EP3771614A1 - Gesichertes automatisches dialogverfahren zwischen zwei fahrzeugen - Google Patents

Gesichertes automatisches dialogverfahren zwischen zwei fahrzeugen Download PDF

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Publication number
EP3771614A1
EP3771614A1 EP20187769.3A EP20187769A EP3771614A1 EP 3771614 A1 EP3771614 A1 EP 3771614A1 EP 20187769 A EP20187769 A EP 20187769A EP 3771614 A1 EP3771614 A1 EP 3771614A1
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EP
European Patent Office
Prior art keywords
vehicle
vehicles
parked
detection
lane
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.)
Granted
Application number
EP20187769.3A
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English (en)
French (fr)
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EP3771614B1 (de
Inventor
David Goeres
Sébastien Josset
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SNCF Voyageurs SA
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SNCF Voyageurs SA
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Publication of EP3771614A1 publication Critical patent/EP3771614A1/de
Application granted granted Critical
Publication of EP3771614B1 publication Critical patent/EP3771614B1/de
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0018—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
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0072—On-board train data handling
    • 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
    • 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
    • B61L23/34—Control, warning or like safety means along the route or between vehicles or trains for indicating the distance between vehicles or trains by the transmission of signals therebetween
    • 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 present invention relates to a method of secure automatic dialogue between two vehicles, preferably railway vehicles. It also relates to a device implementing such a method.
  • the field of the invention is the field of railway vehicles.
  • An object of the invention is to remedy the prior art, and in particular the aforementioned drawbacks.
  • Another object of the invention is to simplify, and to make more flexible and more reliable the communication and coupling operations between vehicles being approached on the same lane, in particular when other vehicles are nearby and / or when these vehicles do not know one or the other of their reciprocal identifiers.
  • Another aim is to limit the need for intermediate stops during such an approach.
  • the method first performs automatic activation of a wireless communication port within the wireless transmission and reception system of the parked vehicle, allowing it to receive the ignition signal from the second vehicle. .
  • a parked railway vehicle will recognize its traffic lane and identify the objects approaching in front of it. in a demarcated area on the said lane. If the object in question in the approach movement is a vehicle, in particular a rail vehicle, then the physical coupling between these two vehicles can be established by setting up automatic and secure wireless communication between the vehicles. two vehicles, without requiring the intervention of personnel in the parked vehicle. The link commands can then be transmitted following this communication. Therefore, it is no longer necessary for the vehicles to know each other in advance of phase in order to achieve coupling, and it is no longer necessary for the approaching vehicle to mark a stopping time which would allow its driver to. get off to activate the parked vehicle.
  • the method according to the invention makes it possible to discriminate automatically, within a fleet of vehicles, the vehicle which is located on the same lane. As a result, only communication between the approaching vehicle and the parked vehicle can be established, which will thus have been discriminated against among others.
  • the invention thus proposes a method in which the detection system limits the opening time of the wireless communication ports of parked vehicles, which makes it possible, for example, to save energy and limit the wear of the vehicles. systems and the risks of errors or interference, but also to reduce the exposure time of the wireless reception and transmission system of each vehicle to the risks of hacking.
  • the method according to the invention is therefore simpler, more economical, more reliable and more secure.
  • the parked vehicle may be parked in a lane located between or near a plurality of parked vehicles which are also within communication range of the wireless communication system of the second vehicle, the approaching vehicle.
  • the invention thus proposes a method capable of establishing a secure wireless communication link between two vehicles present in a fleet of vehicles, that is to say close to vehicles.
  • a parked vehicle may therefore be able to automatically determine whether it is capable of receiving a wireless communication from another vehicle.
  • the other vehicles parked near the two vehicles concerned by the wireless communication method according to the invention will not activate their communication port unnecessarily. They will not risk establishing wireless communication wrongly with the approaching vehicle or with another vehicle in the vicinity of them, for example on an adjacent lane, and they will not risk executing commands sent by the vehicle in approach on said adjacent lane.
  • the identification of the lane on which the vehicle is parked can further comprise a definition of the detection zone, typically a graphic zone defined within the images captured by its detection system.
  • the parked vehicle delimits a detection zone which corresponds to a real geographical zone situated on its traffic lane, and only focuses its detection on this zone. In this way, any object outside the detection zone will not be taken into account.
  • an object detected within the detection zone will be discriminated against and considered to be an approaching vehicle as soon as said object fills the entire detection zone, and in particular only if it fills this zone.
  • the definition of the detection zone within the image can be carried out, preferably, by graphic processing of the image or images of the track captured by its detection system.
  • the method according to the invention provides a method that is inexpensive and simple to implement for detecting an approaching vehicle moving in a delimited detection zone.
  • the generation of the detection zone in particular the choice of its dimensions, can be carried out by algorithm.
  • This algorithm can be generated automatically and / or manually by data defined by a user.
  • the algorithm can determine coordinates delimiting the detection zone from video images and / or radio data obtained by the graphic lane recognition system.
  • the detection zone can be delimited for example by spatial coordinates of any reference mark, said coordinates being able to be recorded in a computer device of the parked vehicle.
  • the method according to the invention can discriminate an approaching moving vehicle from among other moving objects, for example an individual or an animal moving on the rails.
  • the method according to the invention thus provides a robust and secure method because no command, such as for example a command to start the parked vehicle or to open its coupling flap, can not be received and executed as long as automatic secure wireless communication with a specific (approaching) vehicle will not be established.
  • the method according to the invention thus proposes steps for establishing a secure wireless communication in a targeted and discriminating manner. In doing so, the robustness and safety of the mating process is improved.
  • the input signal and / or the return signal may be a radio and / or electronic and / or computer signal.
  • the method according to the invention can be adapted to various technologies, current or older or even future.
  • the calculation unit can be computer and / or electronic means.
  • the method according to the invention thus comprises high-performance calculation tools, which enables it, for example, to identify an approaching vehicle rapidly.
  • the calculation unit may be the vehicle calculation unit.
  • the computing unit can be included in the computer device of the vehicle.
  • the method according to the invention can be adapted directly to the vehicle in place, which limits the cost of the method according to the invention and which makes it possible to use the performance of the computer device of the vehicle.
  • the contact by exchange of computer signals between the parked vehicle and the second vehicle can include at least one identifier and a password.
  • the received signal, said input signal, coming from the second vehicle can comprise an identifier and a password, for example in a known manner.
  • the return signal may further include a password and an identifier of the second vehicle.
  • the method according to the invention thus provides a secure connection since the vehicles exchange a password and an identifier.
  • the secure connection according to the invention does not require the vehicles to know each other beforehand.
  • the action can be, for example, a preparation of a coupling mechanism, or a movement of the parked vehicle.
  • the actuators can be, for example, fairing jacks, or the engine, the wheels, the propulsion system of the parked vehicle.
  • the method according to the invention thus makes it possible to establish a wireless communication link in order to transmit commands between two vehicles with the aim of carrying out a determined action.
  • the method may further comprise a confirmation of execution of the commanded action intended for the second vehicle.
  • the second vehicle and / or its driver can be warned of the progress of the action and can, in the case of non-performance, intervene, for example by repeating a request for action or seek the reason for the non-performance of the order.
  • the commands issued by the second vehicle may include a command for the mechanical preparation of a mechanism of the parked vehicle, which is arranged to mechanically link the two vehicles.
  • the method according to the invention can be used to physically link two vehicles together and automatically, that is to say without manual intervention by humans to, for example, open hatches and link vehicles using their couplings.
  • the method may include an automated hook-up between the approaching second vehicle and the parked vehicle (not prepared).
  • the method can preferably include a mechanical connection between the two vehicles.
  • the invention thus provides a method that can be used to mechanically link two vehicles.
  • the mechanical connection between the two vehicles can be achieved without stopping one and / or both vehicles.
  • the method according to the invention proposes a solution where the wireless communication link can be established without imposing a stopping phase on the approaching vehicle.
  • the method according to the invention thus limits operating constraints.
  • the method can comprise an agreement relating to the control command (s) sent by the second vehicle, said agreement being carried out following the data exchange step.
  • the agreement can be automatic, that is to say carried out automatically by computer and / or electronic tools.
  • the invention proposes a method which can increase its level of security by checking by the parked vehicle of the input signal coming from the second vehicle by comparing, for example, said signal with an on-board database or on the ground.
  • said base being able to integrate all the identifiers and passwords of the vehicles authorized to communicate with it. It is, for example, only following this authentication and / or validation that the parked vehicle can authorize itself to respond. It may be a relatively large database that will include, for example, all trains of a compatible type, or all trains currently in the area. This gives better safety, while retaining the possibility of changing trains at the last minute.
  • This same principle of authentication by comparison of identifier can also be applied by the approaching vehicle when receiving the return signal from the parked vehicle and it is, for example, only after this verification that the rest of its communication with the parked vehicle is permitted.
  • the method according to the invention thus provides various degrees of security for securing communications between two vehicles.
  • the exchange of data between the vehicle and the second vehicle can be carried out by WIFI and / or by radio exchange.
  • the method according to the invention is thus based on a simple and inexpensive wireless communication method.
  • the railway track can include at least one rail.
  • the method according to the invention can be applied to railway vehicles, trams or other kinds of vehicle which can be railed.
  • the system according to the invention further comprises a wireless communication port within the transmission and reception system designed to receive the signal for making contact from the second vehicle, said port being activated following detection of the second vehicle.
  • the wireless transmission and reception system can comprise a WIFI device and / or another type of radiofrequency communication device.
  • the detection device may further comprise or use a video and / or photo and / or radar image capture device.
  • FIGURE 1 a non-limiting schematic representation of the implementation of a method 100 according to the invention.
  • the method 100 uses a graphic lane recognition system allowing the parked vehicle to carry out the identification 108 of its travel lane.
  • the parked vehicle graphics recognition system records and analyzes a continuous stream of video and / or video images of the rails that are in a field of view of the parked vehicle graphics recognition system.
  • Identification 108 allows the parked vehicle to distinguish its lane from other lanes of traffic (for example, lanes 602 and 702 shown FIGURES 6 to 9 ).
  • the parked vehicle identifies the two rails of its travel lane, and performs a definition 114 of a centered surface, called the detection zone, on the lane of the vehicle parked at a determined distance so as to leave sufficient time for the process. to be implemented, while keeping a sufficiently small distance so that the discrimination remains reliable, potentially taking into account the speed of the approaching vehicle. This distance is for example between 60 meters and 100 meters from the parked vehicle.
  • the discrimination 118 of the object is automatic and / or intelligent and does not require the external intervention of a user.
  • the graphic recognition system considers that there is no approaching vehicle on the lane of the parked vehicle. If ever, a moving object comes to pass in the detection zone, then the method 100 performs the detection 110 of the moving vehicle.
  • This detection 110 comprises two steps. A first step which first of all initiates the detection 116 of a moving object in said zone of detection and a second step which consists of the discrimination 118 of the moving object in order to recognize a vehicle approaching another moving object, for example a person and / or an animal, which could cross the traffic lane of the parked vehicle.
  • the detection zone is centered on the railway track of the parked vehicle.
  • the dimension of the detection zone is arranged so that only a railway vehicle, for example a train, traveling on the same traffic lane of the parked vehicle can completely “fill” the detection zone.
  • a person and / or an animal and / or a vehicle traveling on a neighboring traffic lane crossing the detection zone would only partially “fill” this zone and therefore would not trigger the detection of a railway vehicle approaching the parked vehicle.
  • this discrimination 118 can use and / or rely on databases of recorded images.
  • this discrimination can also be carried out by manual graphic recognition, if data from the video and image streams are sent to a server and then studied, for example live, by an operator of the server.
  • the parked vehicle activates 112 of its wireless communication port in order to establish a secure communication link with the approaching vehicle.
  • the method 100 makes contact 102 between the parked vehicle and the approaching vehicle by exchanging computer signals. More particularly, the parked vehicle will listen to signals from the approaching vehicle. If the approaching vehicle transmits an input signal then the parked vehicle's wireless communication and reception system receives the input signal from the approaching vehicle. The method 100 then analyzes the input signal, that is to say the method 100 performs a decoding and an interpretation of the input signal, in order to initiate the transmission of a return signal to the approaching vehicle. .
  • the method 100 then comprises a step 104 for exchanging data resulting in a takeover of the parked vehicle.
  • the parked vehicle can thus be controlled automatically and remotely by the approaching vehicle.
  • the method 100 then comprises a step 120 implementing an action commanded by the second vehicle (approaching) on the parked vehicle.
  • This command can be a command to open hatches and / or a mechanical link between the two vehicles.
  • the method 100 can perform step 120 even while the approaching and / or parked vehicle is in motion.
  • FIGURES 2, 3, 4 and 5 are non-limiting schematic representations of a first non-limiting exemplary embodiment of a method according to the invention to stages of implementation of said method.
  • the FIGURES 2 to 5 represent diagrams of a stopping station 200 for a railway vehicle each comprising a railway track 202 composed of two rows of rails 202 1 and 202 2 .
  • the term “stopping station” designates here any portion of track on which a stationary vehicle is parked, and to which another vehicle on the same track approaches, typically to couple to it. It may, for example, be a passenger station, when two motor trains coming from different places are brought together there to form a single train for the rest of their journey. It can also be a marshalling yard, for example in shifts for the constitution of a train from several trains, motor coaches and / or wagons.
  • a parked vehicle 204 is stopped on the left side of the railway line 202.
  • a second vehicle 210 is positioned on the right side of the railway track 202.
  • the second vehicle 210 is in motion, more particularly in approach motion 216 vis-à-vis the vehicle 204.
  • the vehicle 210 therefore moves in the direction of the vehicle 216. parked 204.
  • the vehicle 210 is controlled manually by a driver of a vehicle, in particular of a rail vehicle.
  • the device according to the invention further comprises a wireless communication port (not illustrated) within the transmission and reception system 206 arranged to receive the signal for the first vehicle 210 to be contacted, said port being activated following a detection of the second vehicle 210.
  • a wireless communication port (not illustrated) within the transmission and reception system 206 arranged to receive the signal for the first vehicle 210 to be contacted, said port being activated following a detection of the second vehicle 210.
  • the detection device 205 of the parked vehicle 204 is positioned so as to display the lane on which it is parked, for example at one of the ends of the motor unit of the vehicle 204, more particularly at the front end of the vehicle 204.
  • the parked vehicle 204 also includes a wireless transmission and reception system 206.
  • the second approaching vehicle 210 216 also comprises a wireless transmission and reception system 206 positioned at one of its ends of its motor. Although not illustrated here, the second vehicle 210 can also include a detection device 205 of the same type.
  • the parked vehicle 204 and / or the second vehicle 210 may comprise two detection devices 205 each positioned at each of the two ends of the motor, front and rear, of the vehicle 204 and / or of the vehicle 210.
  • the wireless transmission and reception system 206 comprises at least the wireless reception port (not illustrated) comprising a receiver and a transmitter (not illustrated) capable of transmitting and receiving a wireless signal.
  • the wireless transmission and reception system 206 comprises a WIFI device and / or a radio frequency communication device.
  • the wireless transmission and reception system 206 comprises a WIFI device.
  • the detection system 205 comprises a video and / or photo and / or radar image capture device. In the case of FIGURE 2 to 5 , it is a video image capture device, which displays the channel 202 and elements surrounding the channel 202, as illustrated by the dotted field in the figure.
  • the detection zone 214 is generated automatically by an algorithm of the graphic lane recognition system, in other words, without user intervention.
  • This detection zone 214 is defined to correspond to a geographical location located on track 202, and represented here by the dotted rectangle 214
  • the detection zone 214 is defined by a rectangle on the two rails 202 1 and 202 2 .
  • one of the dimensions of the detection zone 214 is defined with respect to the spacing of the two rails 202 1 and 202 2 .
  • the geographical location of the detection zone 214 slightly exceeds the gauge of the rails 202 1 and 202 2 .
  • the detection zone 214 is centered between the two rails 202 1 and 202 2 and is situated for example between 100 meters and 60 meters from the parked vehicle 204.
  • the detection zone 214 is arranged to detect moving objects. and discriminate them by choosing only those having a height, for example, of approximately 3 meters from the top of the rails 202 1 and 202 2 , which typically corresponds to a rail vehicle comprising a single level.
  • the second moving vehicle 210 emits an input signal 208 which comprises a request to establish a wireless communication link, comprising for example a password and an identifier of the vehicle 210.
  • the parked vehicle 204 identifies the lane 202 on which it is parked and defines the detection zone 214.
  • the vehicle 210 is located outside and beyond the detection zone 214. Therefore, the parked vehicle 204 does not detect the vehicle 210 by FIGURE 2 .
  • the vehicle's wireless communication system 204 is simply on standby, and its vehicle connection port 204 is not listening, implying that the input signal 208 from vehicle 210 is not. heard by vehicle 204.
  • the driver of the vehicle 210 approaching on the track 202 initiates a coupling procedure with the parked vehicle 204, for which it is necessary to control an opening 120 of the hatches from his drive unit. In doing so, it opens a communication port present within the wireless transmission and reception system 206 of the vehicle 210 and activates the transmission of a periodic input signal 208, for example containing an identifier of the vehicle 210 and a password, to allow the parked vehicle 204 on standby to respond to it and thus establish the secure communication link without the two vehicles 204 and 210 knowing each other beforehand.
  • a periodic input signal 208 for example containing an identifier of the vehicle 210 and a password
  • the detection zone 214 of the parked vehicle 204 is now occupied by the moving vehicle 210.
  • the parked vehicle 204 whose approach detection system is active, detects the presence of an object in its detection zone 214. By analyzing the shape of this object, its detection device 205 determines that it is of a vehicle approaching on its own traffic lane 202 This detection is illustrated by the field of view 205 shown in thicker lines.
  • the vehicle 204 itself activates the wireless communication port positioned in the wireless transmission and reception system 206 of the vehicle 204 in the drive unit closest to the vehicle 210, as illustrated by the star drawn on the system 206.
  • the parked vehicle 204 will listen to a signal 208 coming from the detected vehicle 210.
  • the opening of this communication port allows it to pick up the signal 208 transmitted by vehicle 210 (resuming its identifier / password and the connection request) and to decode / interpret the signal 208 emitted by the vehicle 210.
  • the vehicle 204 after having verified the integrity of the signal 208 and its compatibility with the vehicle 210, the vehicle 204 sends back a return signal 218 comprising the identifier of the vehicle 204 and a password.
  • the vehicle 210 On reception of the signal 218, the vehicle 210 also performs its own checks to authorize the connection between the two vehicles 204 and 210. The secure wireless communication is then established between the two vehicles 204 and 210 located on the same track 202, and only between them.
  • the moving vehicle 210 has approached the parked vehicle 204 again. But they are still at a distance, for example 60 meters or less, or even up to 10 meters, which allows the vehicle 204 to achieve from it even all of the actions necessary for a mechanical connection between the two vehicles 204 and 210 and required before the moving vehicle 210 comes into contact with it, and without the latter needing to stop in the meantime. These required actions include, for example, opening the hatches of the parked vehicle coupling mechanism 204, which must be done before contact occurs.
  • a request 104 to open the doors of the vehicle 204 is sent by the vehicle 210.
  • the parked vehicle 204 receives the command sent by the vehicle 210 and carries out an execution 120 of the request received from the vehicle 210.
  • the vehicle 204 activates the opening of its front hatches, and checks the pre-requisite conditions for a mechanical link.
  • the parked vehicle 204 sends the vehicle 210 a confirmation of execution of all the actions commanded to the parked vehicle 204.
  • the mechanical connection between the two vehicles 204 210 is preferably carried out without a phase of stopping the vehicle on approach 210.
  • the vehicle 210 receives the confirmation, the analysis and can therefore continue to advance until the mechanical contact between the two vehicles 210 and 204.
  • their respective coupling mechanisms engage with each other automatically upon switching. contact, making the mechanical connection.
  • the driver of the second vehicle 210 can then stop his vehicle, and get off if necessary to complete the connection, for example by connecting the electrical and pneumatic circuits of the two vehicles.
  • the second vehicle 210 therefore no longer needs to move for the rest of the coupling operations, and therefore does not risk disturbing the other operations to be carried out on its train, for example the descent and ascent of passengers.
  • FIGURES 6, 7, 8 and 9 are non-limiting schematic representations of a second example of implementation of a method according to the invention at different stages of implementation of said method.
  • the FIGURES 6 to 9 represent diagrams of a stop station 600 for a railway vehicle.
  • the stop station 600 has three tracks 202, 602 and 702 each composed of two rows of rails 202 1 and 202 2 for the track 202, 602 1 and 602 2 for the track 602 and 702 1 and 702 2 for the track 702.
  • Each of the lanes 202, 602 and 702 comprises a parked vehicle 204, 604, 704, said vehicles 204, 604, 704 all being parked on the same side of their lane 202, 602, 702, on the left of the figure.
  • the parked vehicle 204 is stopped on the left side of the track 202.
  • the parked vehicle 604 is stopped on the left side of the track 602.
  • the parked vehicle 704 is stopped on the left side of the track 702.
  • Vehicles 202, 604 and 704 are similar to vehicle 202 described in FIGURES 2 to 5 and their detection devices 205 may be similar. Thus, only the differences with the FIGURES 2 to 5 will be described.
  • Each parked vehicle 204, 604 and 704 comprises a secure automatic dialogue system according to the invention, as described in FIGURES 2 to 5 .
  • the detection zone 214, 614 and 714 has been defined by each of the vehicles 204, 604 and 704 and each of the vehicles 204, 604 and 704 has identified its lane 202, 602 and 702 of circulation.
  • the second vehicle 210 is positioned on the right side of the railroad 202.
  • the second vehicle 210 is in motion, more particularly in movement of approach 216 vis-à-vis the vehicle 204 on the track 202.
  • Tracks 602 and 702 do not include an approaching vehicle.
  • the approach detection system 205 of each of the vehicles 604, 204 and 704 allows each vehicle 604, 204 and 704 to identify its lane from the other lanes of traffic, at within the images captured by its detection system 205, and to define a detection zone 614, 214 and 714 on each of the tracks 602, 202 and 702.
  • the vehicle 204 identifies the two rails 202 1 and 202 2 of its channel 202, and will identify the detection zone 214 centered on channel 202.
  • the parked vehicle approach detection system 204 considers that there is no approaching vehicle on track 202.
  • the approaching vehicle 210 is 100 meters from the vehicle 204 and the outer casing of the vehicle 210 completely fills the detection zone 214.
  • the vehicle approach detection system 204 thus identifies the vehicle 210 on the track 202.
  • the vehicle 202 in FIGURE 8 activates its wireless communication port and receives the signal 208 emitted by the vehicle 210.
  • the vehicles 604 and 704 not having detected the vehicle 210 on their respective traffic lanes 602 and 702, do not activate their communication port wireless (ie no port opening).
  • the vehicles 204 and 210 exchange signals 218 and 208 comprising the identifiers and the passwords of each of said vehicles 204 and 210.
  • This contact leads to the taking 102 of the parked vehicle 204 by the vehicle 210 so that the vehicle 210 remotely controls an action to vehicle 204.
  • vehicles 604 and 704 do not detect vehicle 210 on approach, either because they do not see it or because it does not enter their zones. detection 614 and 714. They therefore do not activate their wireless communication port, therefore do not receive the input signal 208 from the approaching vehicle 210, and therefore do not enter into communication with the vehicle 210.
  • FIGURES 10, 11 and 12 are schematic representations, by way of nonlimiting examples, of images 1000, 1100 and 1200 recorded by a graphic lane recognition system according to the method according to the invention, and in the situation described in FIGURES 6, 7, 8 and 9 .
  • the FIGURES 10 and 11 each represent an image 1000 and 1100 recorded by the detection device 205 of the vehicle 204 parked on track 202 as described in FIGURES 6, 7, 8 and 9 .
  • the detection zone 214 of the vehicle 204 is here illustrated by a dotted rectangle: it situated in a graphic zone of the image which is positioned on the track 202, the same as that of the vehicle 204.
  • the images 1000 and 1100 therefore include the images. three-way 602, 202 and 702 as shown on FIGURES 6 to 9 .
  • the detection zone 214 of the vehicle 204 is centered between the two rails 202 1 and 202 2 of the track 202.
  • the automated image recognition system of the vehicle 204 identifies on the image the two rails 202 1 and 202 2 of its own traffic lane 202, and follows them on the image to place the detection zone 214 in the center of the two rails 202 1 and 202 2 at a determined distance from the parked vehicle 204, for example example at 100 meters.
  • the image shows that an object, here an individual 1002, is present or even moving in the detection zone 214 associated with the vehicle 204 on its path 202.
  • the shape recognition notes that the individual 1002 is not not a vehicle, in particular because it is not entirely included in the detection zone 214 of the vehicle 204.
  • the automated image recognition system of the vehicle 204 therefore discriminates the object 1002 present in the detection zone 214. in front of it, and determines that the object 1002 is not an approaching vehicle on its lane 202.
  • the detection device 205 of the vehicle 204 considers that no vehicle is traveling on its own lane 202. Its communication port therefore remains on standby and is not listening.
  • the vehicle 204 is parked on lane 202 and vehicle 210 is approaching on the same lane 202.
  • the outer casing of the vehicle 210 completely fills the detection zone 214 of the vehicle 204.
  • the vehicle detection system 204 identifies that the detected object is a vehicle 210 which is approaching on its own lane 202, and will therefore activate its port of communication 206. Without anyone on board, nor requiring a long-distance remote control, he will therefore be able to receive the input signal 208 from the vehicle 210, then continue the automated dialogue and receive the preparation commands from the approaching vehicle 210.
  • Image 1200 shown in FIGURE 12 is recorded by the detection device of another vehicle 602, parked on another lane 602 as described in FIGURES 6 to 9 .
  • This vehicle defines its own detection zone 614, positioned on its track 602 approximately 100m in front of it.
  • This other vehicle 602 also sees the approaching vehicle 210 arrive on track 202, here visible on the right of the image.
  • the vehicle 210 does not “fill” the detection zone 614 associated with the graphic recognition system of the vehicle 604.
  • the vehicle detection system 604 considers that the vehicle 210 is not traveling on its own. lane 602. He therefore considers that no vehicle is traveling on its own lane 602; its communication port therefore remains on standby and is not listening.
  • the approach of the vehicle 210 will therefore trigger listening to the communication port of the single vehicle 204 parked on the same track 202, but will not activate the communication systems of the neighboring vehicles 604 and 704.
  • lanes 602, 202 and 702 are straight.
  • the FIGURE 13 represents a 1300 image similar to those of FIGURES 10 and 11 , seen from parked vehicle 204, but in a situation where the three different parallel tracks 602, 202 and 702 are curved in shape.
  • the same detection device 205 of the parked vehicle 204 will identify the rails 2011 and 2022 of its track 202, and follow them on the image 1300 to define its detection zone 214. In the same way as described above, it will detect the approaching vehicle 210 and discriminate it as such, and therefore activate its communication port; thus allowing the continuation of the automated dialogue.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
EP20187769.3A 2019-07-30 2020-07-24 Verfahren und system für einen gesicherten automatischen dialog zwischen zwei fahrzeugen Active EP3771614B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1908711A FR3099452B1 (fr) 2019-07-30 2019-07-30 Procédé de dialogue automatique sécurisé entre deux véhicules

Publications (2)

Publication Number Publication Date
EP3771614A1 true EP3771614A1 (de) 2021-02-03
EP3771614B1 EP3771614B1 (de) 2022-06-01

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EP20187769.3A Active EP3771614B1 (de) 2019-07-30 2020-07-24 Verfahren und system für einen gesicherten automatischen dialog zwischen zwei fahrzeugen

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EP (1) EP3771614B1 (de)
ES (1) ES2924340T3 (de)
FR (1) FR3099452B1 (de)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2537731A1 (de) * 2011-06-23 2012-12-26 Siemens SAS Vorrichtung zum Messen einer Entfernung zwischen zwei öffentlichen Verkehrsmitteln
DE102012009114A1 (de) * 2012-05-09 2013-11-14 Db Fernverkehr Ag Verfahren zum Kuppeln von Schienenfahrzeugen
DE102014226045A1 (de) * 2014-12-16 2016-06-16 Siemens Aktiengesellschaft Verfahren und Vorrichtung zur relativenZuglagenbestimmung zweier Züge
GB2539125A (en) * 2014-03-07 2016-12-07 Hitachi Ltd Vehicle coupling control system, vehicle coupling control method, and vehicle control system fault detection device
WO2016193063A1 (fr) * 2015-05-29 2016-12-08 Metrolab Système automatique de couplage de véhicules ferroviaires et procédé associé
US20180165532A1 (en) * 2016-12-13 2018-06-14 Westinghouse Air Brake Technologies Corporation Machine Vision Based Track-Occupancy and Movement Validation

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2537731A1 (de) * 2011-06-23 2012-12-26 Siemens SAS Vorrichtung zum Messen einer Entfernung zwischen zwei öffentlichen Verkehrsmitteln
DE102012009114A1 (de) * 2012-05-09 2013-11-14 Db Fernverkehr Ag Verfahren zum Kuppeln von Schienenfahrzeugen
GB2539125A (en) * 2014-03-07 2016-12-07 Hitachi Ltd Vehicle coupling control system, vehicle coupling control method, and vehicle control system fault detection device
DE102014226045A1 (de) * 2014-12-16 2016-06-16 Siemens Aktiengesellschaft Verfahren und Vorrichtung zur relativenZuglagenbestimmung zweier Züge
WO2016193063A1 (fr) * 2015-05-29 2016-12-08 Metrolab Système automatique de couplage de véhicules ferroviaires et procédé associé
US20180165532A1 (en) * 2016-12-13 2018-06-14 Westinghouse Air Brake Technologies Corporation Machine Vision Based Track-Occupancy and Movement Validation

Also Published As

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FR3099452B1 (fr) 2021-07-23
ES2924340T3 (es) 2022-10-06
EP3771614B1 (de) 2022-06-01
FR3099452A1 (fr) 2021-02-05

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