3468855B1
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EP
European Patent Office
Prior art keywords
vehicle
question
track
data
current
Prior art date
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EP17739928.4A
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German (de)
French (fr)
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EP3468855A2 (en
Inventor
Torsten Baier
Bernhard Evers
Norbert Geduhn
Hans-Jörg MÖNNICH
Andreas STEINGRÖVER
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Siemens Mobility GmbH
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Siemens Mobility GmbH
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Publication of EP3468855A2 publication Critical patent/EP3468855A2/en
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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
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control
    • 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
    • B61L27/10—Operations, e.g. scheduling or time tables
    • B61L27/16—Trackside optimisation of vehicle or train operation
    • 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
    • B61L3/00—Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal
    • B61L3/02—Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal at selected places along the route, e.g. intermittent control simultaneous mechanical and electrical control
    • B61L3/08—Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal at selected places along the route, e.g. intermittent control simultaneous mechanical and electrical control controlling electrically
    • B61L3/12—Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal at selected places along the route, e.g. intermittent control simultaneous mechanical and electrical control controlling electrically using magnetic or electrostatic induction; using radio waves
    • B61L3/121—Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal at selected places along the route, e.g. intermittent control simultaneous mechanical and electrical control controlling electrically using magnetic or electrostatic induction; using radio waves using magnetic induction
    • 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
    • B61L15/0018—Communication with or on the vehicle or train
    • B61L15/0027—Radio-based, e.g. using GSM-R

Definitions

  • the invention is in the field of influencing track-bound vehicles on a route network.
  • each of the vehicles is provided with high-quality but also expensive intelligence in the form of ETCS and ATO equipment, which has a device for securing the movement of the vehicle in the form of an automatic train control device (ETCS) and a device for regulating the movement of the vehicle in the form of an automatic train control device (ATO).
  • ETCS automatic train control device
  • ATO automatic train control device
  • the automatic train control device (ATO) is superimposed on the automatic train control device (ETCS) in such a way that the vehicle-line communication, in particular the communication between a trackside operations control system (TMS) and the automatic train control device (ATO), is implemented by the automatic train control device (ETCS)
  • the automatic train control device (ATO) optimizes the movement of the vehicle while the automatic train protection device (ETCS) ensures the safe train movement by monitoring the train movements, in particular with regard to compliance with the locally permissible speed and the maximum permissible speed of the train.
  • the automatic train control device is used for the automated acceleration and braking of the respective vehicle and automatically converts a calculated, energy-optimized course of the journey into precise control commands to the drive and braking system of the respective vehicle ( Background information "Automated driving by rail”, Innotrans 2016 - Trade fair preview, Siemens AG, Kunststoff, June 27, 2016, http://www.siemens.com/press/pool/de/events/2017/mobility/201 6 -09-innotrans / background-automated-driving-e.pdf ).
  • the speed to be driven is specified on the vehicle side by the automatic train control device (ATO) of the respective vehicle.
  • ATO automatic train control device
  • the ETCS and ATO equipment uses balises to access information and precise position data.
  • the invention relates to a method for influencing track-bound vehicles with the features of claim 1 in which a trackside device, taking into account the current location of each of the vehicles and taking into account at least one current variable that characterizes the status of the respective vehicle, a specification with respect to one of The speed to be driven for the respective vehicle is determined, in which a signal for regulating the respective vehicle containing at least the specification regarding the speed to be driven is transmitted from the trackside device to the respective vehicle and in which the respective vehicle has its speed corresponding to that of the signal received preset.
  • the invention also relates to a system for influencing track-bound vehicles with the features of claim 16, in which a trackside device is suitably designed, taking into account the current location of each of the vehicles and taking into account at least one current variable which characterizes the status of the respective vehicle to determine a specification relating to a speed to be driven by the respective vehicle, at which the trackside device is designed to transmit a signal containing at least the specification relating to the speed to be driven for regulating the respective vehicle to the respective vehicle and in which the respective vehicle is suitably designed to adjust its speed according to the specification received with the signal.
  • the invention is based on the object of specifying a method and a system for influencing lane-bound vehicles, which are not very costly and which offer the possibility of promptly and holistically responding to changing framework conditions.
  • this object is achieved in that a track-side sensor arrangement records data for determining the current location and the at least one current variable of the respective vehicle and outputs it to the track-side device; detects at least one current variable of the respective vehicle and outputs it to the trackside device and the trackside device outputs the signal for regulating the respective vehicle as a function of a verification of the data recorded on the trackside by the data recorded on the vehicle side, the signal for regulating the respective vehicle at Verification of the data recorded on the track side by the data recorded on the vehicle side, is determined as a function of the data recorded on the track side.
  • a trackside sensor arrangement is designed to capture data for determining the current location and the at least one current size of the respective vehicle and to output it to the trackside device
  • Track-side sensor arrangement data for determining the current location and the at least one current location Detect the size of the respective vehicle and output it to the trackside device and the trackside device is designed to output the signal for regulating the respective vehicle as a function of a verification of the data provided on the trackside by the data provided on the vehicle side, the signal for regulating the respective vehicle , when verifying the data recorded on the track side by the data recorded on the vehicle side, is determined as a function of the data recorded on the track side.
  • the trackside device determines a respective specification relating to the speed to be driven for each of the vehicles and then transmits it to the respective vehicle.
  • the solution according to the invention allows a simple, real-time data consistency check, since all the data corresponding to the framework conditions, at least a large part of which is determined or provided on the track side, is available on the track side at one point, namely the track-side device, for regulating the movement of all vehicles.
  • the solution according to the invention can ensure the consistency, relevance and validity of the data used to regulate the movement of the vehicles by promptly sending the data directly to the trackside device or by having some of the data already there and by performing the necessary processing of the data by the trackside device takes place simultaneously for all vehicles.
  • a preparation of the data for and a selective transmission of the data to the affected vehicles is not necessary.
  • the specifications for regulating the movement of the vehicles, i.e. the results of the processing of the data used, are transmitted to the vehicles.
  • the current speed of the respective vehicle is taken into account as the at least one current variable when determining the specification.
  • a variable characterizing the current state of the respective vehicle with regard to its completeness is taken into account as the at least one current variable or as a further current variable which characterizes the status of the respective vehicle when determining the specification.
  • At least one change value or a drive command representing this change value is specified by means of the signal for regulating the respective vehicle, with the respective vehicle changing its current speed by the change value.
  • the signal for regulating the respective vehicle is determined as a function of current operational data. It can be provided that the current operational data are output from a higher-level control system to the trackside device.
  • the signal for regulating the respective vehicle is determined as a function of current route data. Provision can be made for the current route data to be provided to the route-side device from a route atlas stored on the route and / or from a route atlas stored on the vehicle.
  • the signal for regulating the respective vehicle is determined as a function of current obstacle detection data.
  • the obstacle detection data can be provided by an obstacle detection device on the track and / or by an obstacle detection device on the vehicle.
  • the signal for regulating the respective vehicle is determined as a function of current environmental data.
  • the current environmental data can be provided by a trackside environmental detection device and / or by a vehicle-side environmental detection device.
  • the trackside device is a further Outputs signal for securing the respective vehicle to the respective vehicle.
  • At least one speed to be monitored by the respective vehicle or a safety command representing this speed is specified by means of the further signal for securing the respective vehicle. It is therefore preferably provided that the speed to be monitored is already determined by the trackside device, so that the respective vehicle only triggers a defined reaction if its current speed exceeds the speed to be monitored.
  • ATO over ETCS a computer (European Vital Computer) of the automatic train protection device of the respective vehicle calculates various monitoring curves and triggers a defined reaction assigned to the respective monitoring curve when the current speed of the vehicle exceeds the exceeded the speed monitored by this monitoring curve.
  • the trackside sensor arrangement is preferably designed as a fiber-optic sensor arrangement.
  • the Figure 1 shows a route 1 for track-bound vehicles and a system 2 according to the invention for influencing track-bound vehicles in a first embodiment.
  • the Figure 1 also shows an F i of the track-bound vehicles influenced by system 2, which are here, for example, automatically without a driver moving rail vehicles (trains).
  • the vehicle F i has carriages 3, 4, 5, of which a guide carriage 3 - here in the form of a locomotive, for example - forms the top of the vehicle F i (the Switzerlandspitze) and of which a final car 5 forms the end of the vehicle F i ( the end of the train).
  • the system 2 serves in particular to ensure, on the one hand, an optimal movement of each F i of the vehicles (optimal train movement) and, on the other hand, a safe movement of each F i of the vehicle (safe train movement).
  • the system 2 On the route 1 side, the system 2 has a route-side device 6 for influencing the track-bound vehicles, which is provided with a communication unit 7 in the form of an antenna for radio transmission.
  • the system 2 On the route 1 side, the system 2 has a communication device 8 for radio transmission, a higher-level control system device 9 and a route-side sensor arrangement 10.
  • the sensor arrangement 10 is designed as a fiber-optic sensor arrangement and here comprises, for example, a waveguide 11, a coupling device 12, a pulse generation device 13, a detection device 14 and an evaluation device 15.
  • the system 2 On the side of the respective F i of the vehicles, the system 2 has a vehicle-side device 16 which is provided with a communication unit 17 in the form of an antenna for radio transmission. By means of the communication unit 17, the vehicle-side device 16 is connected to the communication unit 7 of the trackside device 6 via the communication device 8.
  • the system 2 has a drive device 18, a braking device 19, a sensor arrangement 20 on the vehicle, and an obstacle detection device 21 on the vehicle for detection of obstacles 22, 23 and an environmental recognition device 24 on the vehicle.
  • the environmental recognition device 24 can for example be equipped with a light sensor and a temperature sensor.
  • the sensor arrangement 20 here comprises, for example, a balise antenna 25, a distance pulse generator 26, a known speed sensor 27 for determining the speed of the final car 5, which is provided with a communication unit 28, and an evaluation device 29 which is part of the vehicle-side device 16.
  • the balise antenna 25 is suitably designed to receive data, in particular location data, when crossing track-side balises 30, 31 and then to output the received data to the evaluation device 29.
  • the trackside device 6 for influencing the track-bound vehicles comprises a route atlas 32, a comparison device 33, a device 34 for securing the movement of the respective F i of the vehicles in the form of an automatic train protection device (train protection computer) and a device 35 for regulating the movement of the respective F i of the vehicles in the form of an automatic train control device (speed controller).
  • train protection computer automatic train protection device
  • speed controller automatic train control device
  • the trackside device 6 determines a specification relating to a speed to be driven by the respective vehicle F i and outputs a signal S i o containing at least this specification to the respective vehicle F i .
  • At least one optimal value v i o for the speed to be driven preferably an optimal speed curve for the route section being traveled on, is given as a default.
  • the respective vehicle F i adjusts its speed v i in accordance with the specification received with the signal S i o - that is to say here to the optimum value v i o. Instead of the optimum value v i o but also this optimum value v i o representing driving instruction could be given.
  • At least one change value ⁇ v i or a drive command representing this change value ⁇ v i could be specified by means of the signal S i o for regulating the respective vehicle F i , with the respective vehicle F i at its current speed v i a would then change by the change value ⁇ v i .
  • the specification - here the optimum value v i o - is determined at least taking into account the current location O i a of a respective F i of the vehicles and taking into account at least one current variable which characterizes the status of the respective vehicle F i .
  • the current speed v i a of the respective one of the vehicles F i is taken into account as the at least one current variable when determining the specification.
  • a variable that characterizes the current state I i a of the respective vehicle F i with regard to its completeness is taken into account as a further current variable that characterizes the status of the respective vehicle F i when determining the specification.
  • the trackside device 6 determines the signal S i o for regulating the respective vehicle F i as a function of current operational data BD i a, current route data SD i a, current obstacle detection data HDia and current environmental data UDia.
  • the current operational data BD i a are output by the higher-level control system 9 to the trackside device 6.
  • the current route data SD i a is provided to the route-side device 6 by the route atlas 32 stored on the route-side.
  • the current route data could also be provided from a route atlas stored on the vehicle.
  • the current obstacle recognition data HDia are provided by the vehicle-side obstacle recognition device 21.
  • the current obstacle recognition data could also be provided by an obstacle recognition device on the track.
  • the current environmental data UDia are provided by the vehicle's environmental recognition device 24.
  • the current environmental data could also be provided by a trackside environmental detection device.
  • the evaluation device 15 uses the outputs of the detection device 14 to provide data for determining the current location O i a, the current speed v i a and the variable characterizing the current state I i a of the respective vehicle F i with regard to its completeness.
  • the trackside sensor arrangement 10 thus records the trackside data Ds.O i a, Ds.v i a, Ds.I i a to determine the current location O i a, the current speed v i a and the current state I i a des respective vehicle F i with regard to its completeness characterizing size.
  • the trackside sensor arrangement 10 outputs the recorded data Ds.O i a, Ds.v i a, Ds.I i a to the trackside device 6.
  • the vehicle-side sensor arrangement 20 detects redundantly and diversely data Df.O i a, Df.v i a, Df.I i a for determination the current location O i a, the current speed v i a and the variable characterizing the current state I i a of the respective vehicle F i with regard to its completeness.
  • the evaluation device 29 provides this data on the basis of outputs from the balise antenna 25, the distance pulse generator 26 and the speed sensor 27.
  • the vehicle-side sensor arrangement 20 outputs the recorded data Ds.O i a, Ds.v i a, Ds.I i a to the trackside device 6.
  • the trackside device 6 emits the signal S i o for regulating the respective vehicle F i as a function of a verification of the data Ds.O i a, Ds.v i a, Ds.I i a recorded on the track side using the data Df.O recorded on the vehicle side i a, Df.v i a, Df.I i a from.
  • the comparison device 33 uses the data Ds.O i a, Ds.v i a, Ds.I i a recorded on the track side to determine first values with regard to the current location O i a, the current speed v i a and the current speed State I i a of the respective vehicle F i with regard to its completeness characterizing variable.
  • the comparison device 33 uses the data Df.O i a, Df.v i a, Df.I i a recorded on the vehicle side to determine second values with regard to the current location O i a, the current speed v i a and the current one State I i a of the respective vehicle F i with regard to its completeness characterizing variable.
  • the first and second values are then compared in the comparison device 33. If the first values are within tolerance ranges which are specified in relation to the second values, then the first values have passed through the second values and thus the data Ds.O i a, Ds.v i a, Ds.I i a recorded on the track side the data recorded on the vehicle side Df.O i a, Df.v i a, Df.I i a verified.
  • the signal S i is o to regulate the respective vehicle F i as a function of the data Ds.O i a, Ds.v i a, Ds.I i a recorded on the track side.
  • the trackside device 6 also outputs a further signal S i s for securing the respective vehicle F i to the respective vehicle F i , the further signal S i s for securing the respective vehicle F i at least one specification v i s with respect to one of contains the speed to be monitored for the respective vehicle.
  • At least one monitoring value v i s for the speed to be monitored is specified as a default.
  • a security command representing this monitoring value v i s or security commands representing these speed monitoring curves could also be specified.
  • the embodiment 102 of the system according to the invention shown differs from that in FIG Figure 1 Embodiment 2 shown in that it is not the track-side device 106 but the vehicle-side device 116 that is equipped with a device 135 for securing the movement of the respective F i of the vehicles in the form of an automatic train protection device.
  • the device 135 of the vehicle-mounted device 116 prescribes at least one monitoring value v i s for the speed to be monitored, preferably one or more different monitoring curves.

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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)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)

Description

Die Erfindung liegt auf dem Gebiet der Beeinflussung von spurgebundenen Fahrzeugen auf einem Streckennetz.The invention is in the field of influencing track-bound vehicles on a route network.

Bei einem unter dem Begriff "ATO over ETCS" bekannten Lösung für Fahrzeuge in Form von Zügen im Regional- und Fernverkehr ist jedes der Fahrzeuge (der Züge) jeweils mit einer hochwertigen aber auch teuren Intelligenz in Form einer ETCS- und ATO-Ausrüstung versehen, welche eine Einrichtung zur Sicherung der Bewegung des Fahrzeugs in Form einer automatischen Zugsicherungseinrichtung (ETCS) und eine Einrichtung zur Regelung der Bewegung des Fahrzeugs in Form einer automatischen Zugsteuerungseinrichtung (ATO) aufweist. Dabei ist die automatische Zugsteuerungseinrichtung (ATO) der automatischen Zugsicherungseinrichtung (ETCS) derart überlagert, dass die Fahrzeug-Strecken-Kommunikation, insbesondere die Kommunikation zwischen einer streckenseitigen Betriebsleittechnik (TMS) und der automatischen Zugsteuerungseinrichtung (ATO) durch die automatischen Zugsicherungseinrichtung (ETCS) realisiert ist, wobei die automatische Zugsteuerungseinrichtung (ATO) die Bewegung des Fahrzeugs optimiert während die automatische Zugsicherungseinrichtung (ETCS) die sichere Zugbewegung gewährleistet, indem sie die Zugbewegungen, insbesondere hinsichtlich der Einhaltung der örtlich zulässigen Geschwindigkeit sowie der zulässigen Höchstgeschwindigkeit des Zuges, überwacht. Die automatische Zugsteuerungseinrichtung (ATO) dient zum automatisierten Beschleunigen und Bremsen des jeweiligen Fahrzeugs und setzt einen errechneten energieoptimalen Fahrtverlauf automatisch in genaue Steuerkommandos an das Antriebs- und Bremssystem des jeweiligen Fahrzeugs um ( Background Information "Automated driving by rail", Innotrans 2016 - Trade fair preview, Siemens AG, Munich, 27. Juni 2016, http://www.siemens.com/press/pool/de/events/2016/mobility/201 6-09-innotrans/background-automated-driving-e.pdf ).In a solution known as "ATO over ETCS" for vehicles in the form of trains in regional and long-distance traffic, each of the vehicles (trains) is provided with high-quality but also expensive intelligence in the form of ETCS and ATO equipment, which has a device for securing the movement of the vehicle in the form of an automatic train control device (ETCS) and a device for regulating the movement of the vehicle in the form of an automatic train control device (ATO). The automatic train control device (ATO) is superimposed on the automatic train control device (ETCS) in such a way that the vehicle-line communication, in particular the communication between a trackside operations control system (TMS) and the automatic train control device (ATO), is implemented by the automatic train control device (ETCS) The automatic train control device (ATO) optimizes the movement of the vehicle while the automatic train protection device (ETCS) ensures the safe train movement by monitoring the train movements, in particular with regard to compliance with the locally permissible speed and the maximum permissible speed of the train. The automatic train control device (ATO) is used for the automated acceleration and braking of the respective vehicle and automatically converts a calculated, energy-optimized course of the journey into precise control commands to the drive and braking system of the respective vehicle ( Background information "Automated driving by rail", Innotrans 2016 - Trade fair preview, Siemens AG, Munich, June 27, 2016, http://www.siemens.com/press/pool/de/events/2016/mobility/201 6 -09-innotrans / background-automated-driving-e.pdf ).

Bei dieser bekannten Lösung erfolgt also die Vorgabe bezüglich der zu fahrenden Geschwindigkeit fahrzeugseitig durch die automatische Zugsteuerungseinrichtung (ATO) des jeweiligen Fahrzeugs. Hierzu greift die ETCS- und ATO-Ausrüstung auf Balisen zurück, um Informationen und genaue Positionsdaten abzugreifen.In this known solution, the speed to be driven is specified on the vehicle side by the automatic train control device (ATO) of the respective vehicle. To do this, the ETCS and ATO equipment uses balises to access information and precise position data.

Darüber hinaus sind aus der Druckschrift WO 2009/117364 A2 verschiedene Verfahren zum Steuern eines Schienenfahrzeugs oder eines anderen angetriebenen Systems basierend auf einem optimierten Missionsplan bekannt.In addition, from the publication WO 2009/117364 A2 various methods for controlling a rail vehicle or other powered system based on an optimized mission plan are known.

Die Erfindung betrifft Verfahren zur Beeinflussung von spurgebundenen Fahrzeugen mit den Merkmalen des Anspruches 1 bei dem eine streckenseitige Vorrichtung unter Berücksichtigung des aktuellen Ortes eines jeweiligen der Fahrzeuge und unter Berücksichtigung zumindest einer aktuellen Größe, welche den Status des jeweiligen Fahrzeugs charakterisiert, eine Vorgabe bezüglich einer von dem jeweiligen Fahrzeug zu fahrenden Geschwindigkeit ermittelt, - bei dem ein zumindest die Vorgabe bezüglich der zu fahrenden Geschwindigkeit enthaltendes Signal zur Regelung des jeweiligen Fahrzeugs von der streckenseitigen Vorrichtung an das jeweilige Fahrzeug übermittelt wird und bei dem das jeweilige Fahrzeug seine Geschwindigkeit entsprechend der mit dem Signal empfangenen Vorgabe einstellt.The invention relates to a method for influencing track-bound vehicles with the features of claim 1 in which a trackside device, taking into account the current location of each of the vehicles and taking into account at least one current variable that characterizes the status of the respective vehicle, a specification with respect to one of The speed to be driven for the respective vehicle is determined, in which a signal for regulating the respective vehicle containing at least the specification regarding the speed to be driven is transmitted from the trackside device to the respective vehicle and in which the respective vehicle has its speed corresponding to that of the signal received preset.

Die Erfindung betrifft auch System zur Beeinflussung von spurgebundenen Fahrzeugen mit den Merkmalen des Anspruches 16, bei dem eine streckenseitige Vorrichtung geeignet ausgebildet ist, unter Berücksichtigung des aktuellen Ortes eines jeweiligen der Fahrzeuge und unter Berücksichtigung zumindest einer aktuellen Größe, welche den Status des jeweiligen Fahrzeugs charakterisiert, eine Vorgabe bezüglich einer von dem jeweiligen Fahrzeug zu fahrenden Geschwindigkeit zu ermitteln, bei dem die streckenseitige Vorrichtung geeignet ausgebildet ist, ein zumindest die Vorgabe bezüglich der zu fahrenden Geschwindigkeit enthaltendes Signal zur Regelung des jeweiligen Fahrzeugs an das jeweilige Fahrzeug zu übermitteln und bei dem das jeweilige Fahrzeug geeignet ausgebildet ist, seine Geschwindigkeit entsprechend der mit dem Signal empfangenen Vorgabe einzustellen.The invention also relates to a system for influencing track-bound vehicles with the features of claim 16, in which a trackside device is suitably designed, taking into account the current location of each of the vehicles and taking into account at least one current variable which characterizes the status of the respective vehicle to determine a specification relating to a speed to be driven by the respective vehicle, at which the trackside device is designed to transmit a signal containing at least the specification relating to the speed to be driven for regulating the respective vehicle to the respective vehicle and in which the respective vehicle is suitably designed to adjust its speed according to the specification received with the signal.

Ein gattungsgemäßes Verfahren und ein gattungsgemäßes System sind aus der Offenlegungsschrift DE 26 33 089 A1 bekannt.A generic method and a generic system are from the laid-open specification DE 26 33 089 A1 known.

Ausgehend von der aus der Offenlegungsschrift DE 26 33 089 A1 bekannten Lösung liegt der Erfindung die Aufgabe zu Grunde, ein Verfahren und ein System zur Beeinflussung von spurgebundenen Fahrzeugen anzugeben, welche wenig kostenintensiv sind und welche die Möglichkeit bieten, zeitnah ganzheitlich auf sich ändernde Rahmenbedingungen zu reagieren.Based on the from the patent application DE 26 33 089 A1 known solution, the invention is based on the object of specifying a method and a system for influencing lane-bound vehicles, which are not very costly and which offer the possibility of promptly and holistically responding to changing framework conditions.

Diese Aufgabe wird verfahrensgemäß dadurch gelöst, dass eine streckenseitige Sensoranordnung Daten zur Ermittlung des aktuellen Ortes und der zumindest einen aktuellen Größe des jeweiligen Fahrzeugs erfasst und an die streckenseitige Vorrichtung ausgibt, eine fahrzeugseitige Sensoranordnung redundant zu der streckenseitigen Sensoranordnung Daten zur Ermittlung des aktuellen Ortes und der zumindest einen aktuellen Größe des jeweiligen Fahrzeugs erfasst und an die streckenseitige Vorrichtung ausgibt und die streckenseitige Vorrichtung das Signal zur Regelung des jeweiligen Fahrzeugs in Abhängigkeit einer Verifikation der streckenseitig erfassten Daten durch die fahrzeugseitig erfassten Daten ausgibt, wobei das Signal zur Regelung des jeweiligen Fahrzeugs, bei Verifikation der streckenseitig erfassten Daten durch die fahrzeugseitig erfassten Daten, in Abhängigkeit der streckenseitig erfassten Daten ermittelt wird.According to the method, this object is achieved in that a track-side sensor arrangement records data for determining the current location and the at least one current variable of the respective vehicle and outputs it to the track-side device; detects at least one current variable of the respective vehicle and outputs it to the trackside device and the trackside device outputs the signal for regulating the respective vehicle as a function of a verification of the data recorded on the trackside by the data recorded on the vehicle side, the signal for regulating the respective vehicle at Verification of the data recorded on the track side by the data recorded on the vehicle side, is determined as a function of the data recorded on the track side.

Entsprechend wird diese Aufgabe systemgemäß dadurch gelöst, dass eine streckenseitige Sensoranordnung geeignet ausgebildet ist, Daten zur Ermittlung des aktuellen Ortes und der zumindest einen aktuellen Größe des jeweiligen Fahrzeugs zu erfassen und an die streckenseitige Vorrichtung auszugeben, eine fahrzeugseitige Sensoranordnung geeignet ausgebildet ist, redundant zu der streckenseitigen Sensoranordnung Daten zur Ermittlung des aktuellen Ortes und der zumindest einen aktuellen Größe des jeweiligen Fahrzeugs zu erfassen und an die streckenseitige Vorrichtung auszugeben und die streckenseitige Vorrichtung geeignet ausgebildet ist, das Signal zur Regelung des jeweiligen Fahrzeugs in Abhängigkeit einer Verifikation der streckenseitig bereitgestellten Daten durch die fahrzeugseitig bereitgestellten Daten auszugeben, wobei das Signal zur Regelung des jeweiligen Fahrzeugs, bei Verifikation der streckenseitig erfassten Daten durch die fahrzeugseitig erfassten Daten, in Abhängigkeit der streckenseitig erfassten Daten ermittelt wird.Accordingly, this object is achieved according to the system in that a trackside sensor arrangement is designed to capture data for determining the current location and the at least one current size of the respective vehicle and to output it to the trackside device Track-side sensor arrangement data for determining the current location and the at least one current location Detect the size of the respective vehicle and output it to the trackside device and the trackside device is designed to output the signal for regulating the respective vehicle as a function of a verification of the data provided on the trackside by the data provided on the vehicle side, the signal for regulating the respective vehicle , when verifying the data recorded on the track side by the data recorded on the vehicle side, is determined as a function of the data recorded on the track side.

Im Unterschied zu der eingangs genannten bekannten Lösung "ATO over ETCS", bei der auf allen Fahrzeugen eine teure Intelligenz zu verbauen ist, die jeweils die Informationen und Daten empfängt, speichert und die entsprechenden Steuerkommandos an das Antriebs- und Bremssystem des jeweiligen Fahrzeugs ausgibt, ist bei der erfindungsgemäßen Lösung vorgesehen, dass die streckenseitige Vorrichtung für ein jedes der Fahrzeuge eine jeweilige Vorgabe bezüglich der zu fahrenden Geschwindigkeit ermittelt und dann an das jeweilige Fahrzeug übermittelt.In contrast to the known solution "ATO over ETCS" mentioned at the beginning, in which an expensive intelligence has to be installed on all vehicles, which receives and stores the information and data and outputs the corresponding control commands to the drive and braking system of the respective vehicle, it is provided in the solution according to the invention that the trackside device determines a respective specification relating to the speed to be driven for each of the vehicles and then transmits it to the respective vehicle.

Somit kann zeitnaher ganzheitlich auf sich ändernde Rahmenbedingungen - insbesondere auf die sich ändernden Positionen (Orte) und Zustände der Fahrzeuge aber auch auf Änderungen von Streckenbedingungen, von betrieblichen Bedingungen und von Umweltbedingungen oder auf das Auftreten von Hindernissen und Gefahren - reagiert werden.This means that it is possible to respond in a timely and holistic manner to changing framework conditions - in particular to the changing positions (locations) and states of the vehicles, but also to changes in route conditions, operational and environmental conditions or the occurrence of obstacles and dangers.

Außerdem erlaubt die erfindungsgemäße Lösung eine einfache zeitnahe Datentkonsistenzprüfung, da alle den Rahmenbedingungen entsprechenden Daten, von denen zumindest ein Großteil streckenseitig ermittelt oder bereitgestellt ist, streckenseitig an einer Stelle, nämlich der streckenseitigen Vorrichtung, zur Regelung der Bewegung aller Fahrzeuge vorliegen.In addition, the solution according to the invention allows a simple, real-time data consistency check, since all the data corresponding to the framework conditions, at least a large part of which is determined or provided on the track side, is available on the track side at one point, namely the track-side device, for regulating the movement of all vehicles.

Die Echtzeitberücksichtigung der sich ändernden Rahmenbedingungen durch die streckenseitige Vorrichtung in Kombination mit minimierten Anforderungen an die Ausrüstung der Fahrzeuge steigert somit die Leistungsfähigkeit des Systems bei gleichzeitiger Kosteneinsparung.The real-time consideration of the changing framework conditions by the trackside device in combination With minimized requirements for the equipment of the vehicles, the performance of the system increases with simultaneous cost savings.

Durch die erfindungsgemäße Lösung kann also die Konsistenz, Relevanz und Gültigkeit der für die Regelung der Bewegung der Fahrzeuge herangezogenen Daten sichergestellt werden, indem die Daten zeitnah direkt an die streckenseitige Vorrichtung ausgegene werden bzw. indem einige der Daten dort bereits vorliegen und indem die notwendige Verarbeitung der Daten durch die streckenseitige Vorrichtung gleichzeitig für alle Fahrzeuge stattfindet. Eine Aufbereitung der Daten für und eine selektive Übertragung der Daten auf die betroffenen Fahrzeuge entfällt. An die Fahrzeuge werden die Vorgaben zur Regelung der Bewegung der Fahrzeuge, also die Ergebnisse der Verarbeitung der herangezogenen Daten, übertragen.The solution according to the invention can ensure the consistency, relevance and validity of the data used to regulate the movement of the vehicles by promptly sending the data directly to the trackside device or by having some of the data already there and by performing the necessary processing of the data by the trackside device takes place simultaneously for all vehicles. A preparation of the data for and a selective transmission of the data to the affected vehicles is not necessary. The specifications for regulating the movement of the vehicles, i.e. the results of the processing of the data used, are transmitted to the vehicles.

Verfahrensgemäß werden die nachfolgend genannten Ausgestaltungen als besonders vorteilhaft angesehen.According to the method, the configurations mentioned below are considered to be particularly advantageous.

Bei einer der bevorzugten Ausgestaltungen des erfindungsgemäßen Verfahrens wird die aktuelle Geschwindigkeit des jeweiligen Fahrzeugs als die zumindest eine aktuelle Größe bei der Ermittlung der Vorgabe berücksichtigt.In one of the preferred refinements of the method according to the invention, the current speed of the respective vehicle is taken into account as the at least one current variable when determining the specification.

Es kann aber auch vorgesehen sein, dass eine den aktuellen Zustand des jeweiligen Fahrzeugs hinsichtlich seiner Vollständigkeit charakterisierende Größe als die zumindest eine aktuelle Größe oder als eine weitere aktuelle Größe, welche den Status des jeweiligen Fahrzeugs charakterisiert, bei der Ermittlung der Vorgabe berücksichtigt wird.However, it can also be provided that a variable characterizing the current state of the respective vehicle with regard to its completeness is taken into account as the at least one current variable or as a further current variable which characterizes the status of the respective vehicle when determining the specification.

Es wird weiterhin als vorteilhaft angesehen, wenn mittels des Signals zur Regelung des jeweiligen Fahrzeugs als Vorgabe zumindest ein Optimalwert für die zu fahrende Geschwindigkeit oder ein diesen Optimalwert repräsentierender Fahrbefehl vorgegeben wird, wobei das jeweilige Fahrzeug seine Geschwindigkeit auf den Optimalwert einstellt.It is also considered advantageous if at least one optimum value for the speed to be driven or a driving command representing this optimum value is specified by means of the signal for regulating the respective vehicle, the respective vehicle setting its speed to the optimum value.

Alternativ hierzu kann vorgesehen sein, dass mittels des Signals zur Regelung des jeweiligen Fahrzeugs als Vorgabe zumindest ein Änderungswert oder ein diesen Änderungswert repräsentierender Fahrbefehl vorgegeben wird, wobei das jeweilige Fahrzeug seine aktuelle Geschwindigkeit um den Änderungswert ändert.As an alternative to this, it can be provided that at least one change value or a drive command representing this change value is specified by means of the signal for regulating the respective vehicle, with the respective vehicle changing its current speed by the change value.

Es wird als vorteilhaft angesehen, wenn das Signal zur Regelung des jeweiligen Fahrzeugs in Abhängigkeit aktueller betrieblicher Daten ermittelt wird. Dabei kann vorgesehen sein, dass die aktuellen betrieblichen Daten von einer übergeordneten Leittechnikeinrichtung an die streckenseitige Vorrichtung ausgegeben werden.It is considered advantageous if the signal for regulating the respective vehicle is determined as a function of current operational data. It can be provided that the current operational data are output from a higher-level control system to the trackside device.

Weiterhin wird es als vorteilhaft angesehen, wenn das Signal zur Regelung des jeweiligen Fahrzeugs in Abhängigkeit aktueller Streckendaten ermittelt wird. Es kann vorgesehen sein, dass der streckenseitigen Vorrichtung die aktuellen Streckendaten von einem streckenseitig hinterlegten Streckenatlas und/oder von einem fahrzeugseitig hinterlegten Streckenatlas bereitgestellt werden.It is also considered advantageous if the signal for regulating the respective vehicle is determined as a function of current route data. Provision can be made for the current route data to be provided to the route-side device from a route atlas stored on the route and / or from a route atlas stored on the vehicle.

Außerdem wird es als vorteilhaft angesehen, wenn das Signal zur Regelung des jeweiligen Fahrzeugs in Abhängigkeit von aktuellen Hinderniserkennungsdaten ermittelt wird. Die Hinderniserkennungsdaten können von einer streckenseitigen Hinderniserkennungseinrichtung und/oder von einer fahrzeugseitigen Hinderniserkennungseinrichtung bereitgestellt werden.It is also considered to be advantageous if the signal for regulating the respective vehicle is determined as a function of current obstacle detection data. The obstacle detection data can be provided by an obstacle detection device on the track and / or by an obstacle detection device on the vehicle.

Ferner wird es als vorteilhaft angesehen, wenn das Signal zur Regelung des jeweiligen Fahrzeugs in Abhängigkeit von aktuellen Umweltdaten ermittelt wird. Die aktuellen Umweltdaten können von einer streckenseitigen Umwelterkennungseinrichtung und/oder von einer fahrzeugseitigen Umwelterkennungseinrichtung bereitgestellt werden.It is also considered advantageous if the signal for regulating the respective vehicle is determined as a function of current environmental data. The current environmental data can be provided by a trackside environmental detection device and / or by a vehicle-side environmental detection device.

In bevorzugter Ausgestaltung des erfindungsgemäßen Verfahrens ist vorgesehen, dass die streckenseitige Vorrichtung ein weiteres Signal zur Sicherung des jeweiligen Fahrzeugs an das jeweilige Fahrzeug ausgibt.In a preferred embodiment of the method according to the invention it is provided that the trackside device is a further Outputs signal for securing the respective vehicle to the respective vehicle.

Vorzugsweise wird dabei mittels des weiteren Signals zur Sicherung des jeweiligen Fahrzeugs zumindest eine von dem jeweiligen Fahrzeug zu überwachende Geschwindigkeit oder ein diese Geschwindigkeit repräsentierender Sicherungsbefehl vorgegeben. - Es ist also bevorzugt vorgesehen, dass die Ermittlung der zu überwachenden Geschwindigkeit bereits durch die streckenseitige Vorrichtung erfolgt, so dass das jeweilige Fahrzeug nur noch eine definierte Reaktion auslöst, wenn seine aktuelle Geschwindigkeit die zu überwachende Geschwindigkeit überschreitet. Dies ist ein wesentlicher Unterschied zu der bekannten Lösung "ATO over ETCS", bei der ein Computer (European Vital Computer) der automatischen Zugsicherungseinrichtung des jeweiligen Fahrzeugs verschiedene Überwachungskurven berechnet und eine der jeweiligen Überwachungskurve zugeordnete definierte Reaktion auslöst, wenn die aktuelle Geschwindigkeit des Fahrzeugs die durch diese Überwachungskurve überwachte Geschwindigkeit überschreitet.Preferably, at least one speed to be monitored by the respective vehicle or a safety command representing this speed is specified by means of the further signal for securing the respective vehicle. It is therefore preferably provided that the speed to be monitored is already determined by the trackside device, so that the respective vehicle only triggers a defined reaction if its current speed exceeds the speed to be monitored. This is an essential difference to the well-known "ATO over ETCS" solution, in which a computer (European Vital Computer) of the automatic train protection device of the respective vehicle calculates various monitoring curves and triggers a defined reaction assigned to the respective monitoring curve when the current speed of the vehicle exceeds the exceeded the speed monitored by this monitoring curve.

Bei dem erfindungsgemäßen System ist die streckenseitige Sensoranordnung vorzugsweise als eine faseroptische Sensoranordnung ausgebildet.In the system according to the invention, the trackside sensor arrangement is preferably designed as a fiber-optic sensor arrangement.

Die Erfindung ist im Weiteren anhand von Figuren näher erläutert. Dabei zeigen die

Figuren 1 und 2
zwei Ausführungsformen eines erfindungsgemäßen Systems zur Beeinflussung von spurgebundenen Fahrzeugen.
The invention is explained in more detail below with reference to figures. They show
Figures 1 and 2
two embodiments of a system according to the invention for influencing track-bound vehicles.

Die Figur 1 zeigt eine Strecke 1 für spurgebundene Fahrzeuge und ein erfindungsgemäßen Systems 2 zur Beeinflussung von spurgebundenen Fahrzeugen in einer ersten Ausführungsform. Die Figur 1 zeigt weiterhin eines Fi der durch das System 2 beeinflussten spurgebundenen Fahrzeuge, bei denen es sich hier beispielhaft um automatisch ohne Triebfahrzeugführer fahrende Schienenfahrzeuge (Züge) handelt. Das Fahrzeug Fi weist Wagen 3, 4, 5 auf, von denen ein Führungswagen 3 - hier beispielhaft in Form einer Lok - die Spitze des Fahrzeugs Fi (die Zugspitze) bildet und von denen ein Schlusswagen 5 das Ende des Fahrzeugs Fi (den Zugschluss) bildet.the Figure 1 shows a route 1 for track-bound vehicles and a system 2 according to the invention for influencing track-bound vehicles in a first embodiment. the Figure 1 also shows an F i of the track-bound vehicles influenced by system 2, which are here, for example, automatically without a driver moving rail vehicles (trains). The vehicle F i has carriages 3, 4, 5, of which a guide carriage 3 - here in the form of a locomotive, for example - forms the top of the vehicle F i (the Zugspitze) and of which a final car 5 forms the end of the vehicle F i ( the end of the train).

Das System 2 dient insbesondere dazu, einerseits eine optimale Bewegung eines jeden Fi der Fahrzeuge (optimale Zugbewegung) und andererseits eine sichere Bewegung eines jeden Fi der Fahrzeugs (sichere Zugbewegung) zu gewährleisten.The system 2 serves in particular to ensure, on the one hand, an optimal movement of each F i of the vehicles (optimal train movement) and, on the other hand, a safe movement of each F i of the vehicle (safe train movement).

Das System 2 weist auf Seiten der Strecke 1 eine streckenseitige Vorrichtung 6 zur Beeinflussung der spurgebundenen Fahrzeuge auf, welche mit einer Kommunikationseinheit 7 in Form einer Antenne zur Funkübertragung versehen ist. Darüber hinaus weist das System 2 auf Seiten der Strecke 1 eine Kommunikationseinrichtung 8 zur Funkübertragung, eine übergeordnete Leittechnikeinrichtung 9 und eine streckenseitige Sensoranordnung 10 auf.On the route 1 side, the system 2 has a route-side device 6 for influencing the track-bound vehicles, which is provided with a communication unit 7 in the form of an antenna for radio transmission. In addition, on the route 1 side, the system 2 has a communication device 8 for radio transmission, a higher-level control system device 9 and a route-side sensor arrangement 10.

Die Sensoranordnung 10 ist in bevorzugter Ausgestaltung als eine faseroptische Sensoranordnung ausgebildet und umfasst hier beispielhaft einen Wellenleiter 11, eine Koppeleinrichtung 12, eine Pulserzeugungseinrichtung 13, eine Detektionseinrichtung 14 und eine Auswerteeinrichtung 15.In a preferred embodiment, the sensor arrangement 10 is designed as a fiber-optic sensor arrangement and here comprises, for example, a waveguide 11, a coupling device 12, a pulse generation device 13, a detection device 14 and an evaluation device 15.

Auf Seiten des jeweiligen Fi der Fahrzeuge weist das System 2 eine fahrzeugseitige Vorrichtung 16 auf, welche mit einer Kommunikationseinheit 17 in Form einer Antenne zur Funkübertragung versehen ist. Mittels der Kommunikationseinheit 17 steht die fahrzeugseitige Vorrichtung 16 über die Kommunikationseinrichtung 8 mit der Kommunikationseinheit 7 der streckenseitigen Vorrichtung 6 in Verbindung.On the side of the respective F i of the vehicles, the system 2 has a vehicle-side device 16 which is provided with a communication unit 17 in the form of an antenna for radio transmission. By means of the communication unit 17, the vehicle-side device 16 is connected to the communication unit 7 of the trackside device 6 via the communication device 8.

Darüber hinaus weist das System 2 auf Seiten des jeweiligen Fi der Fahrzeuge eine Antriebseinrichtung 18, eine Bremseinrichtung 19, eine fahrzeugseitige Sensoranordnung 20, eine fahrzeugseitige Hinderniserkennungseinrichtung 21 zur Erkennung von Hindernissen 22, 23 und eine fahrzeugseitige Umwelterkennungseinrichtung 24 auf. Die Umwelterkennungseinrichtung 24 kann beispielsweise mit einem Lichtsensor und einem Temperatursensor ausgestattet sein. Die Sensoranordnung 20 umfasst hier beispielhaft eine Balisenantenne 25, einen Wegimpulsgeber 26, einen an sich bekannten Geschwindigkeitssensor 27 zur Ermittlung der Geschwindigkeit des Schlusswagens 5, welcher mit einer Kommunikationseinheit 28 versehen ist, sowie eine Auswerteeinrichtung 29, welche Teil der fahrzeugseitigen Vorrichtung 16 ist. Die Balisenantenne 25 ist geeignet ausgebildet, bei Überfahrt von streckenseitigen Balisen 30, 31 Daten, insbesondere Ortsdaten, zu empfangen und dann die empfangenen Daten an die Auswerteeinrichtung 29 auszugeben.In addition, on the side of the respective F i of the vehicles, the system 2 has a drive device 18, a braking device 19, a sensor arrangement 20 on the vehicle, and an obstacle detection device 21 on the vehicle for detection of obstacles 22, 23 and an environmental recognition device 24 on the vehicle. The environmental recognition device 24 can for example be equipped with a light sensor and a temperature sensor. The sensor arrangement 20 here comprises, for example, a balise antenna 25, a distance pulse generator 26, a known speed sensor 27 for determining the speed of the final car 5, which is provided with a communication unit 28, and an evaluation device 29 which is part of the vehicle-side device 16. The balise antenna 25 is suitably designed to receive data, in particular location data, when crossing track-side balises 30, 31 and then to output the received data to the evaluation device 29.

Die streckenseitige Vorrichtung 6 zur Beeinflussung der spurgebundenen Fahrzeuge umfasst einen Streckenatlas 32, eine Vergleichseinrichtung 33, eine Einrichtung 34 zur Sicherung der Bewegung des jeweiligen Fi der Fahrzeuge in Form einer automatischen Zugsicherungseinrichtung (Zugsicherungsrechner) und eine Einrichtung 35 zur Regelung der Bewegung des jeweiligen Fi der Fahrzeuge in Form einer automatischen Zugsteuerungseinrichtung (Fahrregler).The trackside device 6 for influencing the track-bound vehicles comprises a route atlas 32, a comparison device 33, a device 34 for securing the movement of the respective F i of the vehicles in the form of an automatic train protection device (train protection computer) and a device 35 for regulating the movement of the respective F i of the vehicles in the form of an automatic train control device (speed controller).

Die streckenseitige Vorrichtung 6 ermittelt eine Vorgabe bezüglich einer von dem jeweiligen Fahrzeug Fi zu fahrenden Geschwindigkeit und gibt ein zumindest diese Vorgabe enthaltendes Signal Sio an das jeweilige Fahrzeug Fi aus. Als Vorgabe wird zumindest ein Optimalwert vio für die zu fahrende Geschwindigkeit, vorzugsweise eine optimale Geschwindigkeitskurve für den gerade befahrenen Streckenabschnitt, vorgegeben. Das jeweilige Fahrzeug Fi stellt seine Geschwindigkeit vi entsprechend der mit dem Signal Sio empfangenen Vorgabe - also hier auf den Optimalwert vio - ein. Anstelle des Optimalwertes vio könnte aber auch ein diesen Optimalwert vio repräsentierender Fahrbefehl vorgegeben werden.The trackside device 6 determines a specification relating to a speed to be driven by the respective vehicle F i and outputs a signal S i o containing at least this specification to the respective vehicle F i . At least one optimal value v i o for the speed to be driven, preferably an optimal speed curve for the route section being traveled on, is given as a default. The respective vehicle F i adjusts its speed v i in accordance with the specification received with the signal S i o - that is to say here to the optimum value v i o. Instead of the optimum value v i o but also this optimum value v i o representing driving instruction could be given.

Alternativ zum Optimalwert vio könnte mittels des Signals Sio zur Regelung des jeweiligen Fahrzeugs Fi als Vorgabe zumindest ein Änderungswert Δvi oder ein diesen Änderungswert Δvi repräsentierender Fahrbefehl vorgegeben werden, wobei das jeweilige Fahrzeug Fi seine aktuelle Geschwindigkeit via dann um den Änderungswert Δvi ändern würde.As an alternative to the optimum value v i o, at least one change value Δv i or a drive command representing this change value Δv i could be specified by means of the signal S i o for regulating the respective vehicle F i , with the respective vehicle F i at its current speed v i a would then change by the change value Δv i .

Von der streckenseitigen Vorrichtung 6 wird also das zumindest die Vorgabe bezüglich der zu fahrenden Geschwindigkeit enthaltendes Signal Sio zur Regelung des jeweiligen Fahrzeugs Fi an das jeweilige Fahrzeug Fi übermittelt.From trackside device 6 so that at least the setting with respect to the transmitted containing at moving velocity signal S i o for controlling the respective vehicle F i F i to the respective vehicle.

Die Ermittlung der Vorgabe - hier des Optimalwert vio - erfolgt zumindest unter Berücksichtigung des aktuellen Ortes Oia eines jeweiligen Fi der Fahrzeuge und unter Berücksichtigung zumindest einer aktuellen Größe, welche den Status des jeweiligen Fahrzeugs Fi charakterisiert.The specification - here the optimum value v i o - is determined at least taking into account the current location O i a of a respective F i of the vehicles and taking into account at least one current variable which characterizes the status of the respective vehicle F i .

Dabei wird zum Einen die aktuelle Geschwindigkeit via des jeweiligen der Fahrzeuge Fi als die zumindest eine aktuelle Größe bei der Ermittlung der Vorgabe berücksichtigt.On the one hand, the current speed v i a of the respective one of the vehicles F i is taken into account as the at least one current variable when determining the specification.

Außerdem wird eine den aktuellen Zustand Iia des jeweiligen Fahrzeugs Fi hinsichtlich seiner Vollständigkeit charakterisierende Größe als eine weitere aktuelle Größe, welche den Status des jeweiligen Fahrzeugs Fi charakterisiert, bei der Ermittlung der Vorgabe berücksichtigt.In addition, a variable that characterizes the current state I i a of the respective vehicle F i with regard to its completeness is taken into account as a further current variable that characterizes the status of the respective vehicle F i when determining the specification.

Darüber hinaus können weitere Daten bei der Ermittlung der Vorgabe - hier des Optimalwert vio - berücksichtigt werden.In addition, further data can be taken into account when determining the specification - here the optimum value v i o.

Bei dem erfindungsgemäßen System 2 ermittelt die streckenseitige Vorrichtung 6 das Signal Sio zur Regelung des jeweiligen Fahrzeugs Fi in Abhängigkeit aktueller betrieblicher Daten BDia, aktueller Streckendaten SDia, aktueller Hinderniserkennungsdaten HDia und aktueller Umweltdaten UDia.In the system 2 according to the invention, the trackside device 6 determines the signal S i o for regulating the respective vehicle F i as a function of current operational data BD i a, current route data SD i a, current obstacle detection data HDia and current environmental data UDia.

Die aktuellen betrieblichen Daten BDia werden von der übergeordneten Leittechnikeinrichtung 9 an die streckenseitige Vorrichtung 6 ausgegeben.The current operational data BD i a are output by the higher-level control system 9 to the trackside device 6.

Die aktuellen Streckendaten SDia der streckenseitigen Vorrichtung 6 von dem streckenseitig hinterlegten Streckenatlas 32 bereitgestellt. Alternativ hierzu könnten die aktuellen Streckendaten aber auch von einem fahrzeugseitig hinterlegten Streckenatlas bereitgestellt werden.The current route data SD i a is provided to the route-side device 6 by the route atlas 32 stored on the route-side. Alternatively, the current route data could also be provided from a route atlas stored on the vehicle.

Die aktuellen Hinderniserkennungsdaten HDia werden von der fahrzeugseitigen Hinderniserkennungseinrichtung 21 bereitgestellt. Alternativ hierzu könnten die aktuellen Hinderniserkennungsdaten aber auch von einer streckenseitigen Hinderniserkennungseinrichtung bereitgestellt werden.The current obstacle recognition data HDia are provided by the vehicle-side obstacle recognition device 21. As an alternative to this, the current obstacle recognition data could also be provided by an obstacle recognition device on the track.

Die aktuellen Umweltdaten UDia werden von der fahrzeugseitigen Umwelterkennungseinrichtung 24 bereitgestellt. Alternativ hierzu könnten die aktuellen Umweltdaten aber auch von einer streckenseitigen Umwelterkennungseinrichtung bereitgestellt werden.The current environmental data UDia are provided by the vehicle's environmental recognition device 24. Alternatively, the current environmental data could also be provided by a trackside environmental detection device.

Die Auswerteeinrichtung 15 stellt anhand von Ausgaben der Detektionseinrichtung 14 Daten zur Ermittlung des aktuellen Ortes Oia, der aktuellen Geschwindigkeit via und der den aktuellen Zustand Iia des jeweiligen Fahrzeugs Fi hinsichtlich seiner Vollständigkeit charakterisierenden Größe bereit. Die streckenseitige Sensoranordnung 10 erfasst somit streckenseitig die Daten Ds.Oia, Ds.via, Ds.Iia zur Ermittlung des aktuellen Ortes Oia, der aktuellen Geschwindigkeit via und der den aktuellen Zustand Iia des jeweiligen Fahrzeugs Fi hinsichtlich seiner Vollständigkeit charakterisierenden Größe. Die streckenseitige Sensoranordnung 10 gibt die erfassten Daten Ds.Oia, Ds.via, Ds.Iia an die streckenseitige Vorrichtung 6 aus.The evaluation device 15 uses the outputs of the detection device 14 to provide data for determining the current location O i a, the current speed v i a and the variable characterizing the current state I i a of the respective vehicle F i with regard to its completeness. The trackside sensor arrangement 10 thus records the trackside data Ds.O i a, Ds.v i a, Ds.I i a to determine the current location O i a, the current speed v i a and the current state I i a des respective vehicle F i with regard to its completeness characterizing size. The trackside sensor arrangement 10 outputs the recorded data Ds.O i a, Ds.v i a, Ds.I i a to the trackside device 6.

Redundant und diversitär hierzu erfasst die fahrzeugseitige Sensoranordnung 20 Daten Df.Oia, Df.via, Df.Iia zur Ermittlung des aktuellen Ortes Oia, der aktuellen Geschwindigkeit via und der den aktuellen Zustand Iia des jeweiligen Fahrzeugs Fi hinsichtlich seiner Vollständigkeit charakterisierenden Größe. Hierzu stellt die Auswerteeinrichtung 29 diese Daten anhand von Ausgaben der Balisenantenne 25, des Wegimpulsgebers 26 und des Geschwindigkeitssensors 27 bereit. Die fahrzeugseitige Sensoranordnung 20 gibt die erfassten Daten Ds.Oia, Ds.via, Ds.Iia an die streckenseitige Vorrichtung 6 aus.For this purpose, the vehicle-side sensor arrangement 20 detects redundantly and diversely data Df.O i a, Df.v i a, Df.I i a for determination the current location O i a, the current speed v i a and the variable characterizing the current state I i a of the respective vehicle F i with regard to its completeness. For this purpose, the evaluation device 29 provides this data on the basis of outputs from the balise antenna 25, the distance pulse generator 26 and the speed sensor 27. The vehicle-side sensor arrangement 20 outputs the recorded data Ds.O i a, Ds.v i a, Ds.I i a to the trackside device 6.

Die streckenseitige Vorrichtung 6 gibt das Signal Sio zur Regelung des jeweiligen Fahrzeugs Fi in Abhängigkeit einer Verifikation der streckenseitig erfassten Daten Ds.Oia, Ds.via, Ds.Iia durch die fahrzeugseitig erfassten Daten Df.Oia, Df.via, Df.Iia aus.The trackside device 6 emits the signal S i o for regulating the respective vehicle F i as a function of a verification of the data Ds.O i a, Ds.v i a, Ds.I i a recorded on the track side using the data Df.O recorded on the vehicle side i a, Df.v i a, Df.I i a from.

Hierzu erfolgt in der Vergleichseinrichtung 33 anhand der streckenseitig erfassten Daten Ds.Oia, Ds.via, Ds.Iia die Bestimmung erster Werte hinsichtlich des aktuellen Ortes Oia, der aktuellen Geschwindigkeit via und der den aktuellen Zustand Iia des jeweiligen Fahrzeugs Fi hinsichtlich seiner Vollständigkeit charakterisierenden Größe. Außerdem erfolgt in der Vergleichseinrichtung 33 anhand der fahrzeugseitig erfassten Daten Df.Oia, Df.via, Df.Iia die Bestimmung zweiter Werte hinsichtlich des aktuellen Ortes Oia, der aktuellen Geschwindigkeit via und der den aktuellen Zustand Iia des jeweiligen Fahrzeugs Fi hinsichtlich seiner Vollständigkeit charakterisierenden Größe. Anschließend erfolgt in der Vergleichseinrichtung 33 ein Vergleich der ersten und der zweiten Werte. Liegen die ersten Werte innerhalb von Toleranzbereichen, welche bezogen auf die zweiten Werte vorgegeben sind, so sind die ersten Werte durch die zweiten Werte und damit die streckenseitig erfassten Daten Ds.Oia, Ds.via, Ds.Iia durch die fahrzeugseitig erfassten Daten Df.Oia, Df.via, Df.Iia verifiziert.For this purpose, the comparison device 33 uses the data Ds.O i a, Ds.v i a, Ds.I i a recorded on the track side to determine first values with regard to the current location O i a, the current speed v i a and the current speed State I i a of the respective vehicle F i with regard to its completeness characterizing variable. In addition, the comparison device 33 uses the data Df.O i a, Df.v i a, Df.I i a recorded on the vehicle side to determine second values with regard to the current location O i a, the current speed v i a and the current one State I i a of the respective vehicle F i with regard to its completeness characterizing variable. The first and second values are then compared in the comparison device 33. If the first values are within tolerance ranges which are specified in relation to the second values, then the first values have passed through the second values and thus the data Ds.O i a, Ds.v i a, Ds.I i a recorded on the track side the data recorded on the vehicle side Df.O i a, Df.v i a, Df.I i a verified.

Bei Verifikation der streckenseitig erfassten Daten Ds.Oia, Ds.via, Ds.Iia durch die fahrzeugseitig erfassten Daten Df.Oia, Df.via, Df.Iia wird das Signal Sio zur Regelung des jeweiligen Fahrzeugs Fi in Abhängigkeit der streckenseitig erfassten Daten Ds.Oia, Ds.via, Ds.Iia ermittelt.In verification of the trackside data collected Ds.O i a, Ds.v i a, i a Ds.I by the vehicle-detected data Df.O i a, Df.v i a, i a Df.I the signal S i is o to regulate the respective vehicle F i as a function of the data Ds.O i a, Ds.v i a, Ds.I i a recorded on the track side.

Die streckenseitige Vorrichtung 6 gibt außerdem ein weiteres Signal Sis zur Sicherung des jeweiligen Fahrzeugs Fi an das jeweilige Fahrzeug Fi aus, wobei das weitere Signal Sis zur Sicherung des jeweiligen Fahrzeugs Fi zumindest eine Vorgabe vis bezüglich einer von dem jeweiligen Fahrzeug zu überwachenden Geschwindigkeit enthält.The trackside device 6 also outputs a further signal S i s for securing the respective vehicle F i to the respective vehicle F i , the further signal S i s for securing the respective vehicle F i at least one specification v i s with respect to one of contains the speed to be monitored for the respective vehicle.

Mittels des weiteren Signals Sis zur Sicherung des jeweiligen Fahrzeugs Fi wird als Vorgabe zumindest ein Überwachungswert vis für die zu überwachende Geschwindigkeit, vorzugsweise eine oder mehrere verschiedene Geschwindigkeits-Überwachungskurven, vorgegeben. Es könnte aber alternativ auch ein diesen Überwachungswert vis repräsentierender Sicherungsbefehl bzw. diese Geschwindigkeits-Überwachungskurven repräsentierende Sicherungsbefehle vorgegeben werden.By means of the further signal S i s for securing the respective vehicle F i , at least one monitoring value v i s for the speed to be monitored, preferably one or more different speed monitoring curves, is specified as a default. Alternatively, however, a security command representing this monitoring value v i s or security commands representing these speed monitoring curves could also be specified.

Soweit bei der Ausführungsform nach Fig. 2 gleiche Teile wie in Fig. 1 gezeigt sind, sind sie mit gleichen Bezugszeichen versehen.So much for the embodiment according to Fig. 2 same parts as in Fig. 1 are shown, they are provided with the same reference numerals.

Die in der Figur 2 gezeigte Ausführungsform 102 des erfindungsgemäßen Systems unterscheidet sich von der in der Figur 1 gezeigten Ausführungsform 2 darin, dass nicht die streckenseitige Vorrichtung 106 sondern die fahrzeugseitige Vorrichtung 116 mit einer Einrichtung 135 zur Sicherung der Bewegung des jeweiligen Fi der Fahrzeuge in Form einer automatischen Zugsicherungseinrichtung ausgestattet ist. Hier gibt also die Einrichtung 135 der fahrzeugseitigen Vorrichtung 116 zumindest einen Überwachungswert vis für die zu überwachende Geschwindigkeit, vorzugsweise eine oder mehrere verschiedene Überwachungskurven, vor.The one in the Figure 2 The embodiment 102 of the system according to the invention shown differs from that in FIG Figure 1 Embodiment 2 shown in that it is not the track-side device 106 but the vehicle-side device 116 that is equipped with a device 135 for securing the movement of the respective F i of the vehicles in the form of an automatic train protection device. In this case, the device 135 of the vehicle-mounted device 116 prescribes at least one monitoring value v i s for the speed to be monitored, preferably one or more different monitoring curves.

Claims (17)

  1. Method for influencing railbound vehicles
    - wherein a track-side device (6; 106) determines a specification (vio; Δvi) regarding a speed to be travelled by a vehicle (Fi) in question, taking account of the current location (Oia) of the vehicle (Fi) in question and taking account of at least one current variable (via, Iia), which characterises the status of the vehicle (Fi) in question,
    - wherein a signal (Sio) for controlling the vehicle (Fi) in question containing at least the specification (vio; Δvi) regarding the speed to be travelled is transmitted by the track-side device (6; 106) to the vehicle (Fi) in question, and
    - wherein the vehicle (Fi) in question sets its speed (vi) according to the specification (vio; Δvi) received with the signal (Sio),
    characterised in that
    - a track-side sensor arrangement (10) acquires data (Ds.Oia, Ds.via, Ds.Iia) for determining the current location (Oia) and the at least one current variable (via, Iia) of the vehicle in question and outputs it to the track-side device (6; 106),
    - a vehicle-side sensor arrangement (20) acquires, in a manner redundant to the track-side sensor arrangement (10), data (Df.Oia, Df.via, Df.Iia, Ds.Oia, Ds.via, Ds.Iia) for determining the current location (Oia) and the at least one current variable (via, Iia) of the vehicle (Fi) in question and outputs it to the track-side device (6; 106), and
    - the track-side device (6; 106) outputs the signal (Sio) for controlling the vehicle (Fi) in question as a function of a verification of the data (Ds.Oia, Ds.via, Ds.Iia) acquired on the track side, by means of the data (Df.Oia, Df.via, Df.Iia) acquired on the vehicle side,
    - wherein, on verification of the data (Ds.Oia, Ds.via, Ds.Iia) acquired on the track side by means of the data (Df.Oia, Df.via, Df.Iia) acquired on the vehicle side, the signal (Sio) for controlling the vehicle (Fi) in question is determined as a function of the data (Ds.Oia, Ds.via, Ds.Iia) acquired on the track side.
  2. Method according to claim 1,
    characterised in that
    the current speed (via) of the vehicle (Fi) in question is taken into account in the determination of the specification (vio; Δvi) as the at least one current variable.
  3. Method according to claim 1,
    characterised in that
    a variable characterising the current state (Iia) of the vehicle (Fi) in question regarding its completeness is taken into account in the determination of the specification (vio; Δvi) as the at least one current variable or as a further current variable which characterises the status of the vehicle (Fi) in question.
  4. Method according to one of claims 1 to 3,
    characterised in that
    by means of the signal (Sio) for controlling the vehicle (Fi) in question, as the specification, at least one optimum value (vio) for the speed to be travelled or a drive command representing this optimum value (vio) is given, wherein the vehicle (Fi) in question sets its speed (vi) to the optimum value (vio).
  5. Method according to one of claims 1 to 3,
    characterised in that
    by means of the signal (Sio) for controlling the vehicle (Fi) in question, as the specification, at least one change value (Δvi) or a drive command representing this change value (Δvi) is specified, wherein the vehicle (Fi) in question changes its current speed (via) by the change value (Δvi).
  6. Method according to one of claims 1 to 5,
    characterised in that
    the signal (Sio) for controlling the vehicle (Fi) in question is determined as a function of current operational data (BDia) .
  7. Method according to claim 6,
    characterised in that
    the current operational data (BDia) is output by a higher-level control technology device (9) to the track-side device (6; 106).
  8. Method according to one of the claims 1 to 7,
    characterised in that
    the signal (Sio) for controlling the vehicle (Fi) in question is determined as a function of current track data (SDia) .
  9. Method according to claim 8,
    characterised in that
    the current track data (SDia) is made available to the track-side device (6; 106) from a track atlas (32) stored on the track side and/or from a track atlas stored on the vehicle side.
  10. Method according to one of the claims 1 to 9,
    characterised in that
    the signal (Sio) for controlling the vehicle (Fi) in question is determined as a function of current obstacle detection data (HDia).
  11. Method according to claim 10,
    characterised in that
    the obstacle detection data (HDia) is provided by a track-side obstacle detection device and/or by a vehicle-side obstacle detection device (21).
  12. Method according to one of the claims 1 to 11,
    characterised in that
    the signal (Sio) for controlling the vehicle (Fi) in question is determined as a function of current environment data (UDia).
  13. Method according to claim 12,
    characterised in that
    the current environment data (UDia) is provided by a track-side environment recognition device and/or by a vehicle-side environment recognition device (24).
  14. Method according to one of claims 1 to 13,
    characterised in that
    the track-side device (6) also outputs to the vehicle (Fi) in question a further signal (Sis) for safeguarding the vehicle (Fi) in question, wherein the further signal (Sis) for safeguarding the vehicle (Fi) in question contains at least one specification (vis) regarding a speed to be monitored by the vehicle in question.
  15. Method according to claim 14,
    characterised in that
    by means of the further signal (Sis) for safeguarding the vehicle (Fi) in question, at least one monitoring value (vis) for the speed to be monitored or a safeguarding command representing this monitoring value (vis) is specified as the specification.
  16. System (2; 102) for influencing railbound vehicles,
    - wherein a track-side device (6; 106) is suitably configured, taking account of the current location (Oia) of a vehicle (Fi) in question and taking account of at least one current variable (via, Iia) which characterises the status of the vehicle (Fi) in question, to determine a specification (vio; Δvi) regarding a speed to be travelled by the vehicle (Fi) in question,
    - wherein the track-side device (6; 106) is suitably configured to transmit a signal (Sio), containing at least the specification (vio; Δvi) regarding the speed to be travelled, for controlling the vehicle (Fi) in question, to the vehicle (Fi) in question, and
    - wherein the vehicle (Fi) in question is suitably configured to set its speed (vi) according to the specification (vio; Δvi) received with the signal (Sio),
    characterised in that
    - a track-side sensor arrangement (10) is suitably configured to acquire data (Ds.Oia, Ds.via, Ds.Iia) for determining the current location (Oia) and the at least one current variable (via, Iia) of the vehicle in question and to output it to the track-side device (6; 106),
    - a vehicle-side sensor arrangement (20) is suitably configured to acquire, in a manner redundant to the track-side sensor arrangement (10), data (Df.Oia, Df.via, Df.Iia, Ds.Oia, Ds.via, Ds.Iia) for determining the current location (Oia) and the at least one current variable (via, Iia) of the vehicle (Fi) in question and to output it to the track-side device (6; 106), and
    - the track-side device (6; 106) is suitably configured to output the signal (Sio) for controlling the vehicle (Fi) in question as a function of a verification of the data (Ds.Oia, Ds.via, Ds.Iia) provided on the track side, by means of the data (Df.Oia, Df.via, Df.Iia) provided on the vehicle side,
    - wherein, on verification of the data (Ds.Oia, Ds.via, Ds.Iia) acquired on the track side by means of the data (Df.Oia, Df.via, Df.Iia) acquired on the vehicle side, the signal (Sio) for controlling the vehicle (Fi) in question is determined as a function of the data (Ds.Oia, Ds.via, Ds.Iia) acquired on the track side.
  17. System (2; 102) according to claim 16,
    characterised in that
    the track-side sensor arrangement (10) is configured as a fibre optic sensor arrangement.
EP17739928.4A 2016-07-29 2017-07-06 Method and system for controlling of railway vehicles Active EP3468855B1 (en)

Applications Claiming Priority (2)

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DE102016214024.8A DE102016214024A1 (en) 2016-07-29 2016-07-29 Method and system for influencing track-bound vehicles
PCT/EP2017/066855 WO2018019535A2 (en) 2016-07-29 2017-07-06 Method and system for influencing railbound vehicles

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EP3468855A2 (en) 2019-04-17
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