WO2010063547A1 - Method and device for determining positions for rail vehicles - Google Patents

Method and device for determining positions for rail vehicles Download PDF

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Publication number
WO2010063547A1
WO2010063547A1 PCT/EP2009/065092 EP2009065092W WO2010063547A1 WO 2010063547 A1 WO2010063547 A1 WO 2010063547A1 EP 2009065092 W EP2009065092 W EP 2009065092W WO 2010063547 A1 WO2010063547 A1 WO 2010063547A1
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WO
WIPO (PCT)
Prior art keywords
route data
vehicle
lateral acceleration
rail vehicles
determining positions
Prior art date
Application number
PCT/EP2009/065092
Other languages
German (de)
French (fr)
Inventor
Jens Braband
Original Assignee
Siemens Aktiengesellschaft
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 Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Publication of WO2010063547A1 publication Critical patent/WO2010063547A1/en

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Classifications

    • 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 vehicle trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
    • B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
    • B61L25/026—Relative localisation, e.g. using odometer

Definitions

  • the invention relates to a method for determining the position of rail vehicles and a related device.
  • Position data form important input variables for collision warning systems, as described, for example, in DE 10 2008 003 872.5.
  • the danger of collision presents a considerable problem, especially on single-track and secondary routes, since highly complex safety technology is usually dispensed with for cost reasons.
  • the required position data are preferably determined by means of a satellite navigation system.
  • the achievable resolution is very low and is often not sufficient for neighboring tracks, for example station tracks.
  • the position data information is not available for tunnel trips or topography-related shadowing.
  • the object is achieved in that in-vehicle lateral acceleration, which occurs when the direction of travel changes, is detected and compared with route data.
  • a transverse acceleration sensor and a route data memory as well as comparison means for comparing the lateral acceleration with the route data are provided inside the vehicle.
  • the comparison results i. H. the position data are fed to a collision warning system.
  • a collision warning system In this way, an increase in the level of security can be achieved without the use of conventional, cost-intensive security technology.
  • the position determination for special trips, z. B. not regularly on the way running construction vehicles, are used. It is advantageous that a mobile version of the vehicle-internal components is easily possible.
  • the route data memory includes soft-specific lateral acceleration profiles. These transverse acceleration profiles are a special feature of every single turnout are compared with a measured lateral acceleration profile in the sense of pattern recognition. As a result, a very reliable assignment to a specific switch and thus to a specific location is possible. In the case of simple operating conditions, ie with isolated standard turnouts, however, the lateral acceleration profiles can be dispensed with. In these cases, it is sufficient merely to determine a right-jerk or left-jerk and to determine the position from the past values and the route topology.

Abstract

The invention relates to a method and to a device for determining positions for rail vehicles, wherein it is provided that within the vehicle, a transverse acceleration occurring in the event of a change in the direction of travel is detected and compared with route data.

Description

Beschreibungdescription
Verfahren und Vorrichtung zur Positionsbestimmung bei schienengebundenen FahrzeugenMethod and device for determining the position of rail-bound vehicles
Die Erfindung betrifft ein Verfahren zur Positionsbestimmung bei schienengebundenen Fahrzeugen sowie eine diesbezügliche Vorrichtung.The invention relates to a method for determining the position of rail vehicles and a related device.
Genaue und zuverlässige Positionsbestimmung ist die Grundlage jeglicher sicherheitsgerichteter Prozesse im Schienenverkehr. Positionsdaten bilden wichtige Eingangsgrößen für Kollisionswarnsysteme, wie beispielsweise in DE 10 2008 003 872.5 beschrieben. Die Kollisionsgefahr stellt insbesondere auf ein- gleisigen und Nebenstrecken ein erhebliches Problem dar, da auf hochkomplexe Sicherungstechnik aus Kostengründen üblicherweise verzichtet wird. Die erforderlichen Positionsdaten werden vorzugsweise mittels eines Satelliten-Navigationssystems ermittelt. Die erreichbare Auflösung ist jedoch sehr ge- ring und bei benachbarten Gleisen, beispielsweise Bahnhofsgleisen, oft nicht ausreichend. Außerdem steht die Positionsdateninformation bei Tunnelfahrten oder topographiebedingten Abschattungen nicht zur Verfügung.Accurate and reliable positioning is the foundation of all safety-related rail traffic processes. Position data form important input variables for collision warning systems, as described, for example, in DE 10 2008 003 872.5. The danger of collision presents a considerable problem, especially on single-track and secondary routes, since highly complex safety technology is usually dispensed with for cost reasons. The required position data are preferably determined by means of a satellite navigation system. However, the achievable resolution is very low and is often not sufficient for neighboring tracks, for example station tracks. In addition, the position data information is not available for tunnel trips or topography-related shadowing.
Es ist deshalb Aufgabe der Erfindung, ein Verfahren und eine Vorrichtung bereitzustellen, welche mit einfachen Mitteln eine hochgenaue und hochverfügbare Positionsdatenermittlung ermöglichen .It is therefore an object of the invention to provide a method and an apparatus which enable a highly accurate and highly available position data determination with simple means.
Verfahrensgemäß wird die Aufgabe dadurch gelöst, dass fahrzeugintern eine Querbeschleunigung, die bei Fahrtrichtungsänderung auftritt, detektiert und mit Streckendaten verglichen wird. Gemäß Anspruch 3 ist dazu vorgesehen, dass fahrzeugintern ein Querbeschleunigungssensor und ein Streckendatenspeicher sowie Vergleichsmittel zum Vergleich der Querbeschleunigung mit den Streckendaten vorgesehen sind.According to the method, the object is achieved in that in-vehicle lateral acceleration, which occurs when the direction of travel changes, is detected and compared with route data. According to claim 3, it is provided that a transverse acceleration sensor and a route data memory as well as comparison means for comparing the lateral acceleration with the route data are provided inside the vehicle.
Durch Auswertung der Querbeschleunigung ergibt sich eine einfache sensorische Erkennbarkeit der Änderung der Fahrtrichtung, insbesondere bei Weichenüberfahrt. Bei Überfahrt einer Weiche in abzweigender Stellung resultiert ein typischer Ruck, der als Querbeschleunigung detektiert wird. Anhand einer Streckenkarte kann somit festgestellt werden, welche Weiche gerade passiert wurde, so dass eine Positionsbestimmung auch bei mehrgleisigen Streckenabschnitten möglich ist. Bei Fahrtbeginn in einem mehrgleisigen Abschnitt muss der Triebfahrzeugführer zunächst einmalig das korrekte Gleis identifizieren und eine entsprechende Eingabe machen, die bei der nächsten abzweigenden Weiche plausibilisiert werden kann.By evaluating the lateral acceleration results in a simple sensory recognizability of the change in the direction of travel, especially when crossing points. When crossing a turnout in a branching position results in a typical jerk, which is detected as a lateral acceleration. Based on a route map can thus be determined, which switch has just been passed, so that a position determination is possible even with multi-track sections. At the start of the journey in a multi-track section, the driver must first of all identify the correct track and make a corresponding entry that can be made plausible at the next divert gate.
Gemäß Anspruch 2 ist vorgesehen, dass die Vergleichsergeb- nisse, d. h. die Positionsdaten, einem Kollisionswarnsystem zugeführt werden. Auf diese Weise ist eine Erhöhung des Sicherheitsniveaus auch ohne Einsatz der herkömmlichen, kostenintensiven Sicherungstechnik erreichbar. Neben dem Regelzugbetrieb kann die Positionsbestimmung auch für Sonderfahrten, z. B. nicht regelmäßig auf der Strecke verkehrender Baufahrzeuge, eingesetzt werden. Dabei ist es von Vorteil, dass eine mobile Ausführung der fahrzeuginternen Komponenten leicht möglich ist. Darüber hinaus ist auch eine Nutzung als Rückfallebene bei störanfälligen Positionsbestimmungssystemen, beispielsweise Dopplerradar, denkbar.According to claim 2, it is provided that the comparison results, i. H. the position data are fed to a collision warning system. In this way, an increase in the level of security can be achieved without the use of conventional, cost-intensive security technology. In addition to the Regelzugbetrieb the position determination for special trips, z. B. not regularly on the way running construction vehicles, are used. It is advantageous that a mobile version of the vehicle-internal components is easily possible. In addition, a use as fallback level in fault-prone positioning systems, such as Doppler radar, conceivable.
Gemäß Anspruch 4 beinhaltet der Streckendatenspeicher weichenspezifische Querbeschleunigungsprofile . Diese Querbe- schleunigungsprofile als Besonderheit jeder einzelnen Weiche werden mit einem gemessenen Querbeschleunigungsprofil im Sinne einer Mustererkennung verglichen. Dadurch ist eine sehr zuverlässige Zuordnung zu einer bestimmten Weiche und damit zu einem bestimmten Ort möglich. Bei einfachen Betriebsver- hältnissen, d. h. bei isoliert liegenden Standardweichen, kann jedoch auf die Querbeschleunigungsprofile verzichtet werden. Es genügt in diesen Fällen, einen Rechts-Ruck oder Links-Ruck lediglich festzustellen und aus den Vergangenheitswerten und der Streckentopologie die Position zu ermit- teln. According to claim 4, the route data memory includes soft-specific lateral acceleration profiles. These transverse acceleration profiles are a special feature of every single turnout are compared with a measured lateral acceleration profile in the sense of pattern recognition. As a result, a very reliable assignment to a specific switch and thus to a specific location is possible. In the case of simple operating conditions, ie with isolated standard turnouts, however, the lateral acceleration profiles can be dispensed with. In these cases, it is sufficient merely to determine a right-jerk or left-jerk and to determine the position from the past values and the route topology.

Claims

Patentansprüche claims
1. Verfahren zur Positionsbestimmung bei schienengebundenen Fahrzeugen, d a d u r c h g e k e n n z e i c h n e t , dass fahrzeugintern eine Querbeschleunigung, die bei Fahrtrichtungsänderung auftritt, detektiert und mit Streckendaten verglichen wird.1. A method for determining the position of rail-bound vehicles, in which a transverse acceleration that occurs when the direction of travel changes is detected inside the vehicle and compared with route data is measured in-vehicle.
2. Verfahren nach Anspruch 1, d a d u r c h g e k e n n z e i c h n e t , dass die Vergleichsergebnisse einem Kollisionswarnsystem zugeführt werden .2. Method according to claim 1, characterized in that the comparison results are fed to a collision warning system.
3. Vorrichtung zur Durchführung des Verfahrens nach einem der vorangehenden Ansprüche, d a d u r c h g e k e n n z e i c h n e t , dass fahrzeugintern ein Querbeschleunigungssensor und ein Streckendatenspeicher sowie Vergleichsmittel zum Vergleich der Querbeschleunigung mit den Streckendaten vorgesehen sind.3. A device for carrying out the method according to one of the preceding claims, in which a transverse acceleration sensor and a route data memory as well as comparison means for comparing the lateral acceleration with the route data are provided inside the vehicle.
4. Vorrichtung nach Anspruch 3, d a d u r c h g e k e n n z e i c h n e t , dass der Streckendatenspeicher weichenspezifische Querbeschleuni- gungsprofile beinhaltet. 4. The device according to claim 3, wherein a route data memory contains soft-specific lateral acceleration profiles.
PCT/EP2009/065092 2008-12-01 2009-11-13 Method and device for determining positions for rail vehicles WO2010063547A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008060405.4 2008-12-01
DE200810060405 DE102008060405A1 (en) 2008-12-01 2008-12-01 Method and device for determining the position of rail-bound vehicles

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WO2010063547A1 true WO2010063547A1 (en) 2010-06-10

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WO (1) WO2010063547A1 (en)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0795454A1 (en) * 1996-03-14 1997-09-17 Siemens Aktiengesellschaft Method for determining the position of a railborne vehicle and device for carrying out the method
US20050065726A1 (en) * 2002-01-10 2005-03-24 Meyer Thomas J. Locomotive location system and method

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008003872A1 (en) 2008-01-08 2009-08-27 Siemens Aktiengesellschaft Collision Warning and Collision Warning System

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0795454A1 (en) * 1996-03-14 1997-09-17 Siemens Aktiengesellschaft Method for determining the position of a railborne vehicle and device for carrying out the method
US20050065726A1 (en) * 2002-01-10 2005-03-24 Meyer Thomas J. Locomotive location system and method

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
SAMER S SAAB: "A Map Matching Approach for Train PositioningPart II: Application and Experimentation", IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, IEEE SERVICE CENTER, PISCATAWAY, NJ, US, vol. 49, no. 2, 1 March 2000 (2000-03-01), XP011064045, ISSN: 0018-9545 *

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