EP3786030A1 - Procédé et équipement de localisation d'un véhicule à l'aide de la technologie uwb - Google Patents

Procédé et équipement de localisation d'un véhicule à l'aide de la technologie uwb Download PDF

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Publication number
EP3786030A1
EP3786030A1 EP20191439.7A EP20191439A EP3786030A1 EP 3786030 A1 EP3786030 A1 EP 3786030A1 EP 20191439 A EP20191439 A EP 20191439A EP 3786030 A1 EP3786030 A1 EP 3786030A1
Authority
EP
European Patent Office
Prior art keywords
uwb
measurement results
vte2
vte1
radars
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.)
Pending
Application number
EP20191439.7A
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German (de)
English (en)
Inventor
Melih Arpaci
Hans-Jörg MÖNNICH
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
Publication of EP3786030A1 publication Critical patent/EP3786030A1/fr
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/025—Absolute localisation, e.g. providing geodetic coordinates

Definitions

  • the invention relates to a method and a train protection device for locating a vehicle, in particular a rail-bound vehicle, in which a UWB radar device is used for locating.
  • the invention relates to a computer program product and a provision device for this computer program product, the computer program product being equipped with program commands for carrying out this method.
  • UWB-based location systems can in future be used to determine the location of a train.
  • the technology as such is not signal-technically secure. This means that the operational safety requirements applicable in train traffic cannot be ensured by UWB-based location systems.
  • Train control systems that are reliable in terms of signaling also require location information that is reliable in terms of signaling.
  • UWB should not be used as the only means of location, but that it should be combined with location via GPS. This is to ensure that reliable location information is always available for the train control system.
  • UWB radio technology UWB stands for ultra wide band or ultra broadband
  • UWB ultra wide band or ultra broadband
  • ETCS European Train Control System
  • Ultra-broadband technology describes an approach to short-range radio communication primarily for the commercial mass market. The most important feature is the use of comparatively large frequency ranges with a bandwidth of 500 MHz and larger.
  • the object of the invention is to provide a method and an arrangement for locating trains, in which inexpensive system components can be used and the requirements for the reliability of locating are given.
  • the invention only requires at least two UWB units which are not secure in terms of signaling technology, which are then used as UWB radar, but can also fulfill other functions.
  • a clear, uniform requirement specification for these UWB radars makes it possible to combine the solutions from different suppliers cost-effectively, since both channels designed in this way are independent and no complex signaling technology Require implementations by the UWB manufacturer. If there is evidence of compliance with said specification, systems from different suppliers can alternatively be used without these having to meet complex safety-relevant signaling requirements, as they are normally required for train technology applications or also applications for example for autonomous driving.
  • UWB for the odometry of a train control system used without major railway-specific adjustments (signaling safety). Even in autonomous driving, for example, UWB radar can be used inexpensively with sufficient reliability in generating the measurement results by means of the method according to the invention.
  • the required process reliability is ensured according to the invention with the voting device.
  • This makes it possible to compare the measurement results that are generated by the different UWB radars in such a way that it is possible to draw conclusions about any errors that may be present.
  • This ensures the security required in the railway sector for the correctness of the measurement results while using inexpensive radar components at the same time.
  • the approach according to the invention is therefore called: redundant arrangement of cost-effective components and guarantee of operational safety through the use of a voting process.
  • At least two components must generate measured values. Therefore, according to the invention, at least two UWB radars are to be provided. However, three or more UWB radars can also advantageously be taken into account (further explanations below regarding the implementation of the voting method in the case of two or more components).
  • the voting process is preferably computer-implemented (i.e. using a computer).
  • the terms “create”, “calculate”, “calculate”, “determine”, “generate”, “configure”, “modify” and the like preferably refer to actions and / or processes and / or processing steps that change and / or generate data and / or convert the data into other data, the data being or being able to be represented, in particular, as physical quantities, for example as electrical impulses.
  • the term “computer” is to be interpreted broadly to cover all electronic devices with data processing properties. Computers can thus be, for example, personal computers, servers, handheld computer systems, pocket PC devices, mobile radio devices and other communication devices that can process data with the aid of computers, processors and other electronic devices for data processing, which can preferably also be connected to a network .
  • “computer-aided” can be understood to mean, for example, an implementation of the method in which one or more computers executes or executes at least one method step of the method.
  • a “processor” can be understood to mean, for example, a machine or an electronic circuit.
  • a processor can in particular be a central processing unit (CPU), a microprocessor or a microcontroller, for example an application-specific integrated circuit or a digital signal processor, possibly in combination with a memory unit for storing program commands, etc. .
  • a processor can also be, for example, an IC (integrated circuit), in particular an FPGA (field programmable gate array) or an ASIC (application-specific integrated circuit), or act as a DSP (digital signal processor).
  • a processor can also be understood to be a virtualized processor or a soft CPU. For example, it can also be a programmable processor that is equipped with a configuration for carrying out the aforementioned method according to the invention.
  • a “memory unit” can be understood to mean, for example, a computer-readable memory in the form of a random access memory (RAM) or a hard disk.
  • At least two UWB radars of different designs and / or different manufacturers are used.
  • a tolerance range is defined for the correspondence of measurement results from different UWB radars.
  • the determination of a tolerance range for the measurement results is advantageous because the generation of exactly the same measurement results with 2 UWB radars can often not be guaranteed. However, it is sufficient for the selection by the voter (the voting facility) if the measurement results of the two UWB radars are sufficiently close to one another. In this case, it is assumed that the measurement results agree. By selecting a tolerance range, the sensitivity of the voting process can also be influenced directly and adapted to the security requirements.
  • the number of cases and / or the time of occurrence of the cases and / or frequency of the cases in which the integrity of the measurement results is not confirmed is stored in a memory device for each UWB radar.
  • the need to replace a UWB radar is indicated if the number or the frequency of the stored cases exceeds a limit value.
  • UWB radar devices are used with which the vehicle can be located from different directions.
  • UWB radar devices in the sense of the invention are to be understood as devices each consisting of 2 or more radars. While a UWB radar device needs several UWB radars so that a voting method can be used, several UWB radar devices can be operated in particular at different locations, which is why, for example, a cross bearing of the vehicle is possible. This use is of great importance, in particular, for autonomous driving outside of rail-bound routes, since in these applications the vehicles can move freely on the available traffic area. However, two-dimensional location of the vehicle can also be of great advantage for track-based operation. For example, at If there are several tracks, this means that the track occupancy of the individual tracks can be determined with a higher degree of local accuracy.
  • the stated object is alternatively also achieved according to the invention with the initially specified subject matter (train protection device) in that the locating unit has at least two redundantly arranged UWB radars which are connected to a voting device. According to one embodiment of the invention, it is provided that it is designed to carry out the aforementioned method.
  • a provision device for storing and / or providing the computer program product.
  • the provision device is, for example, a data carrier that stores and / or provides the computer program product.
  • the provision device is, for example, a network service, a computer system, a server system, in particular a distributed computer system, a cloud-based computer system and / or virtual computer system, which the computer program product preferably stores and / or provides in the form of a data stream.
  • This provision takes place, for example, as a download in the form of a program data block and / or command data block, preferably as a file, in particular as a download file, or as a data stream, in particular as a download data stream of the complete computer program product.
  • This provision can, for example, also take place as a partial download, which consists of several parts and, in particular, is downloaded via a peer-to-peer network or made available as a data stream.
  • Such a computer program product is read into a system, for example, using the supply device in the form of the data carrier and executes the program commands so that the method according to the invention is executed on a computer or the creation device is configured in such a way that it generates the workpiece according to the invention.
  • the described components of the embodiments each represent individual features of the invention that are to be considered independently of one another, which also develop the invention independently of one another and are thus also to be regarded as part of the invention individually or in a combination other than the one shown. Furthermore, the described embodiments can also be supplemented by further features of the invention already described.
  • a train protection device ZSE is shown, which in the embodiment according to Figure 1 is a control center. This is connected via an antenna ANT to further antennas ANT of a locating unit OTG and a train computer ZR via a radio interface not shown in detail.
  • the mentioned functional elements are used to implement train monitoring, which is coordinated via the train safety device ZSE.
  • the train computer ZR belongs to a vehicle FZG which is traveling on a track GLS. This is therefore the embodiment according to FIG Figure 1 around a rail-bound vehicle FZG. However, it is also indicated that it could be a road vehicle that is traveling on a road SRT. This is shown in dash-dotted lines. In this case, the vehicle FZG could be equipped for autonomous driving, which is why it would be necessary to monitor its movement.
  • an odometry sensor OD01 which can be formed by a wheel sensor, is in the vehicle FZG in a manner known per se, and there is an odometry sensor ODO2 on the GLS track , for example an axle counter, arranged.
  • the odometry sensor ODO1 communicates with the train computer and the odometry sensor ODO2 communicates with the locating unit OTG.
  • the monitoring of the vehicle FZG is also supported by the UWB radar devices RDE1, RDE2, RDE3.
  • the UWB radar devices RDE1 and RDE2 are fixedly arranged in the vicinity of the GLS track, while the UWB radar device RDE3 is attached to the front part of the vehicle FZG as seen in the direction of travel.
  • the UWB radar devices RDE1 and RDE2 each consist of three UWB radars RD1, RD2, RD3. These are of different design or from different manufacturers, so that they do not 100% match in their functionality. This is important because signal processing (this is explained in more detail below) is intended to prevent the occurrence of systematic errors.
  • the measurement results that are generated by the UWB radars RD1, RD2 are passed on to a voting device VTE2 in the vehicle FZG.
  • they are subjected to a voting process, which means that the measurement results of the UWB radars RD1, RD2 are only taken into account if they agree within a specified tolerance range or, in other words, the integrity of the measurement results is verified in this way. Only under this condition are the measurement results released by the voting device VTE2 and passed on to the train computer ZR.
  • the stationary UWB radar devices RDE1, RDE2 work according to the same functional principle. According to the embodiment of FIG Figure 1 used to locate the vehicle FZG. Because of their different orientation it is For example, a cross bearing is possible in order to determine the position of the vehicle FZG as precisely as possible.
  • the UWB radar device RDE1 and RDE2 transmit the measurement result to the voting device VTE1, which evaluates the results from the respective UWB radar RD1, RD2, RD3 individually for the UWB radar device RDE1 and RDE2.
  • the voting device VTE1 evaluates the results from the respective UWB radar RD1, RD2, RD3 individually for the UWB radar device RDE1 and RDE2.
  • either the measurement results of one or both or neither of the UWB radar devices RDE1, RDE2 are passed on to the locating unit OTG.
  • measurement results are generated in a measurement step MSRE in the radar devices RDE1, RDE2, RDE3 parallel to a measurement step SENS of the odometry sensors ODO1, ODO2. While the measurement result SENS of the odometry sensors ODO1, ODO2 in the sensors is converted directly in a step of the measurement conversion TRANS, the measurement result of the UWB radar devices RDE1, RDE2, RDE3 (more precisely all UWB radars RD1, RD2, RD3) in a comparison step VOTE by the voting devices VTE1, VTE2. According to an INTEG case distinction, the measurement result is only subjected to a further processing step if the integrity is given.
  • rejection step RFSE the lack of integrity of the measurement result leads to a rejection step RFSE, so that the measurement result is no longer made available for further processing in the sense of train protection.
  • This rejection step is also connected to a recursion loop, so that the measurement step MSRE of the UWB radar device in question is repeated.
  • the rejection step RFSE initiates a counting step COUNT, so that the events that led to a rejection of a measurement result are registered.
  • the train protection device ZSE takes on overarching control functions GUIDE in the process, as indicated.
  • GUIDE the relevant data for the train protection measure is transmitted to the train protection device ZSE.
  • the result of the check step CHECK can also be transferred so that maintenance can be coordinated, for example.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
EP20191439.7A 2019-08-29 2020-08-18 Procédé et équipement de localisation d'un véhicule à l'aide de la technologie uwb Pending EP3786030A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102019212985.4A DE102019212985A1 (de) 2019-08-29 2019-08-29 Verfahren und Einrichtung zur Ortung eines Fahrzeugs mit UWB Technologie

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EP3786030A1 true EP3786030A1 (fr) 2021-03-03

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EP20191439.7A Pending EP3786030A1 (fr) 2019-08-29 2020-08-18 Procédé et équipement de localisation d'un véhicule à l'aide de la technologie uwb

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EP (1) EP3786030A1 (fr)
DE (1) DE102019212985A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3124068A1 (de) * 1981-06-12 1983-01-05 Licentia Patent-Verwaltungs-Gmbh, 6000 Frankfurt "einrichtung zur ortung und zur datenuebertragung von und/oder zu fahrzeugen"
CN103587555A (zh) 2013-11-14 2014-02-19 张健 基于卫星差分定位以及uwb定位的列车行驶无缝监测系统
WO2018158711A1 (fr) * 2017-02-28 2018-09-07 Thales Canada Inc. Appareils, systèmes, procédés et logiciel de commande et de suivi de train utilisant des capteurs multiples, des signes ssd/qr et/ou des réflecteurs rf
US20180362058A1 (en) 2013-09-03 2018-12-20 Metrom Rail, Llc Rail Vehicle Signal Enforcement and Separation Control

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005048015A1 (de) * 2005-10-07 2007-04-12 Robert Bosch Gmbh Plausibilisierung von Sensorsignalen in Fahrzeugsystemen
US8812227B2 (en) * 2011-05-19 2014-08-19 Metrom Rail, Llc Collision avoidance system for rail line vehicles

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3124068A1 (de) * 1981-06-12 1983-01-05 Licentia Patent-Verwaltungs-Gmbh, 6000 Frankfurt "einrichtung zur ortung und zur datenuebertragung von und/oder zu fahrzeugen"
US20180362058A1 (en) 2013-09-03 2018-12-20 Metrom Rail, Llc Rail Vehicle Signal Enforcement and Separation Control
CN103587555A (zh) 2013-11-14 2014-02-19 张健 基于卫星差分定位以及uwb定位的列车行驶无缝监测系统
WO2018158711A1 (fr) * 2017-02-28 2018-09-07 Thales Canada Inc. Appareils, systèmes, procédés et logiciel de commande et de suivi de train utilisant des capteurs multiples, des signes ssd/qr et/ou des réflecteurs rf

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