EP3655301B1 - Rail vehicle for transporting passengers - Google Patents

Rail vehicle for transporting passengers Download PDF

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Publication number
EP3655301B1
EP3655301B1 EP18759885.9A EP18759885A EP3655301B1 EP 3655301 B1 EP3655301 B1 EP 3655301B1 EP 18759885 A EP18759885 A EP 18759885A EP 3655301 B1 EP3655301 B1 EP 3655301B1
Authority
EP
European Patent Office
Prior art keywords
rail vehicle
wheels
vehicle
rail
control facility
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP18759885.9A
Other languages
German (de)
French (fr)
Other versions
EP3655301A1 (en
Inventor
Matthias Hofmann
Thorsten Jastrow
Dirk Winkler
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens Mobility GmbH
Original Assignee
Siemens Mobility GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens Mobility GmbH filed Critical Siemens Mobility GmbH
Priority to RS20230020A priority Critical patent/RS63902B1/en
Publication of EP3655301A1 publication Critical patent/EP3655301A1/en
Application granted granted Critical
Publication of EP3655301B1 publication Critical patent/EP3655301B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61C—LOCOMOTIVES; MOTOR RAILCARS
    • B61C17/00—Arrangement or disposition of parts; Details or accessories not otherwise provided for; Use of control gear and control systems
    • B61C17/12—Control gear; Arrangements for controlling locomotives from remote points in the train or when operating in multiple units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61C—LOCOMOTIVES; MOTOR RAILCARS
    • B61C9/00—Locomotives or motor railcars characterised by the type of transmission system used; Transmission systems specially adapted for locomotives or motor railcars
    • B61C9/38—Transmission systems in or for locomotives or motor railcars with electric motor propulsion
    • B61C9/46—Transmission systems in or for locomotives or motor railcars with electric motor propulsion with motors forming parts of wheels
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L21/00—Station blocking between signal boxes in one yard
    • B61L21/10—Arrangements for trains which are closely following one another
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
    • B61L23/041—Obstacle detection

Definitions

  • the invention relates to a rail vehicle for passenger transport.
  • Rail vehicle operators often want a rail vehicle used for passenger transport to have as large a passenger compartment as possible, given external dimensions.
  • a large passenger compartment enables a high passenger capacity to be achieved, which in turn enables cost-efficient operation of the rail vehicle and also has a positive effect on the specific energy consumption of the rail vehicle (energy consumption per passenger-kilometer) and on the specific pollutant emissions of the rail vehicle (pollutant emissions per passenger-kilometer).
  • a rail vehicle is known with an imaging system for capturing a space outside the rail vehicle, with which autonomous driving operation can be made possible.
  • An object of the invention is to provide a rail vehicle for passenger transport which can have a large passenger compartment.
  • the rail vehicle according to the invention for passenger transport is set up for fully autonomous driving. It includes a number of wheels, a sensor unit for monitoring a vehicle environment and a control device for evaluating sensor signals from the sensor unit and for controlling at least one of the wheels is set up, with the wheels being individual wheels, and with the rail vehicle having its own, in particular electric, drive unit for each of the wheels, with the respective drive unit being controllable using the control device, and with the respective drive unit being a wheel hub motor or a wheel hub motor includes.
  • Fully autonomous driving operation is to be understood as driving operation in which the rail vehicle is permanently controlled by the rail vehicle itself. In fully autonomous driving operation of the rail vehicle, no vehicle driver is required to control the rail vehicle.
  • the rail vehicle can drive fully autonomously, no vehicle driver's cab is required for a vehicle driver, so that the entire vehicle interior of the rail vehicle can be used as a passenger compartment, which ultimately means that a large passenger compartment can be obtained.
  • the wheels of the rail vehicle are designed as individual wheels (also referred to as loose wheels), the wheels require little installation space, for example for wheel housings to accommodate the wheels.
  • a larger vehicle interior and consequently a larger passenger compartment can be obtained by configuring the wheels as individual wheels.
  • the configuration of the wheels as individual wheels enables the rail vehicle to negotiate tight curves (ie curves with a small curve radius).
  • All wheels of the rail vehicle are preferably designed as individual wheels.
  • the rail vehicle preferably has wheels designed only as individual wheels.
  • the rail vehicle advantageously has four wheels, in particular precisely four wheels.
  • the wheels of the rail vehicle expediently form two pairs of wheels.
  • the control of a wheel by the control device can in particular be indirect control. That is, the controller can control the wheel by the controller controlling one or more devices acting on the wheel.
  • the autonomous driving operation of the rail vehicle can be implemented using the sensor unit and the control device.
  • the vehicle environment, in particular the route ahead, can be monitored with the aid of the sensor unit.
  • the sensor unit expediently generates sensor signals that are dependent on the state of the vehicle environment.
  • the sensor signals are advantageously evaluated by the control device. This allows the control device to control at least one of the wheels, preferably all wheels of the rail vehicle, depending on the situation.
  • the wheel or wheels are expediently controlled in accordance with the requirement that a collision of the rail vehicle with persons, other vehicles and/or other obstacles located in the vicinity of the vehicle is to be avoided.
  • control device can advantageously be configured in such a way that the control device brings about demand-dependent traffic management of the rail vehicle (instead of traffic management clocked according to a timetable).
  • the sensor unit is expediently communicatively connected to the control device.
  • the sensor unit can include one or more sensors.
  • the sensor unit can have at least one optoelectronic sensor, in particular at least one CCD sensor, and/or at least one ultrasonic sensor.
  • the monitoring of the vehicle environment can include, among other things, image analysis/recognition and/or a measurement of distances between the rail vehicle and persons or objects in the vehicle environment.
  • the control device expediently includes a processor for executing a computer program and a data memory in which a computer program can be stored. It is also advantageous if the control device is set up to generate control commands for one or more vehicle components—in particular based on an evaluation of the sensor signals.
  • the control device is preferably set up by a computer program, which is stored in the control device (more precisely in its data memory), for evaluating sensor signals and/or for generating control commands.
  • the control device is advantageously set up to control at least one of the wheels, preferably all wheels of the rail vehicle, as a function of the sensor signals from the sensor unit.
  • the wheels can be individually controlled using the control device.
  • the control device can control the wheels individually.
  • the wheels of the rail vehicle are single wheels, it is possible to optimize the driving dynamics of the rail vehicle.
  • the wheels can be controlled with the aid of the control device, for example, in such a way that as little noise as possible occurs when cornering and/or as little wear as possible occurs on the wheels and/or on the rails.
  • the wheels can be controlled using the control device in such a way that a comfort-optimized driving behavior of the rail vehicle is achieved.
  • the rail vehicle is preferably a tram vehicle.
  • a tram vehicle within the meaning of the invention can in particular be a light rail vehicle or subway vehicle.
  • the rail vehicle has a low-floor design.
  • the rail vehicle is advantageously a low-floor vehicle. This makes it easier for passengers whose mobility is restricted due to disability or age to get on and off the rail vehicle.
  • the rail vehicle preferably has an entry height of less than 400 mm. It is also preferred if the rail vehicle is designed without ramps and steps in the boarding area and/or in other areas of its passenger compartment.
  • the design of the wheels as individual wheels makes it possible to design the floor of the rail vehicle as low-floor in the area of the wheels, in particular since a wheel set shaft for each pair of wheels, which takes up a lot of installation space, can be omitted. This enables the installation of many and wide passenger access doors, which in turn allows short passenger changeover times, particularly when the rail vehicle is designed with a low-floor design.
  • the low-floor portion of the vehicle (over the length of the rail vehicle) is 100%. This means that the vehicle is preferably a so-called 100% low-floor vehicle.
  • the rail vehicle expediently comprises a car body with a first and a second end section. Two of the wheels are preferably at the first end portion of the car body arranged. Another two of the wheels are preferably arranged at the second end portion of the car body. Such an arrangement of the wheels enables the rail vehicle to be configured flexibly between the end sections of the car body, since wheel housings, which would limit the configurability of the rail vehicle there, can be omitted in the central region of the car body.
  • the rail vehicle is a one-piece rail vehicle.
  • the rail vehicle is advantageously a rail vehicle that has exactly one car body (namely the car body mentioned above).
  • Such an embodiment of the rail vehicle can be implemented with low cost and construction effort compared to an embodiment of the rail vehicle as a multi-part vehicle.
  • the wheels arranged on the first end section of the car body can be elements of a first running gear.
  • the wheels arranged on the second end section of the car body can be elements of a second running gear.
  • the respective running gear can have an axle bridge that does not rotate with the wheels, which is fastened to the car body and carries the wheels of the running gear.
  • the rail vehicle is equipped with at least one drive unit for driving at least one of the wheels.
  • the at least one drive unit can advantageously be controlled using the control device.
  • the rail vehicle has its own drive unit for each of the wheels. This makes it possible to drive the wheels individually.
  • the respective drive unit is in particular an electric drive unit.
  • the respective drive unit can be controlled with the aid of the control device.
  • the control device is preferably communicatively connected to the respective drive unit. Furthermore, the control device is preferably set up to generate control commands for each of the drive units.
  • the respective drive unit is a wheel hub motor or includes a wheel hub motor.
  • This drive concept is that little installation space is required, which has a positive effect on the size of the interior volume of the rail vehicle that can be used as a passenger compartment.
  • Another advantage of this drive concept compared to drive concepts with a central motor that drives several wheels is that each wheel can be controlled individually and thus, for example, optimized driving dynamics control, in particular anti-slip control or cornering with different wheel speeds, is possible.
  • the compact design and the possible omission of components of a classic drive system make it possible to reduce the weight of the rail vehicle.
  • the respective motor is set up to directly drive the wheel assigned to the motor.
  • the respective drive unit can have a gearbox which is connected between its motor and the wheel assigned to the motor.
  • the rail vehicle has at least one braking device for braking at least one of the wheels.
  • the at least one braking device can advantageously be controlled using the control device.
  • the rail vehicle has its own braking device for each of the wheels. This makes it possible to brake the wheels individually. Furthermore, it is advantageous if the respective braking device can be controlled with the aid of the control device.
  • control device is set up to control the respective braking device directly, in particular if the respective braking device can be actuated electrically or electromagnetically.
  • control device is preferably communicatively connected to the respective braking device.
  • control device is preferably set up to generate control commands for the respective braking device.
  • control device is set up to control the respective braking device indirectly, ie by controlling at least one device acting on the respective braking device, such as a valve of a compressed air system.
  • control device is preferably communicatively connected to such a device.
  • control device is preferably set up to generate control commands for such a device.
  • the wheels are preferably each pivoted about their own vertical axis.
  • the wheels are preferably individually pivotable.
  • a vertical axis is to be understood as meaning an axis which is aligned vertically when the rail vehicle is aligned as intended—ie when the wheels are supported on rails.
  • the rail vehicle has its own steering device for each of the wheels.
  • the respective steering device can, for example, be a steering rod or comprise a steering rod.
  • the respective steering device is expediently connected to the wheel assigned to it. the each steering device can be used to pivot its associated wheel about the associated vertical axis.
  • the respective steering device can advantageously be controlled with the aid of the control device.
  • the control device can be set up to generate control commands for an actuator which is part of the steering device or is connected to it.
  • the rail vehicle can have a further sensor unit for monitoring its vehicle interior.
  • the additional sensor unit can be used in particular for automatic passenger handling.
  • the entry and exit processes of passengers can be monitored using the additional sensor unit.
  • Sensor signals that are generated by the additional sensor unit are expediently dependent on the state of the vehicle interior.
  • the first-mentioned sensor unit can also be (jointly) used for automatic passenger handling, in particular for monitoring the boarding processes of passengers.
  • control device is communicatively connected to the further sensor unit.
  • the control device is preferably set up to evaluate sensor signals from the further sensor unit.
  • the additional sensor unit can include one or more sensors.
  • the additional sensor unit can have at least one optoelectronic sensor, in particular at least one CCD sensor, and/or at least one ultrasonic sensor.
  • the monitoring of the vehicle interior can include, among other things, image analysis/recognition and/or determination of the positions of people.
  • the rail vehicle preferably includes at least one passenger access door that can be controlled using the control device. Below a passenger access door is present to understand a door through which passengers can enter and exit the vehicle.
  • the control device is expediently communicatively connected to an actuating mechanism of the passenger access door.
  • the control device is preferably set up to generate control commands for the actuating mechanism.
  • control device is set up to control the passenger access door as a function of sensor signals from the first-mentioned sensor unit and/or sensor signals from the further sensor unit. This makes it possible to control the opening and closing of the passenger access door depending on the situation. For example, if the control device uses the sensor signals to determine that a person is in the area of a door opening of the passenger access door, the control device can wait to close the passenger access door until the person has left the area of the door opening and the closing of the passenger access door is safe.
  • the invention also relates to a rail vehicle fleet, which includes a first rail vehicle according to the invention and at least one further rail vehicle according to the invention.
  • a rail vehicle fleet is to be understood here as a group of rail vehicles.
  • control devices of the rail vehicles are communicatively connected to one another.
  • the control devices of the rail vehicles can exchange data/information with one another.
  • the respective rail vehicle is preferably equipped with a communication device for wireless communication with the other rail vehicle(s) in the rail vehicle fleet.
  • the control devices of the rail vehicles can be operated in an operating mode in which the control device of the at least one further rail vehicle can be controlled by the control device of the first rail vehicle.
  • the control device of the first rail vehicle advantageously generates control commands for the control device of the further rail vehicle or--if the rail vehicle fleet comprises several further rail vehicles--for the control devices of the further rail vehicles.
  • the control device of the first rail vehicle is set up to control the control device of the at least one other rail vehicle in said operating mode in such a way that the rail vehicles travel at the same speed during operation.
  • the rail vehicles can form a rail vehicle convoy without time-consuming mechanical coupling of the individual rail vehicles. This makes it possible to dispense with coupling devices for mechanically coupling the rail vehicles, as a result of which the outlay on construction and costs for the rail vehicles can be reduced.
  • FIG 1 shows a schematic side view of a rail vehicle fleet 2, which includes a first rail vehicle 4a for passenger transport and two other rail vehicles 4b, 4c for passenger transport, wherein the rail vehicle fleet 2 can in principle include a higher or lower number of rail vehicles.
  • the rail vehicles 4a, 4b, 4c are each a low-floor, one-piece tram vehicle.
  • Each of the rail vehicles 4a, 4b, 4c is set up for fully autonomous driving.
  • none of the rail vehicles 4a, 4b, 4c has a driver's compartment in its vehicle interior, so that the entire vehicle interior of the respective rail vehicle 4a, 4b, 4c is used as a passenger compartment.
  • each of the rail vehicles 4a, 4b, 4c has four wheels 6, with in FIG 1 only two wheels 6 are visible from each of the rail vehicles 4a, 4b, 4c.
  • the wheels 6 are each designed as individually controllable single wheels.
  • each of the rail vehicles 4a, 4b, 4c has a communication device 8 for wireless communication with the two other rail vehicles 4a, 4b, 4c.
  • the communication devices 8 can be radio communication devices, for example.
  • each of the rail vehicles 4a, 4b, 4c has a control device 10 which is communicatively connected to the communication device 8 of the respective rail vehicle 4a, 4b, 4c via an information transmission line 12.
  • the wheels 6 of the respective rail vehicle 4a, 4b, 4c can be controlled by means of the control device 10 thereof.
  • the control devices 10 of the rail vehicles 4a, 4b, 4c can exchange information with one another via the communication devices 8 .
  • each of the rail vehicles 4a, 4b, 4c has a plurality of passenger access doors 14 through which passengers can enter and exit the respective rail vehicle 4a, 4b, 4c.
  • the passenger access doors 14 of the respective rail vehicle 4a, 4b, 4c can be opened and closed by its control device 10.
  • each of the rail vehicles 4a, 4b, 4c has a plurality of sensor units 16 for monitoring its vehicle interior, which are connected to the control device 10 of the respective rail vehicle 4a, 4b, 4c via information transmission lines 12.
  • FIG 2 shows the first rail vehicle 4a of the rail vehicle fleet 2 as an example FIG 1 in a schematic sectional view.
  • FIG 2 all four wheels 6 and a car body 18 of the first rail vehicle 4a are shown. Two of the four wheels 6 are arranged on a first end section 20 of the car body 18, while the other two wheels 6 are arranged on a second end section 22 of the car body 18.
  • FIG 2 the aforementioned control device 10 and several other sensor units 24 of the rail vehicle 4a are shown. These further sensor units 24 are each connected to the control device 10 of the rail vehicle 4a via an information transmission line (not shown in the figure) and are used, among other things, for monitoring the vehicle surroundings 26 .
  • the rail vehicle 4a has a separate drive unit 28 for each of its four wheels 6, by means of which the respective wheel 6 can be driven.
  • the wheels 6 can therefore be driven individually.
  • the drive units 28 are each designed as a wheel hub motor.
  • Each of the drive units 28 is connected to the control device 10 via a control line (not shown in the figure) and can be controlled by the control device 10 .
  • the rail vehicle 4a has an electrodynamic brake for each of its wheels 6, which in particular can interact with the respective drive unit 28 and/or be integrated into the respective drive unit 28.
  • the respective electrodynamic brake can be a regenerative brake or a resistance brake.
  • the rail vehicle 4a also has an additional one for each of its four wheels 6 Braking device 30, in particular for emergency braking and / or to keep the rail vehicle 4a safe at a standstill.
  • the additional braking devices 30 are each designed as a mechanical friction brake—specifically in the present case as a disc brake—other design variants being fundamentally possible.
  • each of the additional braking devices 30 comprises a brake disc 32 which is connected directly or indirectly (for example via the respective drive unit 28 ) to the associated wheel 6 so that the brake disc 32 rotates with the wheel 6 .
  • each of the additional braking devices 30 includes a brake caliper 34 that interacts with its brake disc 32 and can be actuated by means of an actuator unit (not shown in the figure), which can be operated pneumatically, hydraulically, or electromechanically, for example, with each braking device 30 having its own actuator unit.
  • the braking devices 30 can be controlled individually with the aid of the actuator units.
  • the actuator units are each connected to the control device 10 via a control line (not shown in the figure) and can be controlled by the control device 10 .
  • Each of the wheels 6 has its own (to the drawing level of the FIG 2 vertical) vertical axis 36 pivoted.
  • the rail vehicle 4a has its own steering device 38 for each of its wheels 6 in order to swivel the wheels 6 .
  • Each of the steering devices 38 comprises a steering rod 40 and an actuator 42 coupled to the steering rod 40, by means of which the steering rod 40 can be driven and which is connected to the control device 10 via a control line (not shown in the figure) and can be controlled by the control device 10.
  • the wheels 6 can be controlled individually with the aid of the control device 10 . Controlling the wheels 6 by the controller 10 takes place indirectly, namely in that the control device 10 controls the drive unit 28, braking device 30 and steering device 38 assigned to the respective wheel 6.
  • the rail vehicle 4a stops at a stop, its passenger access doors 14 are opened by the control device 10 so that passengers can enter or leave the rail vehicle 4a.
  • the previously mentioned sensor units 16, 24 generate sensor signals and transmit them to the control device 10.
  • the control device 10 uses the sensor signals to monitor the boarding and alighting processes of passengers.
  • the control device 10 determines the positions of people inside and outside of the rail vehicle 4a and analyzes their movement behavior.
  • the passenger access doors 14 are closed again by the control device 10 .
  • the imminent closing of the passenger access doors 14 is announced beforehand by a signal tone.
  • the control device 10 delays the closing of the corresponding passenger access door 14 until the person has left the area of the door opening and the closing of the passenger access door 14 is safe. If the control device 10 recognizes from the movement behavior of an approaching person analyzed by it that the person wants to get on the rail vehicle 4a, the control device 10 can - if the timetable to be adhered to allows it - delay the closing of the passenger access door 14 until the person has entered the rail vehicle 4a boarded.
  • the control device 10 monitors the vehicle environment 26 using the sensor signals generated by the additional sensor units 24.
  • the control device 10 determines the distances from people located in the vehicle surroundings 26 and vehicles and analyzes their movement behavior.
  • the control device 10 controls the wheels 6 of the rail vehicle 4a.
  • the wheels 6 are controlled in fully autonomous driving mode in such a way that there is no collision between the rail vehicle 4a and persons and/or other vehicles.
  • the two other rail vehicles 4b, 4c of the rail vehicle fleet 2 FIG 1 are identical to the first rail vehicle 4a.
  • the above statements on the first rail vehicle 4a apply in an analogous manner to the two other rail vehicles 4b, 4c of the rail vehicle fleet 2.
  • control devices 10 of the rail vehicles 4a, 4b, 4c can be operated in an operating mode in which the control devices 10 of the two other rail vehicles 4b, 4c can be controlled by the control device 10 of the first rail vehicle 4a.
  • control devices 10 can be operated in an operating mode in which the control device 10 of the first rail vehicle 4a generates control commands for the control devices 10 of the two other rail vehicles 4b, 4c.
  • the control device 10 of the first rail vehicle 4a When generating the control commands for the control devices 10 of the two other rail vehicles 4b, 4c, the control device 10 of the first rail vehicle 4a takes into account sensor signals generated by the sensor units 16, 24 of the two other rail vehicles 4b, 4c and sent to the first rail vehicle with the aid of the communication devices 8 4a are transmitted.
  • the control devices 10 of the two further rail vehicles 4b, 4c generate control commands for components of the respective further rail vehicle 4b, 4c as a function of the control commands which they receive from the control device 10 of the first rail vehicle 4a.
  • the control device 10 of the first rail vehicle 4a is set up to control the control devices 10 of the two other rail vehicles 4b, 4c in said operating mode in such a way that the rail vehicles 4a, 4b, 4c travel at the same speed during operation. What is achieved in this way is that the rail vehicles 4a, 4b, 4c form a rail vehicle formation in which the rail vehicles 4a, 4b, 4c are coupled “virtually” (ie without mechanical coupling). Since mechanical coupling devices are not required in order to form a rail vehicle assembly with the rail vehicles 4a, 4b, 4c, the rail vehicles 4a, 4b, 4c can each be designed without mechanical coupling devices.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)

Description

Die Erfindung betrifft ein Schienenfahrzeug zur Personenbeförderung.The invention relates to a rail vehicle for passenger transport.

Von Schienenfahrzeugbetreibern ist oftmals gewünscht, dass ein zur Personenbeförderung genutztes Schienenfahrzeug - bei vorgegebenen Außenabmessungen - einen möglichst großen Fahrgastraum aufweist.Rail vehicle operators often want a rail vehicle used for passenger transport to have as large a passenger compartment as possible, given external dimensions.

Durch einen großen Fahrgastraum lässt sich eine hohe Fahrgastkapazität erreichen, die ihrerseits einen kosteneffizienten Betrieb des Schienenfahrzeugs ermöglicht und sich zudem positiv auf den spezifischen Energieverbrauch des Schienenfahrzeugs (Energieverbrauch pro Personenkilometer) sowie auf die spezifische Schadstoffemission des Schienenfahrzeugs (Schadstoffemission pro Personenkilometer) auswirkt.A large passenger compartment enables a high passenger capacity to be achieved, which in turn enables cost-efficient operation of the rail vehicle and also has a positive effect on the specific energy consumption of the rail vehicle (energy consumption per passenger-kilometer) and on the specific pollutant emissions of the rail vehicle (pollutant emissions per passenger-kilometer).

Aus der DE 10 2014 222 900 A1 ist ein Schienenfahrzeug mit einem Bilderzeugungssystem zur Erfassung eines Raumes außerhalb des Schienenfahrzeugs bekannt, mit dem ein autonomer Fahrbetrieb ermöglicht werden kann.From the DE 10 2014 222 900 A1 a rail vehicle is known with an imaging system for capturing a space outside the rail vehicle, with which autonomous driving operation can be made possible.

Eine Aufgabe der Erfindung ist es, ein Schienenfahrzeug zur Personenbeförderung bereitzustellen, welches einen großen Fahrgastraum aufweisen kann.An object of the invention is to provide a rail vehicle for passenger transport which can have a large passenger compartment.

Diese Aufgabe wird erfindungsgemäß gelöst durch ein Schienenfahrzeug nach Anspruch 1.This object is achieved according to the invention by a rail vehicle according to claim 1.

Das erfindungsgemäße Schienenfahrzeug zur Personenbeförderung ist für einen vollautonomen Fahrbetrieb eingerichtet. Es umfasst mehrere Räder, eine Sensoreinheit zum Überwachen einer Fahrzeugumgebung und eine Steuereinrichtung, die zum Auswerten von Sensorsignalen der Sensoreinheit sowie zum Steuern mindestens eines der Räder eingerichtet ist, wobei die Räder Einzelräder sind, und wobei das Schienenfahrzeug eine eigene, insbesondere elektrische Antriebseinheit für jedes der Räder aufweist, wobei die jeweilige Antriebseinheit mithilfe der Steuereinrichtung steuerbar ist, und wobei die jeweilige Antriebseinheit ein Radnabenmotor ist oder einen Radnabenmotor umfasst.The rail vehicle according to the invention for passenger transport is set up for fully autonomous driving. It includes a number of wheels, a sensor unit for monitoring a vehicle environment and a control device for evaluating sensor signals from the sensor unit and for controlling at least one of the wheels is set up, with the wheels being individual wheels, and with the rail vehicle having its own, in particular electric, drive unit for each of the wheels, with the respective drive unit being controllable using the control device, and with the respective drive unit being a wheel hub motor or a wheel hub motor includes.

Vorteilhafte Weiterbildungen der Erfindung sind Gegenstand der abhängigen Patentansprüche sowie der nachfolgenden Beschreibung.Advantageous developments of the invention are the subject of the dependent patent claims and the following description.

Unter einem vollautonomen Fahrbetrieb ist ein Fahrbetrieb zu verstehen, bei dem die Führung des Schienenfahrzeugs dauerhaft vom Schienenfahrzeug selbst übernommen wird. Im vollautonomen Fahrbetrieb des Schienenfahrzeugs ist kein Fahrzeugführer erforderlich, um das Schienenfahrzeug zu steuern.Fully autonomous driving operation is to be understood as driving operation in which the rail vehicle is permanently controlled by the rail vehicle itself. In fully autonomous driving operation of the rail vehicle, no vehicle driver is required to control the rail vehicle.

Da das Schienenfahrzeug vollautonom fahren kann, wird kein Fahrzeugführerraum für einen Fahrzeugführer benötigt, sodass der gesamte Fahrzeuginnenraum des Schienenfahrzeugs als Fahrgastraum genutzt werden kann, wodurch letztlich ein großer Fahrgastraum erhalten werden kann.Since the rail vehicle can drive fully autonomously, no vehicle driver's cab is required for a vehicle driver, so that the entire vehicle interior of the rail vehicle can be used as a passenger compartment, which ultimately means that a large passenger compartment can be obtained.

Da die Räder des Schienenfahrzeugs als Einzelräder ausgebildet sind (auch als Losräder bezeichnet), benötigen die Räder wenig Bauraum, beispielsweise für Radkästen zur Aufnahme der Räder. Insbesondere im Vergleich zu einem vierrädrigen Drehgestell, bei dem die Räder paarweise durch eine Radsatzwelle verbunden sind, kann durch die Ausgestaltung der Räder als Einzelräder ein größerer Fahrzeuginnenraum und folglich ein größerer Fahrgastraum erhalten werden.Since the wheels of the rail vehicle are designed as individual wheels (also referred to as loose wheels), the wheels require little installation space, for example for wheel housings to accommodate the wheels. In particular, in comparison to a four-wheel bogie, in which the wheels are connected in pairs by a wheelset axle, a larger vehicle interior and consequently a larger passenger compartment can be obtained by configuring the wheels as individual wheels.

Zudem ermöglicht es die Ausgestaltung der Räder als Einzelräder, dass das Schienenfahrzeug enge Kurven (d. h. Kurven mit geringem Kurvenradius) durchfahren kann.In addition, the configuration of the wheels as individual wheels enables the rail vehicle to negotiate tight curves (ie curves with a small curve radius).

In bevorzugter Weise sind alle Räder des Schienenfahrzeugs als Einzelräder ausgebildet. Mit anderen Worten, das Schienenfahrzugs weist vorzugsweise nur als Einzelräder ausgebildete Räder auf.All wheels of the rail vehicle are preferably designed as individual wheels. In other words, the rail vehicle preferably has wheels designed only as individual wheels.

Vorteilhafterweise hat das Schienenfahrzeug vier Räder, insbesondere genau vier Räder. Zweckmäßigerweise bilden die Räder des Schienenfahrzeugs zwei Paare von Rädern.The rail vehicle advantageously has four wheels, in particular precisely four wheels. The wheels of the rail vehicle expediently form two pairs of wheels.

Das Steuern eines Rads durch die Steuereinrichtung kann insbesondere ein mittelbares Steuern sein. Das heißt, die Steuereinrichtung kann das Rad steuern, indem die Steuereinrichtung eine oder mehrere Vorrichtungen steuert, welche auf das Rad einwirkt/einwirken.The control of a wheel by the control device can in particular be indirect control. That is, the controller can control the wheel by the controller controlling one or more devices acting on the wheel.

Der autonome Fahrbetrieb des Schienenfahrzeugs kann mithilfe der Sensoreinheit und der Steuereinrichtung realisiert werden. Mithilfe der Sensoreinheit kann die Fahrzeugumgebung, insbesondere der vorausliegende Fahrweg, überwacht werden. Zweckmäßigerweise erzeugt die Sensoreinheit Sensorsignale, die vom Zustand der Fahrzeugumgebung abhängig sind. Die Sensorsignale werden vorteilhafterweise von der Steuereinrichtung ausgewertet. Dies ermöglicht der Steuereinrichtung, mindestens eines der Räder, vorzugsweise alle Räder des Schienenfahrzeugs, situationsabhängig zu steuern. Zweckmäßigerweise erfolgt das Steuern des Rads bzw. der Räder gemäß der Anforderung, dass eine Kollision des Schienenfahrzeugs mit in der Fahrzeugumgebung befindlichen Personen, anderen Fahrzeugen und/oder sonstigen Hindernissen zu vermeiden ist.The autonomous driving operation of the rail vehicle can be implemented using the sensor unit and the control device. The vehicle environment, in particular the route ahead, can be monitored with the aid of the sensor unit. The sensor unit expediently generates sensor signals that are dependent on the state of the vehicle environment. The sensor signals are advantageously evaluated by the control device. This allows the control device to control at least one of the wheels, preferably all wheels of the rail vehicle, depending on the situation. The wheel or wheels are expediently controlled in accordance with the requirement that a collision of the rail vehicle with persons, other vehicles and/or other obstacles located in the vicinity of the vehicle is to be avoided.

Ferner ist die Steuereinrichtung vorteilhafterweise so konfigurierbar, dass die Steuereinrichtung eine bedarfsabhängige Verkehrsführung des Schienenfahrzeugs (anstatt einer zeitlich nach einem Fahrplan getakteten Verkehrsführung) bewirkt.In addition, the control device can advantageously be configured in such a way that the control device brings about demand-dependent traffic management of the rail vehicle (instead of traffic management clocked according to a timetable).

Zweckmäßigerweise ist die Sensoreinheit mit der Steuereinrichtung kommunikativ verbunden. Die Sensoreinheit kann einen oder mehrere Sensoren umfassen. Zum Beispiel kann die Sensoreinheit mindestens einen optoelektronischen Sensor, insbesondere mindestens einen CCD-Sensor, und/oder mindestens einen Ultraschallsensor aufweisen.The sensor unit is expediently communicatively connected to the control device. The sensor unit can include one or more sensors. For example, the sensor unit can have at least one optoelectronic sensor, in particular at least one CCD sensor, and/or at least one ultrasonic sensor.

Das Überwachen der Fahrzeugumgebung kann unter anderem eine Bildauswertung/-erkennung und/oder eine Messung von Abständen des Schienenfahrzeugs zu Personen oder Objekten in der Fahrzeugumgebung umfassen.The monitoring of the vehicle environment can include, among other things, image analysis/recognition and/or a measurement of distances between the rail vehicle and persons or objects in the vehicle environment.

Zweckmäßigerweise umfasst die Steuereinrichtung einen Prozessor zur Ausführung eines Computerprogramms sowie einen Datenspeicher, in dem ein Computerprogramm hinterlegt werden kann. Weiter ist es vorteilhaft, wenn die Steuereinrichtung dazu eingerichtet ist, Steuerbefehle für eine oder mehrere Fahrzeugkomponenten zu erzeugen - insbesondere basierend auf einer Auswertung der Sensorsignale.The control device expediently includes a processor for executing a computer program and a data memory in which a computer program can be stored. It is also advantageous if the control device is set up to generate control commands for one or more vehicle components—in particular based on an evaluation of the sensor signals.

Vorzugsweise ist die Steuereinrichtung durch ein Computerprogramm, welches in der Steuereinrichtung (genauer gesagt in deren Datenspeicher) hinterlegt ist, zum Auswerten von Sensorsignalen und/oder zum Erzeugen von Steuerbefehlen eingerichtet.The control device is preferably set up by a computer program, which is stored in the control device (more precisely in its data memory), for evaluating sensor signals and/or for generating control commands.

Vorteilhafterweise ist die Steuereinrichtung dazu eingerichtet, mindestens eines der Räder, vorzugsweise alle Räder des Schienenfahrzeugs, in Abhängigkeit der Sensorsignale der Sensoreinheit zu steuern.The control device is advantageously set up to control at least one of the wheels, preferably all wheels of the rail vehicle, as a function of the sensor signals from the sensor unit.

Weiter ist es vorteilhaft, wenn die Räder mithilfe der Steuereinrichtung individuell steuerbar sind. Mit anderen Worten, es ist vorteilhaft, wenn die Steuereinrichtung die Räder individuell steuern kann.It is also advantageous if the wheels can be individually controlled using the control device. In other words, it is advantageous if the control device can control the wheels individually.

Da die Räder des Schienenfahrzeugs Einzelräder sind, ist eine Optimierung der Fahrdynamik des Schienenfahrzeugs möglich. Die Räder können mithilfe der Steuereinrichtung beispielsweise so gesteuert werden, dass bei einer Kurvenfahrt möglichst wenig Lärm entsteht und/oder möglichst wenig Verschleiß an den Rädern und/oder an Schienen entsteht. Zudem können die Räder mithilfe der Steuereinrichtung so gesteuert werden, dass ein komfortoptimiertes Fahrverhalten des Schienenfahrzeugs erreicht wird.Since the wheels of the rail vehicle are single wheels, it is possible to optimize the driving dynamics of the rail vehicle. The wheels can be controlled with the aid of the control device, for example, in such a way that as little noise as possible occurs when cornering and/or as little wear as possible occurs on the wheels and/or on the rails. In addition, the wheels can be controlled using the control device in such a way that a comfort-optimized driving behavior of the rail vehicle is achieved.

In bevorzugter Weise ist das Schienenfahrzeug ein Straßenbahnfahrzeug. Ein Straßenbahnfahrzeug im Sinne der Erfindung kann insbesondere ein Stadtbahn-Fahrzeug oder U-Bahn-Fahrzeug sein.The rail vehicle is preferably a tram vehicle. A tram vehicle within the meaning of the invention can in particular be a light rail vehicle or subway vehicle.

Vorteilhafterweise ist das Schienenfahrzeug in Niederflurbauweise ausgeführt. Mit anderen Worten, das Schienenfahrzeug ist vorteilhafterweise ein Niederflurfahrzeug. Dadurch können Fahrgästen, die behinderungs- oder altersbedingt in ihrer Mobilität eingeschränkt sind, der Einstieg in das Schienenfahrzeug und der Ausstieg aus dem Schienenfahrzeug erleichtert werden. Das Schienenfahrzeug hat vorzugsweise eine Einstiegshöhe von weniger als 400 mm. Weiter ist es bevorzugt, wenn das Schienenfahrzeug im Einstiegsbereich und/oder in anderen Bereichen seines Fahrgastraums ohne Rampen und Stufen ausgeführt ist.Advantageously, the rail vehicle has a low-floor design. In other words, the rail vehicle is advantageously a low-floor vehicle. This makes it easier for passengers whose mobility is restricted due to disability or age to get on and off the rail vehicle. The rail vehicle preferably has an entry height of less than 400 mm. It is also preferred if the rail vehicle is designed without ramps and steps in the boarding area and/or in other areas of its passenger compartment.

Die Ausgestaltung der Räder als Einzelräder ermöglicht es, den Fußboden des Schienenfahrzeugs auch im Bereich der Räder niederflurig auszubilden, insbesondere da eine viel Bauraum beanspruchende Radsatzwelle für jedes Paar von Rädern entfallen kann. Dies ermöglicht den Einbau vieler und breiter Fahrgastzugangstüren, was wiederum kurze Fahrgastwechselzeiten erlaubt, insbesondere bei einer Ausführung des Schienenfahrzeugs in Niederflurbauweise.The design of the wheels as individual wheels makes it possible to design the floor of the rail vehicle as low-floor in the area of the wheels, in particular since a wheel set shaft for each pair of wheels, which takes up a lot of installation space, can be omitted. This enables the installation of many and wide passenger access doors, which in turn allows short passenger changeover times, particularly when the rail vehicle is designed with a low-floor design.

Besonders bevorzugt ist es, wenn der Niederfluranteil des Fahrzeugs (über die Länge des Schienenfahrzeugs) 100% beträgt. Das heißt, in bevorzugter Weise ist das Fahrzeug ein sogenanntes 100%-Niederflurfahrzeug.It is particularly preferred if the low-floor portion of the vehicle (over the length of the rail vehicle) is 100%. This means that the vehicle is preferably a so-called 100% low-floor vehicle.

Zweckmäßigerweise umfasst das Schienenfahrzeug einen Wagenkasten mit einem ersten und einem zweiten Endabschnitt. Zwei der Räder sind vorzugsweise am ersten Endabschnitt des Wagenkastens angeordnet. Zwei andere der Räder sind vorzugsweise am zweiten Endabschnitt des Wagenkastens angeordnet. Eine solche Anordnung der Räder ermöglicht eine flexible Konfigurierbarkeit des Schienenfahrzeugs zwischen den Endabschnitten des Wagenkastens, da im mittleren Bereich des Wagenkastens Radkästen, welche dort die Konfigurierbarkeit des Schienenfahrzeugs einschränken würden, entfallen können.The rail vehicle expediently comprises a car body with a first and a second end section. Two of the wheels are preferably at the first end portion of the car body arranged. Another two of the wheels are preferably arranged at the second end portion of the car body. Such an arrangement of the wheels enables the rail vehicle to be configured flexibly between the end sections of the car body, since wheel housings, which would limit the configurability of the rail vehicle there, can be omitted in the central region of the car body.

Weiter ist es vorteilhaft, wenn das Schienenfahrzeug ein einteiliges Schienenfahrzeug ist. Das heißt, das Schienenfahrzeug ist vorteilhafterweise ein Schienenfahrzeug, das genau einen Wagenkasten (nämlich den zuvor genannten Wagenkasten) aufweist. Eine solche Ausgestaltung des Schienenfahrzeugs ist, verglichen mit einer Ausgestaltung des Schienenfahrzeugs als mehrteiliges Fahrzeug, mit geringem Kosten- und Konstruktionsaufwand realisierbar.It is also advantageous if the rail vehicle is a one-piece rail vehicle. This means that the rail vehicle is advantageously a rail vehicle that has exactly one car body (namely the car body mentioned above). Such an embodiment of the rail vehicle can be implemented with low cost and construction effort compared to an embodiment of the rail vehicle as a multi-part vehicle.

Des Weiteren können die am ersten Endabschnitt des Wagenkastens angeordneten Räder Elemente eines ersten Fahrwerks sein. Die am zweiten Endabschnitt des Wagenkastens angeordneten Räder hingegen können Elemente eines zweiten Fahrwerks sein. Das jeweilige Fahrwerk kann eine nicht mit den Rädern mitdrehende Achsbrücke aufweisen, die am Wagenkasten befestigt ist und die Räder des Fahrwerks trägt.Furthermore, the wheels arranged on the first end section of the car body can be elements of a first running gear. The wheels arranged on the second end section of the car body, on the other hand, can be elements of a second running gear. The respective running gear can have an axle bridge that does not rotate with the wheels, which is fastened to the car body and carries the wheels of the running gear.

Ferner ist es zweckmäßig, wenn das Schienenfahrzeug mit mindestens einer Antriebseinheit zum Antreiben mindestens eines der Räder ausgestattet ist. Die mindestens eine Antriebseinheit ist vorteilhafterweise mithilfe der Steuereinrichtung steuerbar.Furthermore, it is expedient if the rail vehicle is equipped with at least one drive unit for driving at least one of the wheels. The at least one drive unit can advantageously be controlled using the control device.

Erfindungsgemäß weist das Schienenfahrzeug für jedes der Räder eine eigene Antriebseinheit auf. Dies ermöglicht es, die Räder individuell anzutreiben. Die jeweilige Antriebseinheit ist insbesondere eine elektrische Antriebseinheit. Erfindungsgemäß ist die jeweilige Antriebseinheit mithilfe der Steuereinrichtung steuerbar. Vorzugsweise ist die Steuereinrichtung mit der jeweiligen Antriebseinheit kommunikativ verbunden. Weiter ist die Steuereinrichtung vorzugsweise dazu eingerichtet, für jede der Antriebseinheiten Steuerbefehle zu erzeugen.According to the invention, the rail vehicle has its own drive unit for each of the wheels. This makes it possible to drive the wheels individually. The respective drive unit is in particular an electric drive unit. According to the invention, the respective drive unit can be controlled with the aid of the control device. The control device is preferably communicatively connected to the respective drive unit. Furthermore, the control device is preferably set up to generate control commands for each of the drive units.

Erfindungsgemäß ist die jeweilige Antriebseinheit ein Radnabenmotor oder umfasst einen Radnabenmotor. Ein Vorteil dieses Antriebskonzeptes ist, dass wenig Bauraum benötigt wird, was sich positiv auf die Größe des als Fahrgastraum nutzbaren Innenvolumens des Schienenfahrzeugs auswirkt. Ein weiterer Vorteil dieses Antriebskonzeptes gegenüber Antriebskonzepten mit einem zentralen Motor, der mehrere Räder antreibt, ist, dass jedes Rad individuell ansteuerbar ist und somit zum Beispiel eine optimierte Fahrdynamikregelung, insbesondere eine Anti-Schlupfregelung oder eine Kurvenfahrt mit unterschiedlichen Rad-Drehzahlen, möglich ist. Zusätzlich wird durch die kompakte Bauweise und den möglichen Entfall von Komponenten eines klassischen Antriebssystems eine Verringerung des Gewichts des Schienenfahrzeugs ermöglicht.According to the invention, the respective drive unit is a wheel hub motor or includes a wheel hub motor. One advantage of this drive concept is that little installation space is required, which has a positive effect on the size of the interior volume of the rail vehicle that can be used as a passenger compartment. Another advantage of this drive concept compared to drive concepts with a central motor that drives several wheels is that each wheel can be controlled individually and thus, for example, optimized driving dynamics control, in particular anti-slip control or cornering with different wheel speeds, is possible. In addition, the compact design and the possible omission of components of a classic drive system make it possible to reduce the weight of the rail vehicle.

In einer vorteilhaften Erfindungsvariante ist der jeweilige Motor dazu eingerichtet, das dem Motor zugeordnete Rad direkt anzutreiben. Alternativ kann die jeweilige Antriebseinheit ein Getriebe aufweisen, das zwischen ihren Motor und das dem Motor zugeordnete Rad geschaltet ist.In an advantageous variant of the invention, the respective motor is set up to directly drive the wheel assigned to the motor. Alternatively, the respective drive unit can have a gearbox which is connected between its motor and the wheel assigned to the motor.

Weiterhin ist es zweckmäßig, wenn das Schienenfahrzeug mindestens eine Bremsvorrichtung zum Abbremsen mindestens eines der Räder aufweist. Die mindestens eine Bremsvorrichtung ist vorteilhafterweise mithilfe der Steuereinrichtung steuerbar.Furthermore, it is expedient if the rail vehicle has at least one braking device for braking at least one of the wheels. The at least one braking device can advantageously be controlled using the control device.

Darüber hinaus kann vorgesehen sein, dass das Schienenfahrzeug für jedes der Räder eine eigene Bremsvorrichtung aufweist. Dies ermöglicht es, die Räder individuell abzubremsen. Des Weiteren ist es vorteilhaft, wenn die jeweilige Bremsvorrichtung mithilfe der Steuereinrichtung steuerbar ist.In addition, it can be provided that the rail vehicle has its own braking device for each of the wheels. This makes it possible to brake the wheels individually. Furthermore, it is advantageous if the respective braking device can be controlled with the aid of the control device.

In einer vorteilhaften Ausführungsvariante der Erfindung ist die Steuereinrichtung dazu eingerichtet, die jeweilige Bremsvorrichtung direkt zu steuern, insbesondere falls die jeweilige Bremsvorrichtung elektrisch oder elektromagnetisch betätigbar ist. Bei dieser Ausführungsvariante ist die Steuereinrichtung vorzugsweise mit der jeweiligen Bremsvorrichtung kommunikativ verbunden. Weiter ist die Steuereinrichtung vorzugsweise dazu eingerichtet, für die jeweilige Bremsvorrichtung Steuerbefehle zu erzeugen.In an advantageous embodiment variant of the invention, the control device is set up to control the respective braking device directly, in particular if the respective braking device can be actuated electrically or electromagnetically. In this embodiment variant, the control device is preferably communicatively connected to the respective braking device. Furthermore, the control device is preferably set up to generate control commands for the respective braking device.

In einer anderen vorteilhaften Ausführungsvariante der Erfindung ist die Steuereinrichtung dazu eingerichtet, die jeweilige Bremsvorrichtung indirekt zu steuern, also durch Steuern mindestens einer auf die jeweilige Bremsvorrichtung einwirkenden Vorrichtung, wie zum Beispiel eines Ventils eines Druckluftsystems. Bei dieser Ausführungsvariante ist die Steuereinrichtung vorzugsweise mit solch einer Vorrichtung kommunikativ verbunden. Weiter ist die Steuereinrichtung vorzugsweise dazu eingerichtet, Steuerbefehle für eine solche Vorrichtung zu erzeugen.In another advantageous embodiment variant of the invention, the control device is set up to control the respective braking device indirectly, ie by controlling at least one device acting on the respective braking device, such as a valve of a compressed air system. In this embodiment variant, the control device is preferably communicatively connected to such a device. Furthermore, the control device is preferably set up to generate control commands for such a device.

Vorzugsweise sind die Räder jeweils um eine eigene Hochachse schwenkbar gelagert. Mit anderen Worten, die Räder sind vorzugsweise individuell schwenkbar. Unter einer Hochachse ist vorliegend eine Achse zu verstehen, die bei bestimmungsgemäßer Ausrichtung des Schienenfahrzeugs - also, wenn die Räder auf Schienen abgestützt sind - vertikal ausgerichtet ist.The wheels are preferably each pivoted about their own vertical axis. In other words, the wheels are preferably individually pivotable. In the present case, a vertical axis is to be understood as meaning an axis which is aligned vertically when the rail vehicle is aligned as intended—ie when the wheels are supported on rails.

Weiter ist es bevorzugt, wenn das Schienenfahrzeug für jedes der Räder eine eigene Lenkvorrichtung aufweist. Die jeweilige Lenkvorrichtung kann zum Beispiel eine Lenkstange sein oder eine Lenkstange umfassen. Zweckmäßigerweise ist die jeweilige Lenkvorrichtung mit dem ihr zugeordneten Rad verbunden. Die jeweilige Lenkvorrichtung kann dazu genutzt werden, dass ihr zugeordnete Rad um die zugehörige Hochachse zu schwenken.It is also preferred if the rail vehicle has its own steering device for each of the wheels. The respective steering device can, for example, be a steering rod or comprise a steering rod. The respective steering device is expediently connected to the wheel assigned to it. the each steering device can be used to pivot its associated wheel about the associated vertical axis.

Vorteilhafterweise ist die jeweilige Lenkvorrichtung mithilfe der Steuereinrichtung steuerbar. Die Steuereinrichtung kann insbesondere dazu eingerichtet sein, Steuerbefehle für einen Aktor zu erzeugen, der Teil der Lenkvorrichtung ist oder mit dieser verbunden ist.The respective steering device can advantageously be controlled with the aid of the control device. In particular, the control device can be set up to generate control commands for an actuator which is part of the steering device or is connected to it.

Ferner kann das Schienenfahrzeug eine weitere Sensoreinheit zum Überwachen seines Fahrzeuginnenraums aufweisen. Die weitere Sensoreinheit kann insbesondere für eine automatische Fahrgastabfertigung genutzt werden. Beispielsweise können mithilfe der weiteren Sensoreinheit Ein- und Ausstiegsvorgänge von Fahrgästen überwacht werden. Zweckmäßigerweise sind Sensorsignale, die von der weiteren Sensoreinheit erzeugt werden, vom Zustand des Fahrzeuginnenraums abhängig. Für eine automatische Fahrgastabfertigung, insbesondere für eine Überwachung der Einstiegsvorgänge von Fahrgästen, kann außerdem die erstgenannte Sensoreinheit (mit-)genutzt werden.Furthermore, the rail vehicle can have a further sensor unit for monitoring its vehicle interior. The additional sensor unit can be used in particular for automatic passenger handling. For example, the entry and exit processes of passengers can be monitored using the additional sensor unit. Sensor signals that are generated by the additional sensor unit are expediently dependent on the state of the vehicle interior. The first-mentioned sensor unit can also be (jointly) used for automatic passenger handling, in particular for monitoring the boarding processes of passengers.

Des Weiteren ist es zweckmäßig, wenn die Steuereinrichtung mit der weiteren Sensoreinheit kommunikativ verbunden ist. Vorzugsweise ist die Steuereinrichtung zum Auswerten von Sensorsignalen der weiteren Sensoreinheit eingerichtet.Furthermore, it is expedient if the control device is communicatively connected to the further sensor unit. The control device is preferably set up to evaluate sensor signals from the further sensor unit.

Die weitere Sensoreinheit kann einen oder mehrere Sensoren umfassen. Zum Beispiel kann die weitere Sensoreinheit mindestens einen optoelektronischen Sensor, insbesondere mindestens einen CCD-Sensor, und/oder mindestens einen Ultraschallsensor aufweisen. Das Überwachen des Fahrzeuginnenraums kann unter anderem eine Bildauswertung/-erkennung und/oder eine Ermittlung der Positionen von Personen umfassen.The additional sensor unit can include one or more sensors. For example, the additional sensor unit can have at least one optoelectronic sensor, in particular at least one CCD sensor, and/or at least one ultrasonic sensor. The monitoring of the vehicle interior can include, among other things, image analysis/recognition and/or determination of the positions of people.

In bevorzugter Weise umfasst das Schienenfahrzeug mindestens eine Fahrgastzugangstür, die mithilfe der Steuereinrichtung steuerbar ist. Unter einer Fahrgastzugangstür ist vorliegend eine Tür zu verstehen, durch welche Fahrgäste das Fahrzeug betreten und verlassen können.The rail vehicle preferably includes at least one passenger access door that can be controlled using the control device. Below a passenger access door is present to understand a door through which passengers can enter and exit the vehicle.

Zweckmäßigerweise ist die Steuereinrichtung kommunikativ mit einem Betätigungsmechanismus der Fahrgastzugangstür verbunden. Zudem ist die Steuereinrichtung vorzugsweise dazu eingerichtet, Steuerbefehle für den Betätigungsmechanismus zu erzeugen.The control device is expediently communicatively connected to an actuating mechanism of the passenger access door. In addition, the control device is preferably set up to generate control commands for the actuating mechanism.

Weiter ist es vorteilhaft, wenn die Steuereinrichtung dazu eingerichtet ist, die Fahrgastzugangstür in Abhängigkeit von Sensorsignalen der erstgenannten Sensoreinheit und/oder von Sensorsignalen der weiteren Sensoreinheit zu steuern. Dies ermöglicht es, das Öffnen und Schließen der Fahrgastzugangstür situationsabhängig zu steuern. Wird beispielsweise von der Steuereinrichtung anhand der Sensorsignale ermittelt, dass sich eine Person im Bereich einer Türöffnung der Fahrgastzugangstür befindet, kann die Steuereinrichtung mit dem Schließen der Fahrgastzugangstür warten, bis die Person den Bereich der Türöffnung verlassen hat und das Schließen der Fahrgastzugangstür sicher ist.It is also advantageous if the control device is set up to control the passenger access door as a function of sensor signals from the first-mentioned sensor unit and/or sensor signals from the further sensor unit. This makes it possible to control the opening and closing of the passenger access door depending on the situation. For example, if the control device uses the sensor signals to determine that a person is in the area of a door opening of the passenger access door, the control device can wait to close the passenger access door until the person has left the area of the door opening and the closing of the passenger access door is safe.

Die Erfindung betrifft außerdem eine Schienenfahrzeugflotte, die ein erstes erfindungsgemäßes Schienenfahrzeug sowie mindestens ein weiteres erfindungsgemäßes Schienenfahrzeug umfasst. Unter einer Schienenfahrzeugflotte ist vorliegend eine Gruppe von Schienenfahrzeugen zu verstehen.The invention also relates to a rail vehicle fleet, which includes a first rail vehicle according to the invention and at least one further rail vehicle according to the invention. A rail vehicle fleet is to be understood here as a group of rail vehicles.

Vorteilhafterweise sind die Steuereinrichtungen der Schienenfahrzeuge kommunikativ miteinander verbunden. Dadurch können die Steuereinrichtungen der Schienenfahrzeuge untereinander Daten/Informationen austauschen. In bevorzugter Weise ist das jeweilige Schienenfahrzeug mit einer Kommunikationsvorrichtung zur drahtlosen Kommunikation mit dem/den anderen Schienenfahrzeug/-en der Schienenfahrzeugflotte ausgestattet. Ferner kann vorgesehen sein, dass die Steuereinrichtungen der Schienenfahrzeuge in einem Betriebsmodus betreibbar sind, in welchem von der Steuereinrichtung des ersten Schienenfahrzeugs die Steuereinrichtung des mindestens einen weiteren Schienenfahrzeugs steuerbar ist. In diesem Betriebsmodus erzeugt die Steuereinrichtung des ersten Schienenfahrzeugs vorteilhafterweise Steuerbefehle für die Steuereinrichtung des weiteren Schienenfahrzeugs bzw. - falls die Schienenfahrzeugflotte mehrere weitere Schienenfahrzeuge umfasst - für die Steuereinrichtungen der weiteren Schienenfahrzeuge.Advantageously, the control devices of the rail vehicles are communicatively connected to one another. As a result, the control devices of the rail vehicles can exchange data/information with one another. The respective rail vehicle is preferably equipped with a communication device for wireless communication with the other rail vehicle(s) in the rail vehicle fleet. Furthermore, it can be provided that the control devices of the rail vehicles can be operated in an operating mode in which the control device of the at least one further rail vehicle can be controlled by the control device of the first rail vehicle. In this operating mode, the control device of the first rail vehicle advantageously generates control commands for the control device of the further rail vehicle or--if the rail vehicle fleet comprises several further rail vehicles--for the control devices of the further rail vehicles.

Bei einer bevorzugten Weiterbildung der Erfindung ist die Steuereinrichtung des ersten Schienenfahrzeugs dazu eingerichtet, in besagtem Betriebsmodus die Steuereinrichtung des mindestens einen weiteren Schienenfahrzeugs derart zu steuern, dass die Schienenfahrzeuge im Fahrbetrieb mit gleicher Geschwindigkeit fahren. Auf diese Weise können die Schienenfahrzeuge - ohne zeitaufwendiges mechanisches Kuppeln der einzelnen Schienenfahrzeuge - einen Schienenfahrzeugverband bilden. Dies ermöglicht es, auf Kupplungseinrichtungen zum mechanischen Kuppeln der Schienenfahrzeuge zu verzichten, wodurch der Konstruktions- und Kostenaufwand für die Schienenfahrzeuge reduziert werden kann.In a preferred development of the invention, the control device of the first rail vehicle is set up to control the control device of the at least one other rail vehicle in said operating mode in such a way that the rail vehicles travel at the same speed during operation. In this way, the rail vehicles can form a rail vehicle convoy without time-consuming mechanical coupling of the individual rail vehicles. This makes it possible to dispense with coupling devices for mechanically coupling the rail vehicles, as a result of which the outlay on construction and costs for the rail vehicles can be reduced.

Die bisher gegebene Beschreibung vorteilhafter Ausgestaltungen der Erfindung enthält zahlreiche Merkmale, die in den einzelnen abhängigen Patentansprüchen teilweise zu mehreren zusammengefasst wiedergegeben sind.The description given so far of advantageous configurations of the invention contains numerous features, some of which are summarized in the individual dependent patent claims.

Die oben beschriebenen Eigenschaften, Merkmale und Vorteile der Erfindung sowie die Art und Weise, wie diese erreicht werden, werden klarer und deutlicher verständlich im Zusammenhang mit der folgenden Beschreibung eines Ausführungsbeispiels der Erfindung, das im Zusammenhang mit den Figuren näher erläutert wird. Das Ausführungsbeispiel dient der Erläuterung der Erfindung und beschränkt die Erfindung nicht auf die darin angegebenen Kombinationen von Merkmalen, auch nicht in Bezug auf funktionale Merkmale.The properties, features and advantages of the invention described above and the manner in which they are achieved become clearer and more clearly understood in connection with the following description of an embodiment of the invention, which is explained in more detail in connection with the figures. The exemplary embodiment serves to explain the invention and does not limit the invention to the combinations of features specified therein, not even in relation to functional features.

Werden in verschiedenen Figuren die gleichen Bezugszeichen verwendet, so bezeichnen diese gleiche oder einander entsprechende Elemente.If the same reference symbols are used in different figures, these indicate the same or corresponding elements.

Es zeigen:

FIG 1
eine schematische Darstellung einer drei Schienenfahrzeuge umfassenden Schienenfahrzeugflotte;
FIG 2
eine schematische Darstellung eines der drei Schienenfahrzeuge aus FIG 1.
Show it:
FIG 1
a schematic representation of a rail vehicle fleet comprising three rail vehicles;
FIG 2
a schematic representation of one of the three rail vehicles FIG 1 .

FIG 1 zeigt schematisch eine Seitenansicht einer Schienenfahrflotte 2, welche ein erstes Schienenfahrzeug 4a zur Personenbeförderung sowie zwei weitere Schienenfahrzeuge 4b, 4c zur Personenbeförderung umfasst, wobei die Schienenfahrflotte 2 grundsätzlich eine höhere oder eine niedrigere Anzahl von Schienenfahrzeugen umfassen kann. Im vorliegenden Ausführungsbeispiel handelt es sich bei den Schienenfahrzeugen 4a, 4b, 4c jeweils um ein in Niederflurbauweise ausgeführtes einteiliges Straßenbahnfahrzeug. FIG 1 shows a schematic side view of a rail vehicle fleet 2, which includes a first rail vehicle 4a for passenger transport and two other rail vehicles 4b, 4c for passenger transport, wherein the rail vehicle fleet 2 can in principle include a higher or lower number of rail vehicles. In the present exemplary embodiment, the rail vehicles 4a, 4b, 4c are each a low-floor, one-piece tram vehicle.

Jedes der Schienenfahrzeuge 4a, 4b, 4c ist für einen vollautonomen Fahrbetrieb eingerichtet. Zudem weist keines der Schienenfahrzeuge 4a, 4b, 4c in seinem Fahrzeuginnenraum einen Fahrzeugführerraum auf, sodass der gesamte Fahrzeuginnenraum des jeweiligen Schienenfahrzeugs 4a, 4b, 4c als Fahrgastraum genutzt wird.Each of the rail vehicles 4a, 4b, 4c is set up for fully autonomous driving. In addition, none of the rail vehicles 4a, 4b, 4c has a driver's compartment in its vehicle interior, so that the entire vehicle interior of the respective rail vehicle 4a, 4b, 4c is used as a passenger compartment.

Ferner weist jedes der Schienenfahrzeuge 4a, 4b, 4c vier Räder 6 auf, wobei in FIG 1 von jedem der Schienenfahrzeuge 4a, 4b, 4c jeweils nur zwei Räder 6 sichtbar sind. Die Räder 6 sind jeweils als individuell steuerbares Einzelrad ausgeführt.Furthermore, each of the rail vehicles 4a, 4b, 4c has four wheels 6, with in FIG 1 only two wheels 6 are visible from each of the rail vehicles 4a, 4b, 4c. The wheels 6 are each designed as individually controllable single wheels.

Des Weiteren weist jedes der Schienenfahrzeuge 4a, 4b, 4c eine Kommunikationsvorrichtung 8 zur drahtlosen Kommunikation mit den beiden anderen Schienenfahrzeugen 4a, 4b, 4c auf. Bei den Kommunikationsvorrichtungen 8 kann es sich beispielsweise um Funk-Kommunikationsvorrichtungen handeln.Furthermore, each of the rail vehicles 4a, 4b, 4c has a communication device 8 for wireless communication with the two other rail vehicles 4a, 4b, 4c. The communication devices 8 can be radio communication devices, for example.

Darüber hinaus weist jedes der Schienenfahrzeuge 4a, 4b, 4c eine Steuereinrichtung 10 auf, die mit der Kommunikationsvorrichtung 8 des jeweiligen Schienenfahrzeugs 4a, 4b, 4c über eine Informationsübertragungsleitung 12 kommunikativ verbunden ist. Mittels der Steuereinrichtung 10 des jeweiligen Schienenfahrzeugs 4a, 4b, 4c sind dessen Räder 6 steuerbar. Zudem können die Steuereinrichtungen 10 der Schienenfahrzeuge 4a, 4b, 4c über die Kommunikationsvorrichtungen 8 untereinander Informationen austauschen.In addition, each of the rail vehicles 4a, 4b, 4c has a control device 10 which is communicatively connected to the communication device 8 of the respective rail vehicle 4a, 4b, 4c via an information transmission line 12. The wheels 6 of the respective rail vehicle 4a, 4b, 4c can be controlled by means of the control device 10 thereof. In addition, the control devices 10 of the rail vehicles 4a, 4b, 4c can exchange information with one another via the communication devices 8 .

Weiterhin weist jedes der Schienenfahrzeuge 4a, 4b, 4c mehrere Fahrgastzugangstüren 14 auf, durch welche Fahrgäste das jeweilige Schienenfahrzeug 4a, 4b, 4c betreten und verlassen können. Die Fahrgastzugangstüren 14 des jeweiligen Schienenfahrzeugs 4a, 4b, 4c sind durch dessen Steuereinrichtung 10 öffenbar und schließbar.Furthermore, each of the rail vehicles 4a, 4b, 4c has a plurality of passenger access doors 14 through which passengers can enter and exit the respective rail vehicle 4a, 4b, 4c. The passenger access doors 14 of the respective rail vehicle 4a, 4b, 4c can be opened and closed by its control device 10.

Außerdem verfügt jedes der Schienenfahrzeuge 4a, 4b, 4c über mehrere Sensoreinheiten 16 zum Überwachen seines Fahrzeuginnenraums, die mit der Steuereinrichtung 10 des jeweiligen Schienenfahrzeugs 4a, 4b, 4c über Informationsübertragungsleitungen 12 verbunden sind.In addition, each of the rail vehicles 4a, 4b, 4c has a plurality of sensor units 16 for monitoring its vehicle interior, which are connected to the control device 10 of the respective rail vehicle 4a, 4b, 4c via information transmission lines 12.

FIG 2 zeigt exemplarisch das erste Schienenfahrzeug 4a der Schienenfahrzeugflotte 2 aus FIG 1 in einer schematischen Schnittdarstellung. FIG 2 shows the first rail vehicle 4a of the rail vehicle fleet 2 as an example FIG 1 in a schematic sectional view.

In FIG 2 sind alle vier Räder 6 sowie ein Wagenkasten 18 des ersten Schienenfahrzeugs 4a abgebildet. Zwei der vier Räder 6 sind an einem ersten Endabschnitt 20 des Wagenkastens 18 angeordnet, während die anderen beiden Räder 6 an einem zweiten Endabschnitt 22 des Wagenkastens 18 angeordnet sind.In FIG 2 all four wheels 6 and a car body 18 of the first rail vehicle 4a are shown. Two of the four wheels 6 are arranged on a first end section 20 of the car body 18, while the other two wheels 6 are arranged on a second end section 22 of the car body 18.

Darüber hinaus sind in FIG 2 die zuvor erwähnte Steuereinrichtung 10 sowie mehrere weitere Sensoreinheiten 24 des Schienenfahrzeugs 4a abgebildet. Diese weiteren Sensoreinheiten 24 sind jeweils über eine figürlich nicht dargestellte Informationsübertragungsleitung mit der Steuereinrichtung 10 des Schienenfahrzeugs 4a verbunden und werden unter anderem zum Überwachen der Fahrzeugumgebung 26 verwendet.In addition, in FIG 2 the aforementioned control device 10 and several other sensor units 24 of the rail vehicle 4a are shown. These further sensor units 24 are each connected to the control device 10 of the rail vehicle 4a via an information transmission line (not shown in the figure) and are used, among other things, for monitoring the vehicle surroundings 26 .

Das Schienenfahrzeug 4a weist für jedes seiner vier Räder 6 eine eigene Antriebseinheit 28 auf, durch welche das jeweilige Rad 6 antreibbar ist. Die Räder 6 sind also individuell antreibbar. Im vorliegenden Ausführungsbeispiel sind die Antriebseinheiten 28 jeweils als Radnabenmotor ausgebildet. Jede der Antriebseinheiten 28 ist über eine figürlich nicht dargestellte Steuerleitung mit der Steuereinrichtung 10 verbunden und durch die Steuereinrichtung 10 steuerbar.The rail vehicle 4a has a separate drive unit 28 for each of its four wheels 6, by means of which the respective wheel 6 can be driven. The wheels 6 can therefore be driven individually. In the present exemplary embodiment, the drive units 28 are each designed as a wheel hub motor. Each of the drive units 28 is connected to the control device 10 via a control line (not shown in the figure) and can be controlled by the control device 10 .

Ferner weist das Schienenfahrzeug 4a für jedes seiner Räder 6 eine elektrodynamische Bremse auf, die insbesondere mit der jeweiligen Antriebseinheit 28 zusammenwirken und/oder in die jeweilige Antriebseinheit 28 integriert sein kann. Beispielsweise kann die jeweilige elektrodynamische Bremse eine Nutzstrombremse oder eine Widerstandsbremse sein.Furthermore, the rail vehicle 4a has an electrodynamic brake for each of its wheels 6, which in particular can interact with the respective drive unit 28 and/or be integrated into the respective drive unit 28. For example, the respective electrodynamic brake can be a regenerative brake or a resistance brake.

Im vorliegenden Ausführungsbeispiel weist das Schienenfahrzeug 4a zusätzlich für jedes seiner vier Räder 6 eine zusätzliche Bremsvorrichtung 30 auf, insbesondere für eine Gefahrenbremsung und/oder um das Schienenfahrzeug 4a im Stillstand sicher zu halten. Die zusätzlichen Bremsvorrichtungen 30 sind jeweils als mechanische Reibungsbremse - und zwar vorliegend als Scheibenbremse - ausgebildet, wobei grundsätzlich andere Ausführungsvarianten möglich sind.In the present exemplary embodiment, the rail vehicle 4a also has an additional one for each of its four wheels 6 Braking device 30, in particular for emergency braking and / or to keep the rail vehicle 4a safe at a standstill. The additional braking devices 30 are each designed as a mechanical friction brake—specifically in the present case as a disc brake—other design variants being fundamentally possible.

Jede der zusätzlichen Bremsvorrichtungen 30 umfasst im vorliegenden Ausführungsbeispiel eine Bremsscheibe 32, die direkt oder indirekt (zum Beispiel über die jeweilige Antriebseinheit 28) mit dem zugehörigen Rad 6 verbunden ist, sodass sich die Bremsscheibe 32 mit dem Rad 6 mitdreht. Zudem umfasst jede der zusätzlichen Bremsvorrichtungen 30 einen mit ihrer Bremsscheibe 32 zusammenwirkenden Bremssattel 34, der mittels einer figürlich nicht dargestellten Aktuatoreinheit betätigbar ist, welche beispielweise pneumatisch, hydraulisch oder elektromechanisch betrieben werden kann, wobei für jede Bremsvorrichtung 30 eine eigene Aktuatoreinheit vorhanden ist. Mithilfe der Aktuatoreinheiten sind die Bremsvorrichtungen 30 individuell steuerbar. Die Aktuatoreinheiten sind jeweils über eine figürlich nicht dargestellte Steuerleitung mit der Steuereinrichtung 10 verbunden und durch die Steuereinrichtung 10 steuerbar.In the present exemplary embodiment, each of the additional braking devices 30 comprises a brake disc 32 which is connected directly or indirectly (for example via the respective drive unit 28 ) to the associated wheel 6 so that the brake disc 32 rotates with the wheel 6 . In addition, each of the additional braking devices 30 includes a brake caliper 34 that interacts with its brake disc 32 and can be actuated by means of an actuator unit (not shown in the figure), which can be operated pneumatically, hydraulically, or electromechanically, for example, with each braking device 30 having its own actuator unit. The braking devices 30 can be controlled individually with the aid of the actuator units. The actuator units are each connected to the control device 10 via a control line (not shown in the figure) and can be controlled by the control device 10 .

Jedes der Räder 6 ist um eine eigene (zur Zeichenebene der FIG 2 senkrechte) Hochachse 36 schwenkbar gelagert. Zum Schwenken der Räder 6 weist das Schienenfahrzeug 4a für jedes seiner Räder 6 eine eigene Lenkvorrichtung 38 auf. Jede der Lenkvorrichtungen 38 umfasst eine Lenkstange 40 sowie einen an die Lenkstange 40 gekoppelten Aktor 42, durch welchen die Lenkstange 40 antreibbar ist und der über eine figürlich nicht dargestellte Steuerleitung mit der Steuereinrichtung 10 verbunden ist und durch die Steuereinrichtung 10 steuerbar ist.Each of the wheels 6 has its own (to the drawing level of the FIG 2 vertical) vertical axis 36 pivoted. The rail vehicle 4a has its own steering device 38 for each of its wheels 6 in order to swivel the wheels 6 . Each of the steering devices 38 comprises a steering rod 40 and an actuator 42 coupled to the steering rod 40, by means of which the steering rod 40 can be driven and which is connected to the control device 10 via a control line (not shown in the figure) and can be controlled by the control device 10.

Mithilfe der Steuereinrichtung 10 sind die Räder 6 individuell steuerbar. Das Steuern der Räder 6 durch die Steuereinrichtung 10 erfolgt auf indirektem Wege, und zwar indem die Steuereinrichtung 10 die dem jeweiligen Rad 6 zugeordnete Antriebseinheit 28, Bremsvorrichtung 30 und Lenkvorrichtung 38 steuert.The wheels 6 can be controlled individually with the aid of the control device 10 . Controlling the wheels 6 by the controller 10 takes place indirectly, namely in that the control device 10 controls the drive unit 28, braking device 30 and steering device 38 assigned to the respective wheel 6.

Wenn das Schienenfahrzeug 4a an einer Haltestelle anhält, werden dessen Fahrgastzugangstüren 14 durch die Steuereinrichtung 10 geöffnet, sodass Fahrgäste das Schienenfahrzeug 4a betreten bzw. verlassen können. Zuvor erwähnte Sensoreinheiten 16, 24 erzeugen Sensorsignale und übermitteln diese an die Steuereinrichtung 10. Die Steuereinrichtung 10 überwacht anhand der Sensorsignale die Ein- und Ausstiegsvorgänge von Fahrgästen. Hierbei ermittelt die Steuereinrichtung 10 die Positionen von innerhalb und außerhalb des Schienenfahrzeugs 4a befindlichen Personen und analysiert deren Bewegungsverhalten. Nach einer vorgegebenen Zeitspanne werden die Fahrgastzugangstüren 14 durch die Steuereinrichtung 10 wieder geschlossen. Das bevorstehende Schließen der Fahrgastzugangstüren 14 wird zuvor durch einen Signalton angekündigt.If the rail vehicle 4a stops at a stop, its passenger access doors 14 are opened by the control device 10 so that passengers can enter or leave the rail vehicle 4a. The previously mentioned sensor units 16, 24 generate sensor signals and transmit them to the control device 10. The control device 10 uses the sensor signals to monitor the boarding and alighting processes of passengers. Here, the control device 10 determines the positions of people inside and outside of the rail vehicle 4a and analyzes their movement behavior. After a predetermined period of time, the passenger access doors 14 are closed again by the control device 10 . The imminent closing of the passenger access doors 14 is announced beforehand by a signal tone.

Befindet sich eine Person im Bereich einer Türöffnung, verzögert die Steuereinrichtung 10 das Schließen der entsprechenden Fahrgastzugangstür 14 so lange, bis die Person den Bereich der Türöffnung verlassen hat und das Schließen der Fahrgastzugangstür 14 sicher ist. Erkennt die Steuereinrichtung 10 anhand des von ihr analysierten Bewegungsverhaltens einer herbeieilenden Person, dass die Person in das Schienenfahrzeug 4a einsteigen möchte, kann die Steuereinrichtung 10 - sofern der einzuhaltende Fahrplan es zulässt - das Schließen der Fahrgastzugangstür 14 verzögern, bis die Person in das Schienenfahrzeug 4a eingestiegen ist.If a person is in the area of a door opening, the control device 10 delays the closing of the corresponding passenger access door 14 until the person has left the area of the door opening and the closing of the passenger access door 14 is safe. If the control device 10 recognizes from the movement behavior of an approaching person analyzed by it that the person wants to get on the rail vehicle 4a, the control device 10 can - if the timetable to be adhered to allows it - delay the closing of the passenger access door 14 until the person has entered the rail vehicle 4a boarded.

Für den vollautonomen Fahrbetrieb des Schienenfahrzeugs 4a überwacht die Steuereinrichtung 10 die Fahrzeugumgebung 26 anhand der von den weiteren Sensoreinheiten 24 erzeugten Sensorsignale. Hierbei ermittelt die Steuereinrichtung 10 die Abstände von in der Fahrzeugumgebung 26 befindlichen Personen und Fahrzeugen und analysiert deren Bewegungsverhalten. In Abhängigkeit der Sensorsignale steuert die Steuereinrichtung 10 die Räder 6 des Schienenfahrzeugs 4a. Das Steuern der Räder 6 erfolgt im vollautonomen Fahrbetrieb in solch einer Weise, dass es zwischen dem Schienenfahrzeug 4a und Personen und/oder anderen Fahrzeugen nicht zu einer Kollision kommt.For the fully autonomous driving operation of the rail vehicle 4a, the control device 10 monitors the vehicle environment 26 using the sensor signals generated by the additional sensor units 24. Here, the control device 10 determines the distances from people located in the vehicle surroundings 26 and vehicles and analyzes their movement behavior. Depending on the sensor signals, the control device 10 controls the wheels 6 of the rail vehicle 4a. The wheels 6 are controlled in fully autonomous driving mode in such a way that there is no collision between the rail vehicle 4a and persons and/or other vehicles.

Die beiden weiteren Schienenfahrzeuge 4b, 4c der Schienenfahrzeugflotte 2 aus FIG 1 sind identisch zu dem ersten Schienenfahrzeug 4a ausgebildet. Obige Ausführungen zu dem ersten Schienenfahrzeug 4a gelten in analoger Weise für die beiden weiteren Schienenfahrzeuge 4b, 4c der Schienenfahrzeugflotte 2.The two other rail vehicles 4b, 4c of the rail vehicle fleet 2 FIG 1 are identical to the first rail vehicle 4a. The above statements on the first rail vehicle 4a apply in an analogous manner to the two other rail vehicles 4b, 4c of the rail vehicle fleet 2.

Des Weiteren sind die Steuereinrichtungen 10 der Schienenfahrzeuge 4a, 4b 4c in einem Betriebsmodus betreibbar, in welchem von der Steuereinrichtung 10 des ersten Schienenfahrzeugs 4a die Steuereinrichtungen 10 der beiden weiteren Schienenfahrzeuge 4b, 4c steuerbar sind. Das heißt, die Steuereinrichtungen 10 sind in einem Betriebsmodus betreibbar, in welchem von der Steuereinrichtung 10 des ersten Schienenfahrzeugs 4a Steuerbefehle für die Steuereinrichtungen 10 der beiden weiteren Schienenfahrzeuge 4b, 4c erzeugt werden.Furthermore, the control devices 10 of the rail vehicles 4a, 4b, 4c can be operated in an operating mode in which the control devices 10 of the two other rail vehicles 4b, 4c can be controlled by the control device 10 of the first rail vehicle 4a. This means that the control devices 10 can be operated in an operating mode in which the control device 10 of the first rail vehicle 4a generates control commands for the control devices 10 of the two other rail vehicles 4b, 4c.

Bei der Erzeugung der Steuerbefehle für die Steuereinrichtungen 10 der beiden weiteren Schienenfahrzeuge 4b, 4c berücksichtigt die Steuereinrichtung 10 des ersten Schienenfahrzeugs 4a Sensorsignale, die von den Sensoreinheiten 16, 24 der beiden weiteren Schienenfahrzeuge 4b, 4c erzeugt und mithilfe der Kommunikationsvorrichtungen 8 an das erste Schienenfahrzeug 4a übermittelt werden.When generating the control commands for the control devices 10 of the two other rail vehicles 4b, 4c, the control device 10 of the first rail vehicle 4a takes into account sensor signals generated by the sensor units 16, 24 of the two other rail vehicles 4b, 4c and sent to the first rail vehicle with the aid of the communication devices 8 4a are transmitted.

In besagtem Betriebsmodus erzeugen die Steuereinrichtungen 10 der beiden weiteren Schienenfahrzeuge 4b, 4c in Abhängigkeit der Steuerbefehle, die sie von der Steuereinrichtung 10 des ersten Schienenfahrzeugs 4a erhalten, Steuerbefehle für Komponenten des jeweiligen weiteren Schienenfahrzeugs 4b, 4c. Die Steuereinrichtung 10 des ersten Schienenfahrzeugs 4a ist dazu eingerichtet, in besagtem Betriebsmodus die Steuereinrichtungen 10 der beiden weiteren Schienenfahrzeuge 4b, 4c derart zu steuern, dass die Schienenfahrzeuge 4a, 4b, 4c im Fahrbetrieb mit gleicher Geschwindigkeit fahren. Auf diese Weise wird erreicht, dass die Schienenfahrzeuge 4a, 4b, 4c einen Schienenfahrzeugverband bilden, bei dem die Schienenfahrzeuge 4a, 4b, 4c "virtuell" (d. h. ohne mechanische Ankopplung) gekuppelt sind. Da mechanische Kuppeleinrichtungen nicht erforderlich sind, um mit den Schienenfahrzeugen 4a, 4b, 4c einen Schienenfahrzeugverband zu bilden, können die Schienenfahrzeuge 4a, 4b, 4c jeweils ohne mechanische Kuppeleinrichtungen ausgeführt sein.In said operating mode, the control devices 10 of the two further rail vehicles 4b, 4c generate control commands for components of the respective further rail vehicle 4b, 4c as a function of the control commands which they receive from the control device 10 of the first rail vehicle 4a. The control device 10 of the first rail vehicle 4a is set up to control the control devices 10 of the two other rail vehicles 4b, 4c in said operating mode in such a way that the rail vehicles 4a, 4b, 4c travel at the same speed during operation. What is achieved in this way is that the rail vehicles 4a, 4b, 4c form a rail vehicle formation in which the rail vehicles 4a, 4b, 4c are coupled “virtually” (ie without mechanical coupling). Since mechanical coupling devices are not required in order to form a rail vehicle assembly with the rail vehicles 4a, 4b, 4c, the rail vehicles 4a, 4b, 4c can each be designed without mechanical coupling devices.

Obwohl die Erfindung im Detail durch das bevorzugte Ausführungsbeispiel näher illustriert und beschrieben wurde, so ist die Erfindung nicht durch das offenbarte Beispiel eingeschränkt und andere Variationen können hieraus abgeleitet werden, ohne den Schutzumfang der Ansprüche zu verlassen.Although the invention has been illustrated and described in detail by the preferred embodiment, the invention is not limited by the disclosed example and other variations may be derived therefrom without departing from the scope of the claims.

Claims (13)

  1. Rail vehicle (4a, 4b, 4c) for passenger transport, which is configured for fully autonomous travel operation, comprising a plurality of wheels (6), a sensor unit (24) for monitoring a vehicle surrounding area (26) and a control facility (10) for evaluating sensor signals of the sensor unit (24) as well as for automatically controlling at least one of the wheels (6), characterised in that
    the wheels (6) are single wheels and wherein the rail vehicle (4a, 4b, 4c) has a separate, in particular electrical drive unit (28) for each of the wheels (6), wherein the respective drive unit (28) can be controlled with the aid of the control facility (10) and wherein the respective drive unit (28) is a wheel hub motor or comprises a wheel hub motor.
  2. Rail vehicle (4a, 4b, 4c) according to claim 1, characterised in that the control facility (10) is configured to control at least one of the wheels (6), in particular all wheels (6), as a function of the sensor signals of the sensor unit (24).
  3. Rail vehicle (4a, 4b, 4c) according to claim 1 or 2, characterised in that the wheels (6) can be controlled on an individual basis with the aid of the control facility (10).
  4. Rail vehicle (4a, 4b, 4c) according to one of the preceding claims,
    wherein the rail vehicle (4a, 4b, 4c) is designed with a low-floor construction.
  5. Rail vehicle (4a, 4b, 4c) according to one of the preceding claims,
    characterised by a vehicle body (18) with a first and a second end section (20, 22), wherein two of the wheels (6) are arranged on the first end section (20) of the vehicle body (18) and two others of the wheels (6) are arranged on the second end section (22) of the vehicle body (18).
  6. Rail vehicle (4a, 4b, 4c) according to one of the preceding claims,
    wherein the rail vehicle (4a, 4b, 4c) is a single-part rail vehicle.
  7. Rail vehicle (4a, 4b, 4c) according to one of the preceding claims,
    characterised by a separate brake apparatus (30) for each of the wheels (6), wherein the respective brake apparatus (30) can be controlled with the aid of the control facility (10).
  8. Rail vehicle (4a, 4b, 4c) according to one of the preceding claims,
    characterised in that the wheels (6) are in each case mounted such they can pivot about a separate vertical axis (36).
  9. Rail vehicle (4a, 4b, 4c) according to one of the preceding claims,
    characterised by a separate steering apparatus (38) for each of the wheels (6), wherein the respective steering apparatus (38) can be controlled with the aid of the control facility (10) .
  10. Rail vehicle (4a, 4b, 4c) according to one of the preceding claims,
    characterised by a further sensor unit (16) for monitoring a vehicle interior, wherein the control facility (10) is configured for evaluating sensor signals of the further sensor unit (16).
  11. Rail vehicle (4a, 4b, 4c) according to claim 10, characterised by at least one passenger access door (14), which can be controlled with the aid of the control facility (10), wherein the control facility (10) is configured to control the at least one passenger access door (14) as a function of sensor signals of the first-mentioned sensor unit (24) and/or sensor signals of the further sensor unit (16).
  12. Rail vehicle fleet (2), comprising a first rail vehicle (4a) according to one of the preceding claims as well as at least one further rail vehicle (4b, 4c) according to one of the preceding claims, wherein the control facilities (10) of the rail vehicles (4a, 4b, 4c) are communicatively interlinked and can be operated in an operating mode, in which the control facility (10) of the at least one further rail vehicle (4b, 4c) can be controlled by the control facility (10) of the first rail vehicle (4a).
  13. Rail vehicle fleet (2) according to claim 12, characterised in that the control facility (10) of the first rail vehicle (4a) is configured, in said operating mode, to control the control facility (10) of the at least one further rail vehicle (4b, 4c) in such a manner that the rail vehicles (4a, 4b, 4c) travel at the same speed during travel operation.
EP18759885.9A 2017-09-29 2018-08-16 Rail vehicle for transporting passengers Active EP3655301B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
RS20230020A RS63902B1 (en) 2017-09-29 2018-08-16 Rail vehicle for transporting passengers

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017217408.0A DE102017217408A1 (en) 2017-09-29 2017-09-29 Rail vehicle for passenger transport
PCT/EP2018/072181 WO2019063190A1 (en) 2017-09-29 2018-08-16 Rail vehicle for transporting passengers

Publications (2)

Publication Number Publication Date
EP3655301A1 EP3655301A1 (en) 2020-05-27
EP3655301B1 true EP3655301B1 (en) 2022-11-09

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EP18759885.9A Active EP3655301B1 (en) 2017-09-29 2018-08-16 Rail vehicle for transporting passengers

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EP (1) EP3655301B1 (en)
DE (1) DE102017217408A1 (en)
DK (1) DK3655301T3 (en)
ES (1) ES2937403T3 (en)
PL (1) PL3655301T3 (en)
RS (1) RS63902B1 (en)
WO (1) WO2019063190A1 (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020102929B4 (en) 2020-02-05 2024-02-08 G. Zwiehoff GmbH Composite system with a safety system, a track section and a train with at least one autonomously driving rail vehicle

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DE102011113340A1 (en) * 2011-09-15 2013-03-21 Rail & Road Protec GmbH Rail vehicle with a video surveillance system
DE102014222900A1 (en) * 2014-11-10 2016-05-12 Bombardier Transportation Gmbh Operation of a rail vehicle with an imaging system
DE102015015864A1 (en) * 2015-12-09 2017-06-14 Ernst-Heinrich Hansen transport vehicle

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CH679767A5 (en) * 1986-03-25 1992-04-15 Sig Schweiz Industrieges
DE9302351U1 (en) * 1993-02-18 1994-06-23 Duewag Ag, 47829 Krefeld Rail vehicle with driven and / or braked single wheels
DE102004003055A1 (en) * 2004-01-20 2005-08-18 Rheinmetall Landsysteme Gmbh Arrangement of a first and at least one other vehicle in a loosely coupled non-track-bound train
DE102014219691A1 (en) * 2014-09-29 2016-01-21 Siemens Aktiengesellschaft Method for monitoring a rail track environment and monitoring system
DE102014222906B4 (en) * 2014-11-10 2019-06-27 Bombardier Transportation Gmbh Rail vehicle with a sensor for detecting a space outside the rail vehicle and / or with a signal generator for outputting signals in the space outside the rail vehicle
US20170106888A1 (en) * 2015-10-19 2017-04-20 Electro-Motive Diesel, Inc. Control system enabling remote locomotive configuration setting

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Publication number Priority date Publication date Assignee Title
EP1569183A2 (en) * 2004-02-24 2005-08-31 Robert Bosch GmbH System for open-loop and/or for closed loop control of driver assist systems and method related thereto
DE102011113340A1 (en) * 2011-09-15 2013-03-21 Rail & Road Protec GmbH Rail vehicle with a video surveillance system
DE102014222900A1 (en) * 2014-11-10 2016-05-12 Bombardier Transportation Gmbh Operation of a rail vehicle with an imaging system
DE102015015864A1 (en) * 2015-12-09 2017-06-14 Ernst-Heinrich Hansen transport vehicle

Also Published As

Publication number Publication date
DK3655301T3 (en) 2023-01-23
DE102017217408A1 (en) 2019-04-04
EP3655301A1 (en) 2020-05-27
ES2937403T3 (en) 2023-03-28
RS63902B1 (en) 2023-02-28
WO2019063190A1 (en) 2019-04-04
PL3655301T3 (en) 2023-01-30

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