EP3634828B1 - Control method for operating a rail vehicle - Google Patents

Control method for operating a rail vehicle Download PDF

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Publication number
EP3634828B1
EP3634828B1 EP18738204.9A EP18738204A EP3634828B1 EP 3634828 B1 EP3634828 B1 EP 3634828B1 EP 18738204 A EP18738204 A EP 18738204A EP 3634828 B1 EP3634828 B1 EP 3634828B1
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Prior art keywords
rail vehicle
driving
stored
control
fud
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EP18738204.9A
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German (de)
French (fr)
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EP3634828C0 (en
EP3634828A1 (en
Inventor
Frank BIENEK
Volker Knollmann
Bernhard PÖSEL
Gerd Tasler
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Siemens Mobility GmbH
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Siemens Mobility GmbH
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    • 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
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0058—On-board optimisation of vehicle or vehicle train operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
    • B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
    • B61K9/08—Measuring installations for surveying permanent way
    • 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
    • B61L15/0094—Recorders on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/021—Measuring and recording of train speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L2201/00—Control methods

Definitions

  • the invention relates to a control method for operating a rail vehicle, wherein the method is carried out computer-aided on the basis of a vehicle control program.
  • Such control methods are known in the field of rail vehicle technology.
  • WO 2007 136 947 A2 describes a method for improving train performance.
  • the method comprises determining a rail vehicle parameter for at least one rail vehicle to be integrated into a train and creating a train schedule based on the rail vehicle parameter according to one or more operating criteria for the train.
  • the document US 2005/065674 A1 describes a device for controlling a railway network. It includes a network model adapted to calculate an objective function from a set of candidate timetables and a set of model parameters, a parameter identifier adapted to calculate the model parameters from a set of inventory measurements, and a trajectory optimizer adapted to generate the candidate timetables and to select a timetable for optimizing the objective function taking into account a set of terminal constraints and operational constraints.
  • the control in document DE 39 35 740 A1 uses inclination adjustment devices that are supplied with adjustment signals for the carriage inclination when the rail vehicle travels around a curve.
  • the adjustment signals are obtained from the track data supplied by a track data memory, which is read out under the control of motion signals and received from a sensor attached to the rail vehicle.
  • the Information provided by the latter sensor is used in combination with a track synchronization system using stationary sources to provide absolute track position information.
  • the invention is based on the object of specifying an improved control method for operating a rail vehicle.
  • the vehicle control program works using recorded driving and/or environmental data.
  • recorded driving and/or environmental data advantageously enables the control method to be adapted to the current vehicle situation, for example with regard to the current driving behavior of the rail vehicle (acceleration or braking behavior), environmental conditions (e.g. rain or ice) and/or the technical environment on the system (e.g. unguarded railroad crossing with people or vehicles approaching); this is explained in more detail below using examples.
  • Driving behavior data can be recorded, for example, the acceleration and/or braking ability and used to control the rail vehicle.
  • the method according to the invention provides for access to an experience database in which control commands of a real rail vehicle driver are stored during previous journeys as a function of driving situations, wherein the stored driving situations have been determined using the driving and/or environmental data measured during the previous journeys and have been stored with the corresponding control commands of the real rail vehicle driver.
  • the method is preferably carried out on the rail vehicle side by means of a control device installed on the rail vehicle side.
  • the Figure 1 shows a rail vehicle 10 which is equipped with a control device, hereinafter referred to as train control device 20.
  • the train control device 20 comprises a vehicle computer 30 and a memory 40 which is connected to the vehicle computer 30.
  • the rail vehicle 10 can - as explained below - be multi-unit or consist of several carriages and form a train; for reasons of clarity, this is not shown in detail in the figures.
  • a vehicle control program 50 is stored in the memory 40, which can be or is executed by the vehicle computer 30 and can output control commands SB on the output side for controlling the rail vehicle 10 or outputs them during operation.
  • the vehicle control program 50 comprises an observation module BM, a parameterization module PM and a permanently programmed control module STM. If the vehicle computer 30 executes the vehicle control program 50, the observation module BM, the parameterization module PM and the control module STM preferably work as follows:
  • the observation module BM records incoming or pending driving and/or environmental data FUD on the input side, which are supplied or fed in, for example, by the vehicle's own or dedicated sensors; the sensors are shown in the Figure 1 not shown.
  • Suitable sensors are, for example, those that directly describe the driving behavior of the train, such as speed sensors, location sensors or acceleration sensors, or those that measure the environment, such as inclination sensors for detecting inclines or declines, moisture, ice or snow sensors for detecting dry, wet or icy tracks or for detecting friction on the track.
  • driving and/or environmental data FUD can come from external sources, for example from a signal box or a control center, and be transmitted to the rail vehicle, for example via radio.
  • the observation module BM records the driving and/or environmental data available on the input side and forwards them to the parameterization module PM.
  • the parameterization module PM evaluates the driving and/or environmental data FUD and uses these to generate a control profile data set SD, which it uses to parameterize the control module STM.
  • the parameterization module PM can use the driving and/or environmental data FUD to infer physical properties of the rail vehicle 10 and adapt control parameters in accordance with these properties.
  • the parameterization module PM can use acceleration measurement values to infer the total mass of the rail vehicle 10 and, in the case of a large mass, provide a flatter braking curve, i.e. start braking earlier before a stop than with a small mass.
  • the train length, the weight distribution within the train and/or the coupling distances or buffer distances between individual wagons of the train can be determined based on the driving and/or environmental data, and this data can be taken into account in the control profile data set SD, for example with a view to optimised braking behaviour, especially when particularly good positioning accuracy is required when stopping the train.
  • the PM parameterization module can also take environmental conditions into account and, in the case of ice or wet conditions, provide a flatter braking curve and/or accelerate with less drive force than in dry conditions to avoid slippage.
  • a suitable control profile data set SD is advantageously carried out with regard to the vehicle-related parameters using data that is determined during a test start-up process and/or a test braking process at the beginning of the respective journey, i.e. on a journey-by- journey basis.
  • Such a procedure ensures that changes to the rail vehicle or train, for example due to uncoupling or coupling of wagons, are recognized and taken into account when forming of the tax profile data set SD can be taken into account.
  • the STM control module is permanently programmed and is only parameterized using the control profile data set SD supplied by the parameterization module PM. As soon as the parameterization module PM has fed the control profile data set SD into the STM control module, the STM control module can generate the control commands SB for controlling the rail vehicle and output them on the output side.
  • the Figure 2 shows a rail vehicle 10 which is equipped with a variant of the train control device 20 according to Figure 1 Is provided.
  • a group of control profile data sets SD is stored, so that the parameterization module PM - in contrast to the embodiment according to Figure 1 - to control the control module STM, no separate control profile data set SD has to be generated, but only a suitable control profile data set SD has to be selected from the group of stored control profile data sets - based on the driving and/or environment data FUD available on the input side.
  • control profile data sets SD can be stored in the memory 40, for example one for the case of a heavy rail vehicle, one for the case of a medium-heavy rail vehicle and one for the case of a light rail vehicle.
  • the control profile data set SD for a heavy rail vehicle can, for example, provide a particularly flat braking curve, i.e. start braking earlier before a stop than the control profile data sets for medium-heavy or light rail vehicles.
  • the Control profile data set SD for a light rail vehicle can provide a particularly steep braking curve.
  • control profile data sets SD can be provided depending on other parameters, for example - in the case of a multi-unit rail vehicle or train - depending on the train length, the weight distribution within the train, the coupling distances or buffer distances between individual wagons of the train and/or depending on the respective environmental conditions, such as ice or wetness, as already mentioned above in connection with the Figure 1 was explained.
  • control profile data set SD selected by the parameterization module PM is fed into the control module STM, whereby the control module STM is parameterized and can issue control commands SB on the output side for controlling the rail vehicle 10; in this regard, reference is made to the above statements in connection with Figure 1 refer.
  • the train control devices 20 according to the Figures 1 and 2 have the advantage that the permanently programmed STM control module is parameterized independently or automatically, without the need for external intervention, for example by a rail vehicle driver.
  • the Figure 3 shows an embodiment of a rail vehicle 10 in which a vehicle control program 50 of a train control device 20 comprises an observation module BM and a selection module AM and is connected to an experience database EFD.
  • a vehicle control program 50 of a train control device 20 comprises an observation module BM and a selection module AM and is connected to an experience database EFD.
  • experience database EFD control commands from a real rail vehicle driver during previous journeys are stored depending on driving situations.
  • the driving situations were determined during the previous journeys from measured driving and/or environmental data FUD and stored with the corresponding control commands from the real rail vehicle driver.
  • the vehicle control program 50 preferably works as follows:
  • the observation module BM evaluates the driving and/or environmental data on the input side and records the current driving situation FS of the rail vehicle 10.
  • the determined current driving situation FS is transmitted to the selection module AM, which compares the current driving situation FS with the driving situations stored in the experience database EFD and selects the most similar stored driving situation if there is a match or at least - according to predefined match criteria - a sufficient similarity between the self-recorded current driving situation FS and one of the stored driving situations in the experience database EFD.
  • the corresponding stored control commands SB of the real rail vehicle driver can be read out for the selected most similar driving situation and output to control the rail vehicle 10.
  • the selection module AM can read out and output the control commands SB stored for the driving situation FS4 if such a driving situation FS4 is currently detected by the observation module BM, for example on the basis of video, route and location data.
  • the method described allows a gradual or step-by-step upgrade from train operation with a driver to higher levels of automation without a driver and attendant.
  • the various situations and the driver's reaction to this situation can be learned by the train control device 20 by storing them in the experience database EFD.
  • EFD experience database
  • GoA3 driverless driving

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Description

Die Erfindung bezieht sich auf ein Steuerverfahren zum Betreiben eines Schienenfahrzeugs, wobei das Verfahren rechnergestützt auf der Basis eines Fahrzeugsteuerprogramms durchgeführt wird. Derartige Steuerverfahren sind auf dem Gebiet der Schienenfahrzeugtechnik bekannt.The invention relates to a control method for operating a rail vehicle, wherein the method is carried out computer-aided on the basis of a vehicle control program. Such control methods are known in the field of rail vehicle technology.

In Dokument WO 2007 136 947 A2 wird ein Verfahren zum Verbessern der Zugleistung beschrieben. Das Verfahren umfasst das Bestimmen eines Schienenfahrzeugparameters für mindestens ein Schienenfahrzeug, das in einen Zug integriert werden soll, und das Erstellen eines Zugfahrplans basierend auf dem Schienenfahrzeugparameter gemäß einem oder mehreren Betriebskriterien für den Zug.In document WO 2007 136 947 A2 describes a method for improving train performance. The method comprises determining a rail vehicle parameter for at least one rail vehicle to be integrated into a train and creating a train schedule based on the rail vehicle parameter according to one or more operating criteria for the train.

Das Dokument US 2005/065674 A1 beschreibt eine Vorrichtung zum Steuern eines Eisenbahnverbundes. Umfasst sind ein Verbundmodell, das zum Berechnen einer Zielfunktion aus einem Satz von Kandidatenfahrplänen und einem Satz von Modellparametern angepasst ist, sowie einen Parameteridentifizierer, der zum Berechnen der Modellparameter aus einem Satz von Bestandsmessungen angepasst ist, und einen Trajektorienoptimierer, der zum Erzeugen der Kandidatenfahrpläne und zum Auswählen eines Fahrplans zum Optimieren der Zielfunktion unter Berücksichtigung eines Satzes von Endgerätebeschränkungen und Betriebsbeschränkungen ausgelegt ist.The document US 2005/065674 A1 describes a device for controlling a railway network. It includes a network model adapted to calculate an objective function from a set of candidate timetables and a set of model parameters, a parameter identifier adapted to calculate the model parameters from a set of inventory measurements, and a trajectory optimizer adapted to generate the candidate timetables and to select a timetable for optimizing the objective function taking into account a set of terminal constraints and operational constraints.

Die Steuerung in Dokument DE 39 35 740 A1 verwendet Neigungseinstellvorrichtungen, die mit Einstellsignalen für die Wagenneigung versorgt werden, wenn das Schienenfahrzeug um eine Kurve fährt. Die Einstellsignale werden aus den von einem Spurdatenspeicher gelieferten Spurdaten erhalten, die unter Steuerung von Bewegungssignalen ausgelesen und von einem an dem Schienenfahrzeug angebrachten Sensor erhalten werden. Die vom letzteren Sensor bereitgestellte Information wird in Kombination mit einem Spursynchronisationssystem unter Verwendung stationärer Quellen verwendet, um absolute Spurpositionsinformationen bereitzustellen.The control in document DE 39 35 740 A1 uses inclination adjustment devices that are supplied with adjustment signals for the carriage inclination when the rail vehicle travels around a curve. The adjustment signals are obtained from the track data supplied by a track data memory, which is read out under the control of motion signals and received from a sensor attached to the rail vehicle. The Information provided by the latter sensor is used in combination with a track synchronization system using stationary sources to provide absolute track position information.

Der Erfindung liegt die Aufgabe zugrunde, ein verbessertes Steuerverfahren zum Betreiben eines Schienenfahrzeugs anzugeben.The invention is based on the object of specifying an improved control method for operating a rail vehicle.

Diese Aufgabe wird erfindungsgemäß durch ein Verfahren mit den Merkmalen gemäß Patentanspruch 1 gelöst. Vorteilhafte Ausgestaltungen des erfindungsgemäßen Verfahrens sind in Unteransprüchen angegeben.This object is achieved according to the invention by a method having the features according to patent claim 1. Advantageous embodiments of the method according to the invention are specified in subclaims.

Danach ist erfindungsgemäß vorgesehen, dass das Fahrzeugsteuerprogramm unter Heranziehung erfasster Fahr- und/oder Umfelddaten arbeitet. Die Heranziehung erfasster Fahr- und/oder Umfelddaten ermöglicht in vorteilhafter Weise eine Anpassung des Steuerverfahrens an die jeweils aktuelle Fahrzeugsituation, beispielsweise mit Blick auf das aktuelle Fahrverhalten des Schienenfahrzeugs (Beschleunigungs- oder Abbremsverhalten), Umweltbedingungen (z. B. Regen oder Eis) und/oder das technische Umfeld auf der Anlage (z. B. unbeschrankter Bahnübergang mit Personen- oder Fahrzeugannäherung); dies wird weiter unten anhand von Beispielen näher erläutert.According to the invention, the vehicle control program works using recorded driving and/or environmental data. The use of recorded driving and/or environmental data advantageously enables the control method to be adapted to the current vehicle situation, for example with regard to the current driving behavior of the rail vehicle (acceleration or braking behavior), environmental conditions (e.g. rain or ice) and/or the technical environment on the system (e.g. unguarded railroad crossing with people or vehicles approaching); this is explained in more detail below using examples.

Als Fahr- und/oder Umfelddaten werden vorzugsweise zumindest auch fahrzeugindividuelle Fahrverhaltensdaten messtechnisch während der Fahrt des Schienenfahrzeugs erfasst. Als Fahrverhaltensdaten können beispielsweise das Beschleunigungs- und/oder das Bremsvermögen erfasst und zur Steuerung des Schienenfahrzeugs herangezogen werden.As driving and/or environmental data, preferably at least vehicle-specific driving behavior data are recorded by measurement while the rail vehicle is traveling. Driving behavior data can be recorded, for example, the acceleration and/or braking ability and used to control the rail vehicle.

Vorteilhaft ist es, wenn zuvor erfasste Fahr- und/oder Umfelddaten während der Fahrt des Schienenfahrzeugs aktualisiert werden, beispielsweise regelmäßig.It is advantageous if previously recorded driving and/or environmental data are updated while the rail vehicle is moving, for example regularly.

Bei dem erfindungsgemäßen Verfahren ist vorgesehen, dass auf eine Erfahrungsdatenbank zugegriffen wird, in der Stellbefehle eines realen Schienenfahrzeugführers bei vorangegangenen Fahrten in Abhängigkeit von Fahrsituationen abgespeichert sind, wobei die abgespeicherten Fahrsituationen mit den bei den vorangegangenen Fahrten messtechnisch erfassten Fahr- und/oder Umfelddaten ermittelt und mit den korrespondierenden Stellbefehlen des realen Schienenfahrzeugführers abgespeichert worden sind.The method according to the invention provides for access to an experience database in which control commands of a real rail vehicle driver are stored during previous journeys as a function of driving situations, wherein the stored driving situations have been determined using the driving and/or environmental data measured during the previous journeys and have been stored with the corresponding control commands of the real rail vehicle driver.

Es ist teilhaft, wenn während der Fahrt Sensorsignale von Sensoren, die an eine Steuerungseinrichtung des Schienenfahrzeugs angeschlossen sind oder mit dieser in Verbindung stehen, ausgewertet werden und die jeweils aktuelle Fahrsituation bestimmt wird, die selbst bestimmte aktuelle Fahrsituation mit den in der Erfahrungsdatenbank abgespeicherten Fahrsituationen verglichen wird und bei Übereinstimmung oder bei zumindest - gemäß vorgegebenen Übereinstimmungskriterien - hinreichender Ähnlichkeit zwischen der jeweils selbst erfassten Fahrsituation und einer der abgespeicherten Fahrsituationen der Erfahrungsdatenbank die zu der abgespeicherten Fahrsituation korrespondierenden, abgespeicherten Stellbefehle des realen Schienenfahrzeugführers ausgelesen und ausgegeben werden.It is advantageous if, while driving, sensor signals from sensors, which are connected to a control device of the rail vehicle are or are related to it, are evaluated and the respective current driving situation is determined, the self-determined current driving situation is compared with the driving situations stored in the experience database and if there is a match or at least - in accordance with predetermined match criteria - sufficient similarity between the respectively self-determined driving situation and one of the stored driving situations in the experience database, the stored control commands of the real rail vehicle driver corresponding to the stored driving situation are read out and output.

Das Verfahren wird vorzugsweise schienenfahrzeugseitig mittels einer schienenfahrzeugseitig installierten Steuerungseinrichtung durchgeführt.The method is preferably carried out on the rail vehicle side by means of a control device installed on the rail vehicle side.

Die Erfindung wird nachfolgend anhand von Ausführungsbeispielen näher erläutert; dabei zeigen beispielhaft

Figur 1
ein Ausführungsbeispiel für ein erfindungsgemäßes Schienenfahrzeug, anhand dessen ein Ausführungsbeispiel für ein erfindungsgemäßes Zugsteuerverfahren erläutert wird,
Figur 2
ein zweites Ausführungsbeispiel für ein erfindungsgemäßes Schienenfahrzeug, anhand dessen ein zweites Ausführungsbeispiel für ein erfindungsgemäßes Zugsteuerverfahren erläutert wird,
Figur 3
ein drittes Ausführungsbeispiel für ein erfindungsgemäßes Schienenfahrzeug, anhand dessen ein drittes Ausführungsbeispiel für ein erfindungsgemäßes Zugsteuerverfahren erläutert wird, und
Figur 4
beispielhaft den Betrieb des dritten Ausführungsbeispiels gemäß Figur 3.
The invention is explained in more detail below using exemplary embodiments; by way of example,
Figure 1
an embodiment of a rail vehicle according to the invention, based on which an embodiment of a train control method according to the invention is explained,
Figure 2
a second embodiment of a rail vehicle according to the invention, based on which a second embodiment of a train control method according to the invention is explained,
Figure 3
a third embodiment of a rail vehicle according to the invention, based on which a third embodiment of a train control method according to the invention is explained, and
Figure 4
exemplifies the operation of the third embodiment according to Figure 3 .

In den Figuren werden der Übersicht halber für identische oder vergleichbare Komponenten stets dieselben Bezugszeichen verwendet.For the sake of clarity, the same reference symbols are always used in the figures for identical or comparable components.

Die Figur 1 zeigt ein Schienenfahrzeug 10, das mit einer Steuerungseinrichtung, nachfolgend Zugsteuerungseinrichtung 20 genannt, ausgestattet ist. Die Zugsteuerungseinrichtung 20 umfasst einen Fahrzeugrechner 30 und einen Speicher 40, der mit dem Fahrzeugrechner 30 in Verbindung steht.The Figure 1 shows a rail vehicle 10 which is equipped with a control device, hereinafter referred to as train control device 20. The train control device 20 comprises a vehicle computer 30 and a memory 40 which is connected to the vehicle computer 30.

Das Schienenfahrzeug 10 kann - wie weiter unten noch ausgeführt wird - mehrgliedrig sein bzw. aus mehreren Wagen bestehen und einen Zug bilden; dies ist aus Gründen der Übersichtlichkeit in den Figuren nicht näher dargestellt.The rail vehicle 10 can - as explained below - be multi-unit or consist of several carriages and form a train; for reasons of clarity, this is not shown in detail in the figures.

In dem Speicher 40 ist ein Fahrzeugsteuerprogramm 50 abgespeichert, das vom Fahrzeugrechner 30 ausgeführt werden kann bzw. ausgeführt wird und ausgangsseitig Stellbefehle SB zum Steuern des Schienenfahrzeugs 10 ausgeben kann bzw. bei Betrieb ausgibt.A vehicle control program 50 is stored in the memory 40, which can be or is executed by the vehicle computer 30 and can output control commands SB on the output side for controlling the rail vehicle 10 or outputs them during operation.

Gemäß Figur 1 umfasst das Fahrzeugsteuerprogramm 50 ein Beobachtungsmodul BM, ein Parametrierungsmodul PM und ein fest programmiertes Steuermodul STM. Führt der Fahrzeugrechner 30 das Fahrzeugsteuerprogramm 50 aus, so arbeiten das Beobachtungsmodul BM, das Parametrierungsmodul PM und das Steuermodul STM vorzugsweise wie folgt: Das Beobachtungsmodul BM erfasst eingangsseitig eingehende bzw. anliegende Fahr- und/oder Umfelddaten FUD, die beispielsweise von fahrzeugeigenen bzw. zugeigenen Sensoren geliefert bzw. eingespeist werden; die Sensoren sind aus Gründen der Übersicht in der Figur 1 nicht dargestellt. Geeignete Sensoren sind beispielsweise solche, die das Fahrverhalten des Zugs unmittelbar beschreiben, wie z. B. Geschwindigkeitssensoren, Ortssensoren oder Beschleunigungssensoren, oder solche, die das Umfeld messtechnisch erfassen, wie beispielsweise Neigungssensoren zum Erfassen von Steigungen oder Gefällen, Feuchtigkeits-, Eis- oder Schneesensoren zum Erkennen von trockenem, nassem oder vereistem Gleis bzw. zur Erfassung der Reibung auf dem Gleis. Alternativ oder zusätzlich können Fahr- und/oder Umfelddaten FUD aus externen Quellen, beispielsweise von einem Stellwerk oder einer Leitzentrale, stammen und zum Schienenfahrzeug, beispielsweise über Funk, übertragen werden.According to Figure 1 the vehicle control program 50 comprises an observation module BM, a parameterization module PM and a permanently programmed control module STM. If the vehicle computer 30 executes the vehicle control program 50, the observation module BM, the parameterization module PM and the control module STM preferably work as follows: The observation module BM records incoming or pending driving and/or environmental data FUD on the input side, which are supplied or fed in, for example, by the vehicle's own or dedicated sensors; the sensors are shown in the Figure 1 not shown. Suitable sensors are, for example, those that directly describe the driving behavior of the train, such as speed sensors, location sensors or acceleration sensors, or those that measure the environment, such as inclination sensors for detecting inclines or declines, moisture, ice or snow sensors for detecting dry, wet or icy tracks or for detecting friction on the track. Alternatively or additionally, driving and/or environmental data FUD can come from external sources, for example from a signal box or a control center, and be transmitted to the rail vehicle, for example via radio.

Das Beobachtungsmodul BM erfasst die eingangsseitig anliegenden Fahr- und/oder Umfelddaten und leitet diese an das Parametrierungsmodul PM weiter.The observation module BM records the driving and/or environmental data available on the input side and forwards them to the parameterization module PM.

Das Parametrierungsmodul PM wertet die Fahr- und/oder Umfelddaten FUD aus und erzeugt mit diesen einen Steuerprofildatensatz SD, mit dem sie das Steuermodul STM parametriert.The parameterization module PM evaluates the driving and/or environmental data FUD and uses these to generate a control profile data set SD, which it uses to parameterize the control module STM.

Das Parametrierungsmodul PM kann anhand der Fahr- und/oder Umfelddaten FUD auf physikalische Eigenschaften des Schienenfahrzeugs 10 schließen und Steuerungsparameter entsprechend dieser Eigenschaften anpassen. Zum Beispiel kann das Parametrierungsmodul PM auf Basis von Beschleunigungsmesswerten auf die Gesamtmasse des Schienenfahrzeugs 10 schließen und im Falle einer großen Masse eine flachere Bremskurve vorsehen, also früher mit dem Bremsen vor einem Halt beginnen als bei einer kleinen Masse.The parameterization module PM can use the driving and/or environmental data FUD to infer physical properties of the rail vehicle 10 and adapt control parameters in accordance with these properties. For example, the parameterization module PM can use acceleration measurement values to infer the total mass of the rail vehicle 10 and, in the case of a large mass, provide a flatter braking curve, i.e. start braking earlier before a stop than with a small mass.

Darüber hinaus können anhand der Fahr- und/oder Umfelddaten im Falle eines mehrgliedrigen Schienenfahrzeugs bzw. Zugs die Zuglänge, die Gewichtsverteilung innerhalb des Zugs und/oder die Kuppelabstände bzw. Pufferabstände zwischen einzelnen Wagen des Zugs ermittelt werden, und es können diese Daten im Steuerprofildatensatz SD beispielsweise mit Blick auf ein optimiertes Bremsverhalten berücksichtigt werden, insbesondere wenn es auf eine besonders gute Positionsgenauigkeit beim Anhalten des Zugs ankommt.In addition, in the case of a multi-unit rail vehicle or train, the train length, the weight distribution within the train and/or the coupling distances or buffer distances between individual wagons of the train can be determined based on the driving and/or environmental data, and this data can be taken into account in the control profile data set SD, for example with a view to optimised braking behaviour, especially when particularly good positioning accuracy is required when stopping the train.

Auch kann das Parametrierungsmodul PM die Umweltbedingungen berücksichtigen und im Falle von Eis oder Nässe eine flachere Bremskurve vorsehen und/oder zur Schlupfvermeidung mit weniger Antriebskraft beschleunigen als bei trockenen Bedingungen.The PM parameterization module can also take environmental conditions into account and, in the case of ice or wet conditions, provide a flatter braking curve and/or accelerate with less drive force than in dry conditions to avoid slippage.

Die Bestimmung eines geeigneten Steuerprofildatensatzes SD wird bezüglich der fahrzeugbezogenen Parameter in vorteilhafter Weise anhand von Daten durchgeführt, die im Rahmen eines Testanfahrvorgangs und/oder eines Testabbremsvorgangs zu Beginn der jeweiligen Fahrt, also fahrtindividuell, ermittelt werden. Eine solche Vorgehensweise stellt sicher, dass Veränderungen am Schienenfahrzeug bzw. Zug, beispielsweise durch Abkuppeln oder Ankuppeln von Wagen, erkannt und bei der Bildung des Steuerprofildatensatzes SD berücksichtigt werden können.The determination of a suitable control profile data set SD is advantageously carried out with regard to the vehicle-related parameters using data that is determined during a test start-up process and/or a test braking process at the beginning of the respective journey, i.e. on a journey-by-journey basis. Such a procedure ensures that changes to the rail vehicle or train, for example due to uncoupling or coupling of wagons, are recognized and taken into account when forming of the tax profile data set SD can be taken into account.

Gemäß Figur 1 ist das Steuermodul STM fest programmiert und wird mittels des vom Parametrierungsmodul PM gelieferten Steuerprofildatensatzes SD lediglich parametriert. Sobald das Parametrierungsmodul PM den Steuerprofildatensatz SD in das Steuermodul STM eingespeist hat, kann das Steuermodul STM die Stellbefehle SB zur Steuerung des Schienenfahrzeugs erzeugen und ausgangsseitig ausgeben.According to Figure 1 the STM control module is permanently programmed and is only parameterized using the control profile data set SD supplied by the parameterization module PM. As soon as the parameterization module PM has fed the control profile data set SD into the STM control module, the STM control module can generate the control commands SB for controlling the rail vehicle and output them on the output side.

Die Figur 2 zeigt ein Schienenfahrzeug 10, das mit einer Ausführungsvariante der Zugsteuerungseinrichtung 20 gemäß Figur 1 ausgestattet ist.The Figure 2 shows a rail vehicle 10 which is equipped with a variant of the train control device 20 according to Figure 1 Is provided.

Im Unterschied zu dem Beispiel gemäß Figur 1 ist gemäß Figur 2 in dem Speicher 40, beispielsweise in dem Parametrierungsmodul PM, eine Gruppe an Steuerprofildatensätzen SD abgespeichert, so dass das Parametrierungsmodul PM - im Unterschied zu der Ausführungsvariante gemäß Figur 1 - zur Steuerung des Steuermoduls STM keinen eigenen Steuerprofildatensatz SD erzeugen muss, sondern aus der Gruppe der abgespeicherten Steuerprofildatensätze - anhand der eingangsseitig anliegenden Fahr- und/oder Umfelddaten FUD - lediglich einen geeigneten Steuerprofildatensatz SD aussuchen muss.In contrast to the example according to Figure 1 is in accordance with Figure 2 in the memory 40, for example in the parameterization module PM, a group of control profile data sets SD is stored, so that the parameterization module PM - in contrast to the embodiment according to Figure 1 - to control the control module STM, no separate control profile data set SD has to be generated, but only a suitable control profile data set SD has to be selected from the group of stored control profile data sets - based on the driving and/or environment data FUD available on the input side.

Beispielsweise können in dem Speicher 40 drei Steuerprofildatensätze SD abgespeichert sein, beispielsweise einer für den Fall eines schweren Schienenfahrzeugs, einer für den Fall eines mittelschweren Schienenfahrzeugs und einer für den Fall eines leichten Schienenfahrzeugs. Der Steuerprofildatensatz SD für ein schweres Schienenfahrzeug kann beispielsweise eine besonders flache Bremskurve vorsehen, also früher mit dem Bremsen vor einem Halt beginnen als die Steuerprofildatensätze für mittelschwere oder leichte Schienenfahrzeuge. Der Steuerprofildatensatz SD für ein leichtes Schienenfahrzeug kann eine besonders steile Bremskurve vorsehen.For example, three control profile data sets SD can be stored in the memory 40, for example one for the case of a heavy rail vehicle, one for the case of a medium-heavy rail vehicle and one for the case of a light rail vehicle. The control profile data set SD for a heavy rail vehicle can, for example, provide a particularly flat braking curve, i.e. start braking earlier before a stop than the control profile data sets for medium-heavy or light rail vehicles. The Control profile data set SD for a light rail vehicle can provide a particularly steep braking curve.

Weitere Unterteilungen unter Erhöhung der Anzahl der Steuerprofildatensätze SD können in Abhängigkeit weiterer Parameter vorgesehen werden, beispielsweise - im Falle eines mehrgliedrigen Schienenfahrzeugs bzw. Zugs - in Abhängigkeit von der Zuglänge, der Gewichtsverteilung innerhalb des Zugs, den Kuppelabständen bzw. Pufferabständen zwischen einzelnen Wagen des Zugs und/oder in Abhängigkeit von den jeweiligen Umweltbedingungen, wie Eis oder Nässe, wie oben bereits im Zusammenhang mit der Figur 1 erläutert wurde.Further subdivisions, increasing the number of control profile data sets SD, can be provided depending on other parameters, for example - in the case of a multi-unit rail vehicle or train - depending on the train length, the weight distribution within the train, the coupling distances or buffer distances between individual wagons of the train and/or depending on the respective environmental conditions, such as ice or wetness, as already mentioned above in connection with the Figure 1 was explained.

Der vom Parametrierungsmodul PM ausgewählte Steuerprofildatensatz SD wird in das Steuermodul STM eingespeist, wodurch das Steuermodul STM parametriert wird und ausgangsseitig Stellbefehle SB zur Steuerung des Schienenfahrzeugs 10 ausgeben kann; diesbezüglich sei auf die obigen Ausführungen im Zusammenhang mit Figur 1 verweisen.The control profile data set SD selected by the parameterization module PM is fed into the control module STM, whereby the control module STM is parameterized and can issue control commands SB on the output side for controlling the rail vehicle 10; in this regard, reference is made to the above statements in connection with Figure 1 refer.

Die Zugsteuerungseinrichtungen 20 gemäß den Figuren 1 und 2 weisen den Vorteil auf, dass das fest programmierte Steuermodul STM selbsttätig bzw. automatisch parametriert wird, ohne dass es einen Eingriff von außen, beispielsweise durch einen Schienenfahrzeugführer, bedarf.The train control devices 20 according to the Figures 1 and 2 have the advantage that the permanently programmed STM control module is parameterized independently or automatically, without the need for external intervention, for example by a rail vehicle driver.

Die Figur 3 zeigt ein Ausführungsbeispiel für ein Schienenfahrzeug 10, bei dem ein Fahrzeugsteuerprogramm 50 einer Zugsteuerungseinrichtung 20 ein Beobachtungsmodul BM und ein Auswahlmodul AM umfasst und mit einer Erfahrungsdatenbank EFD in Verbindung steht. In der Erfahrungsdatenbank EFD sind Stellbefehle eines realen Schienenfahrzeugführers bei vorangegangenen Fahrten in Abhängigkeit von Fahrsituationen abgespeichert. Die Fahrsituationen wurden bei den vorangegangenen Fahrten aus messtechnisch erfassten Fahr- und/oder Umfelddaten FUD ermittelt und mit den korrespondierenden Stellbefehlen des realen Schienenfahrzeugführers abgespeichert. Das Fahrzeugsteuerprogramm 50 arbeitet vorzugsweise wie folgt:
Das Beobachtungsmodul BM wertet eingangsseitig anliegende Fahr- und/oder Umfelddaten aus und erfasst die jeweils aktuelle Fahrsituation FS des Schienenfahrzeugs 10. Die ermittelte aktuelle Fahrsituation FS wird zu dem Auswahlmodul AM übermittelt, das die aktuelle Fahrsituation FS mit den in der Erfahrungsdatenbank EFD abgespeicherten Fahrsituationen vergleicht und bei Übereinstimmung oder bei zumindest - gemäß vorgegebenen Übereinstimmungskriterien - hinreichender Ähnlichkeit zwischen der selbsterfassten aktuellen Fahrsituation FS und einer der abgespeicherten Fahrsituationen der Erfahrungsdatenbank EFD die ähnlichste abgespeicherte Fahrsituation auswählt. Zu der ausgewählten ähnlichsten Fahrsituation können die dazu korrespondierenden abgespeicherten Stellbefehle SB des realen Schienenfahrzeugführers ausgelesen und zur Steuerung des Schienenfahrzeugs 10 ausgegeben werden.The Figure 3 shows an embodiment of a rail vehicle 10 in which a vehicle control program 50 of a train control device 20 comprises an observation module BM and a selection module AM and is connected to an experience database EFD. In the experience database EFD, control commands from a real rail vehicle driver during previous journeys are stored depending on driving situations. The driving situations were determined during the previous journeys from measured driving and/or environmental data FUD and stored with the corresponding control commands from the real rail vehicle driver. The vehicle control program 50 preferably works as follows:
The observation module BM evaluates the driving and/or environmental data on the input side and records the current driving situation FS of the rail vehicle 10. The determined current driving situation FS is transmitted to the selection module AM, which compares the current driving situation FS with the driving situations stored in the experience database EFD and selects the most similar stored driving situation if there is a match or at least - according to predefined match criteria - a sufficient similarity between the self-recorded current driving situation FS and one of the stored driving situations in the experience database EFD. The corresponding stored control commands SB of the real rail vehicle driver can be read out for the selected most similar driving situation and output to control the rail vehicle 10.

Dies soll unter Bezugnahme auf Figur 4 anhand eines Beispiels näher erläutert werden: Beispielsweise können in der Erfahrungsdatenbank EFD folgende vier Fahrsituationen FS1-FS4 hinterlegt sein, die sich auf gesicherte und ungesicherte Bahnübergänge beziehen, auf die sich Personen und/oder Kraftfahrzeuge zubewegen oder nicht:

  • Fahrsituation FS1:
    gesicherter Bahnübergang, keine Annäherung von Personen und/oder Kraftfahrzeugen
  • Fahrsituation FS2:
    gesicherter Bahnübergang mit Annäherung von Personen und/oder Kraftfahrzeugen
  • Fahrsituation FS3:
    ungesicherter Bahnübergang, keine Annäherung von Personen und/oder Kraftfahrzeugen
  • Fahrsituation FS4:
    ungesicherter Bahnübergang mit Annäherung von Personen und/oder Kraftfahrzeugen
This should be done with reference to Figure 4 can be explained in more detail using an example: For example, the following four driving situations FS1-FS4 can be stored in the EFD experience database, which refer to secured and unsecured railway crossings towards which people and/or motor vehicles are moving or not:
  • Driving situation FS1:
    Secured railway crossing, no approach of persons and/or motor vehicles
  • Driving situation FS2:
    secured railway crossing with approach of persons and/or motor vehicles
  • Driving situation FS3:
    Unsecured railway crossing, no approach of persons and/or motor vehicles
  • Driving situation FS4:
    Unsecured railway crossing with approaching persons and/or motor vehicles

Ist in der Erfahrungsdatenbank EFD zu der Fahrsituation FS4 abgespeichert, dass Schienenfahrzeugführer die Geschwindigkeit reduzieren, wenn die Fahrsituation FS4 vorliegt, also sich ein Kraftfahrzeug einem ungesicherten Bahnübergang nähert, so kann das Auswahlmodul AM die zu der Fahrsituation FS4 abgespeicherten Stellbefehle SB auslesen und ausgeben, wenn eine solche Fahrsituation FS4 vom Beobachtungsmodul BM zum Beispiel anhand von Video-, Strecken- und Ortsdaten aktuell erkannt wird.If it is stored in the experience database EFD for the driving situation FS4 that rail vehicle drivers reduce speed when the driving situation FS4 occurs, i.e. a motor vehicle approaches an unsecured level crossing, the selection module AM can read out and output the control commands SB stored for the driving situation FS4 if such a driving situation FS4 is currently detected by the observation module BM, for example on the basis of video, route and location data.

Das beschriebene Verfahren erlaubt eine stufen- bzw. schrittweise Hochrüstung von einem Zugbetrieb mit einem Fahrer hin zu höheren Automatisierungsstufen ohne Fahrer und Begleiter. In einem Zugbetrieb mit Fahrer (entspricht GoA2 = Grade of Automation 2 = semiautomatisches Fahren mit Fahrer) können die verschiedenen Situationen und das Reagieren des Fahrers auf diese Situation von der Zugsteuerungseinrichtung 20 gelernt werden, indem diese in der Erfahrungsdatenbank EFD abgespeichert werden. So können möglichst viele Situationen gelernt werden, die beispielsweise bei einem vollautomatischen Betrieb ohne Fahrer (GoA3 = fahrerloses Fahren) von der automatischen Zugsteuerungseinrichtung gemeistert werden müssen. Auf diese Art und Weise kann die Einführung von vollautomatischen Systemen mit ihren erweiterten Anforderungen effektiv und systematisch unterstützt und vorbereitet werden.The method described allows a gradual or step-by-step upgrade from train operation with a driver to higher levels of automation without a driver and attendant. In train operation with a driver (corresponds to GoA2 = Grade of Automation 2 = semi-automatic driving with a driver), the various situations and the driver's reaction to this situation can be learned by the train control device 20 by storing them in the experience database EFD. In this way, as many situations as possible can be learned that must be mastered by the automatic train control device in fully automatic operation without a driver (GoA3 = driverless driving), for example. In this way, the introduction of fully automatic systems with their expanded requirements can be supported and prepared effectively and systematically.

Obwohl die Erfindung im Detail durch ein bevorzugtes Ausführungsbeispiel näher illustriert und beschrieben wurde, so ist die Erfindung nicht hierdurch eingeschränkt und andere Variationen können vom Fachmann hieraus abgeleitet werden, ohne den Schutzumfang der Erfindung zu verlassen.Although the invention has been illustrated and described in detail by means of a preferred embodiment, the invention is not limited thereby and other variations can be derived therefrom by those skilled in the art without departing from the scope of the invention.

Claims (5)

  1. Control method for operating a rail vehicle (10), wherein the method is carried out in a computer-assisted manner on the basis of a vehicle control program (50) and wherein the vehicle control program (50) works with the use of detected driving and/or environment data (FUD),
    characterised in that
    - an experience database (EFD) is accessed, in which actuating commands (SB) by a real rail vehicle driver during previous journeys are stored as a function of driving situations (FS),
    - wherein the stored driving situations (FS) are determined with the driving and/or environment data (FUD) detected by measurement during the previous journeys and are stored together with the corresponding actuating commands (SB) by the real rail vehicle driver.
  2. Method according to claim 1,
    characterised in that
    vehicle-specific driving behaviour data is at least also detected by measurement as driving and/or environment data (FUD) during the journey of the rail vehicle (10).
  3. Method according to one of the preceding claims,
    characterised in that
    previously detected driving and/or environment data (FUD) is updated during the journey of the rail vehicle (10).
  4. Method according to claim 1 to 3,
    characterised in that
    - during the journey sensor signals from sensors linked or connected to a control facility of the rail vehicle (10) are evaluated and the respective current driving situation (FS) is determined,
    - the self-determined current driving situation (FS) is compared with the driving situations (FS) stored in the experience database (EFD) and
    - if there is conformity or at least - in accordance with predefined conformity criteria - sufficient similarity between the respective self-detected driving situation (FS) and one of the stored driving situations (FS) in the experience database (EFD), the stored actuating commands (SB) by the real rail vehicle driver that correspond to the stored driving situation (FS) are read and output.
  5. Method according to one of the preceding claims,
    characterised in that
    the method is carried out on the rail vehicle side by means of a control facility installed on the rail vehicle side.
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