WO2018104427A1 - Procédé, dispositif et véhicule ferroviaire pour la détermination de position dans le trafic ferroviaire - Google Patents

Procédé, dispositif et véhicule ferroviaire pour la détermination de position dans le trafic ferroviaire Download PDF

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Publication number
WO2018104427A1
WO2018104427A1 PCT/EP2017/081784 EP2017081784W WO2018104427A1 WO 2018104427 A1 WO2018104427 A1 WO 2018104427A1 EP 2017081784 W EP2017081784 W EP 2017081784W WO 2018104427 A1 WO2018104427 A1 WO 2018104427A1
Authority
WO
WIPO (PCT)
Prior art keywords
track
rail
sfz
stb
distance
Prior art date
Application number
PCT/EP2017/081784
Other languages
German (de)
English (en)
Inventor
Andreas Schönberger
Andreas Schaefer-Enkeler
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 WO2018104427A1 publication Critical patent/WO2018104427A1/fr

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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 trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/026—Relative localisation, e.g. using odometer
    • 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 for determining position in rail traffic according to the preamble of claim 1, a device position determination in rail traffic according to the preamble of claim 4 and a rail vehicle for determining position in rail traffic according to the preamble of claim 12.
  • railway vehicles are part of a modern transport ⁇ infrastructure track-bound transport and transport, for example, rolling on or under of one or two rails (tracks), floating above or below a magnetic field or hanging on steel cables move.
  • track-bound transport and means of transport are rail vehicles based on a wheel-rail system, either a private traction drive (railcar) or pulled by a locomotive or pushed and where predominantly steel wheels with a flange on two steel rails or railways are the most widely used.
  • the object underlying the invention is to provide a method, a device and a rail vehicle for position determination in rail transport, with the or the position of the rail vehicle in rail transport when needed, if no satellite-based position determination, in particular locating, is possible or this because of worse local conditions only limited use and / or feasible, yet can be determined.
  • the alternative determining positions in the rail when a conventional satellite-based Positionsbestim ⁇ mung fails or is inadequate, the subject of the (before ⁇ lying International Patent Application Appln. PCT / ...; Publication no. WHERE ...) and to priormaschinesbe ⁇ founding DE patent application (application no. 102016224355.1) is, in view of a future automated (au ⁇ tonomes) or assisted driving of rolling stock in rail transport, respectively rail vehicles in rail transport is an indispensable must.
  • the above contextual task is based on the defined in the preamble of claim 4 positioning device by the features specified in the characterizing part of claim 4 ge ⁇ triggers.
  • GPS Positioning System
  • the image meta-information includes feature and property data of the traveled railway line included in the images.
  • a rail location coordinate which indicates the position of a rail vehicle in rail traffic, generated in such a way that
  • a distinctive, detected by the images and known by the image metadata path distance point of a track segment component eg Location of a switch, balise, signal giving and leading plant etc.
  • the distance of the rail vehicle from the known distance point is determined by
  • a rail width is determined or e2) for the distinctive route point based on a comparison between the recorded track images and the corresponding reference track pictures the size of the track segment component) in the recorded track images with the size of the railway track component is compared to the Re ⁇ ference-distance images, and
  • the position determined in the position correction process for the marked route point in this way is both a new initialized track position and the generated rail location coordinate.
  • the basic principle of the invention is, based on image analysis an accurate position of the rail vehicle to be ⁇ agree.
  • GPS-based systems e.g. using the "Global Positioning System (GPS)" and wheel revolutions.
  • GPS-based positioning is not always available (e.g., in the tunnel), and alternative systems based on wheel rotations for position determination may be inaccurate due to slippage and jamming.
  • the GPS-less position determination (location) can be achieved in an advantageous manner, at least partially by the following steps:
  • At least one image recording device e.g., one or more image acquisition devices such as video cameras, laser sensors, thermal imaging cameras, radar devices, other image acquisition devices, etc.
  • a plurality of images are taken from the rail vehicle, e.g. from the perspective of the railcar driver, recorded or recorded.
  • the multiple execution is mainly relevant for redundancy purposes.
  • the distance of the rail vehicle from an object is determined as signal conditioning in FIGURE 1, at a distance mar ⁇ edge point, for example the site of a plant for a main signal to the rail route.
  • Option 1 It is the distance to the main signal of the signal connections would be based on the gauge in the image at the level of the main signal ⁇ determined.
  • the through lane of a lead ⁇ / track based image analysis in the rail / rail traffic according to the DE-patent application and the International Patent Application (Application No. PCT / ... (application No. 102016224331.4.). Publication No. WO 7) and the technical teaching disclosed therein.
  • Variant 2 The current image of the main signal is compared with a calibrated previous image of the main signal. For the former calibrated image, the distance of the rail ⁇ vehicle from the main signal is known. By comparing the size of the main signal in the current image relative to the size of the main signal in the calibrated image can be calculated the exact geographical ⁇ phical position of the rail vehicle. c. With the determination of the position at this striking distance point, ie the determination of a rail location coordinate can now be operated again with the detection of wheel revolutions until the next position correction process.
  • the following additional components - a) to c) for the image recording device eg the image acquisition device
  • the image recording device can be used in relation to the position determination device according to claim 4:
  • the evaluation of video images are limited to the first 50 meters in front of the railway vehicle or rail vehicle.
  • a lighting component according to claim 9 example, a local headlamp operates within or outside the human visual range through which the Qua ⁇ formality of ons réelle from the image recording device or Profakquisiti- at night or in bad weather captured image material improves.
  • GPS Global Positioning System
  • the position determining device as a virtual machine in the sense of "Software Defined signal recognition of Rail Traffic Sys ⁇ tems" is designed and works.
  • FIGS. 1 and 2 show:
  • FIG. 1 GPS-less rail vehicle-based position determination in a tunnel of a rail network
  • FIG. 2 shows a basic structure of a position determining device for the rail vehicle 1 according to the FIGURE ⁇ based position determination in the tunnel of the rail Ennet ⁇ zes.
  • FIG. 1 shows a rail-vehicle-based position determination in rail traffic SVK that originates without satellite support and is referred to as GPS-free in relation to the "Global Positioning System (GPS)" if, on a railroad track SST of a rail network SNE shown in sections
  • GPS Global Positioning System
  • Rail vehicle SFZ on a track GL of the railway line SST through a tunnel TNL drives where no satellite-based positioning or location is possible because no satellite signals, e.g. GPS signals, can be received.
  • the rail vehicle based position determination can in
  • the Positionsbes ⁇ timmungsvorraum PBV includes for this purpose a preferably as a sensor image formed recording apparatus BAZG which, for example ra as an ordinary video camera, laser sensor,nies sometimeska-, radar equipment, infrared camera, etc., is formed and is also called Jardinquisi- tion apparatus for acquisition of images, and a Radumformatung Zählein ⁇ direction RUZE, are detected with the wheel revolutions of the rail vehicle SFZ on the track GL.
  • a rail local ⁇ coordinate SOK which indicates the position of a rail vehicle SFZ in rail transport SVK for this type of position determination: First, starting from an initialized Gleispo ⁇ sition GLPI, the current position of the rail vehicle SFZ on the track GL indicates a number of wheel revolutions of the rail vehicle SFZ detected on this track GL. Then the value of a distance traveled on the track GL is calculated from the numerically recorded wheel revolutions.
  • the calculated distance value is determined by comparing to the Retired ⁇ laid track distance of the rail vehicle SFZ from the ⁇ particular from the perspective of a railcar leader FZF, TFS, TRW and / or from a stationary, fahrspurobserv Schlierenden position or on the vehicle SFZ, recorded route images STB with corresponding thereto, formed with respect to a route and rail infrastructure as calibrated images reference route images R-STB, which have been detected eg in previous trips of the same rail vehicle or other vehicles from a fleet of rail vehicles and are stored, taking into account stored track and rail infrastructure related Image meta information BMI corrected. So there is a position correction process instead.
  • the image meta-information includes feature and property data of the traveled railway line included in the images.
  • a distinctive path distance WSP of a track-width component GLSK which is detected by the images and known by the image meta-information BMI, is first of all determined.
  • These distances ⁇ point WSP of railway track component GLSK can be the location of a switch, a beacon, a signal giving the ⁇ and leading investment SAL, as shown overall in FIGURE 1.
  • the position determined in this position correction process for the marked path point WSP in this way is on the one hand a new initialized track position GLP n i for a subsequent detection of wheel revolutions including the associated position correction process described above and, on the other hand, the generated rail location coordinates SOK.
  • FIG. 2 shows the basic structure of the position-determining device PBV for the rail-mounted vehicle according to FIG. tool-based position determination when the rail vehicle SFZ travels on the track GL of the rail route SST in the rail network SNE through the tunnel TNL, where satellite-based position determination or locating is not possible because satellite signals, eg GPS signals, can not be received.
  • satellite-based position determination or locating is not possible because satellite signals, eg GPS signals, can not be received.
  • the image recording device BAZG which detects the distance images STB or the distance images STB and the reference distance images R-STB for the position determination, and the wheel revolution counting device RUZE, with the wheel revolutions of the rail vehicle SFZ can be recorded on the track GL.
  • the wheel rotation counter RUZE accesses a single wheel or the wheels, preferably of the railcar TRW, of the rail vehicle SFZ by means of sensors.
  • the image recording device BAZG is preferably designed to be pivotable for alignment with the image object.
  • image recording devices BAZG the same design, eg multiple video cameras, or devices un ⁇ ferent type, eg multiple video cameras, laser senors, RADAR-based, based on radio-based positioning and distance ⁇ measurement Sensors, infrared cameras and / or heat ⁇ image cameras are included in the position determining device PBV, which receive the images STB, R-STB.
  • image recording devices BAZG the same design, eg multiple video cameras, or devices un ⁇ ferent type, eg multiple video cameras, laser senors, RADAR-based, based on radio-based positioning and distance ⁇ measurement Sensors, infrared cameras and / or heat ⁇ image cameras are included in the position determining device PBV, which receive the images STB, R-STB.
  • a correction component KOK with the weather and Hellig ⁇ keitschal included for the evaluation of the image material become. With this component it is possible, for example, to limit the evaluation of video images to the first 50 meters in front of the rail vehicle in heavy fog.
  • a focal length variation component BVK in depen ⁇ dependence on the environment (eg station, city, country, etc.) and the speed chooses the right angle, so the evaluation of the image optimally under support alarm ⁇ zen.
  • An illumination component BLK which is embodied, for example, as a headlight which operates inside or outside the human visible region, and through which the quality of the image material recorded by the image recording device or the image acquisition device BAZG at night or in bad weather improves ,
  • the images thus captured are stored by the image recording device BAZG in an information storage device ISPE.
  • This information storage device ISPE is either connected according to option "A" as a component of the position-determining device PBV with the image recording device BAZG or according to option "B" outside the position-determining device PBV, e.g. as a storage database, assigned in the railcar or in a data cloud the image recorder BAZG or with this
  • the image meta information BMI is preferably also stored.
  • the image recording device BAZG and the wheel rotation counting device RUZE are provided with a calculation / evaluation device
  • the calculation / evaluation device BAWE connected, which is also a component of the position ⁇ determining device PBV.
  • the calculation / evaluation device BAWE like the image recording device BAZG, is either connected to the information storage device ISPE according to the option "A" or assigned to the information storage device ISPE or can be connected to it according to option "B".
  • a functional unit of the calculation / evaluation BAWE, the image recording device BAZG, the Rohmwindung- counter RUZE and the information storage device ISPE in which the said components of the position determining device PBV for the calculation / evaluation-based position determination functionally cooperate.
  • the calculation / evaluation BAWE preferably a non-volatile readable memory SP in which processor-readable control program commands of the Positionsbestim ⁇ mung controlling program module PGM are stored, and a processor PZ, the control program commands the Pro ⁇ gram module PGM performs for calculation / evaluation-based position determination, on.
  • the processor PZ engages in addition - in addition to the accesses to the data stored in the information storage means ISPE image Metainformati- ones BMI - for control and calculation purposes to the image recording device BAZG and the wheel rotation-Zählein ⁇ direction RUZE and for reading out image data to the information storage means ISPE to.
  • the calculation / evaluation device BAWE or the program module PGM with the control program instructions of the program module PGM for the calculation / evaluation-based position determination exporting processor PZ are now configured with respect to the calculation / evaluation-based position determination such that
  • the calculated distance value by comparing on the covered track distance by the image recording device BAZG of the rail vehicle SFZ, in particular from the perspective of a railcar driver FZF, TFS, TRW and / or from a fixed, lane-based position in or on the vehicle SFZ, recordable route images STB with corresponding thereto stored in the information storage device ISPE reference route images R-STB taking into account, for example, in the information ⁇ storage device ISPE, stored track and rail infrastructure related image meta information BMI in the course the position correction process is corrected,
  • the track width component GLSK (location of the track segment component GLSK) is determined, for example, according to Representation in FIG 1, the Sig ⁇ nalstrom SAL is; It should be mentioned again at this point that other track components GLSK, such as a Switch, a balise, and whose respective location can be determined as a way ⁇ distance point,
  • a) is determined for the striking point distance with reference to the WSP be ⁇ recessed distance images STB a gauge or
  • the positioning device PBV as described above, an automated (autonomous) or assisted driving of the rail vehicle SFZ can be assisted or even realized without additional infrastructure along a route. This is especially true if the position-determining device PBV is realized as a virtual machine which is designed and functions in the sense of a "software-defined signal recognition of rail traffic system".

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Navigation (AREA)
  • Image Analysis (AREA)
  • Train Traffic Observation, Control, And Security (AREA)

Abstract

Le but de l'invention est de permettre de déterminer malgré tout la position d'un véhicule ferroviaire (SFZ) dans le trafic ferroviaire (SVK) en cas de besoin, lorsqu'aucune détermination de position, en particulier aucune localisation, assistée par satellite n'est possible ou lorsque celle-ci peut être utilisée et/ou mise en oeuvre seulement en partie à cause de mauvaises conditions locales. À cet effet, l'invention propose d'optimiser un système de localisation sans assistance par satellite, appelé de préférence système de localisation sans GPS par rapport au système de localisation GPS, sur la base de tours de roue déterminés du véhicule ferroviaire (SFZ) sur une ligne ferroviaire (SST) à l'aide d'images analysées (STB, R-STB) et de méta-données image (BMI) associées relatives à la ligne ferroviaire (SST) parcourue.
PCT/EP2017/081784 2016-12-07 2017-12-07 Procédé, dispositif et véhicule ferroviaire pour la détermination de position dans le trafic ferroviaire WO2018104427A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016224355 2016-12-07
DE102016224355.1 2016-12-07

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WO2018104427A1 true WO2018104427A1 (fr) 2018-06-14

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110758473A (zh) * 2019-10-25 2020-02-07 中铁武汉勘察设计研究院有限公司 一种铁水联运轨道车辆跟踪定位方法及系统
WO2020224862A1 (fr) * 2019-05-03 2020-11-12 Siemens Mobility GmbH Procédé et produit programme informatique pour déterminer la position de véhicules sur rails, ainsi que système de détermination de la position et véhicule sur rails, notamment un véhicule ferroviaire

Citations (3)

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Publication number Priority date Publication date Assignee Title
DE102012215533A1 (de) * 2012-08-31 2014-03-06 Siemens Aktiengesellschaft Positionsbestimmung eines Schienenfahrzeugs
WO2015090932A1 (fr) * 2013-12-19 2015-06-25 Siemens Aktiengesellschaft Équipement de voies avec le etcs
WO2017174155A1 (fr) 2016-04-08 2017-10-12 Siemens Aktiengesellschaft Procédé, dispositif et véhicule sur voie, notamment véhicule ferroviaire, pour la détection de signal dans le transport sur voie, en particulier le transport ferroviaire

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012215533A1 (de) * 2012-08-31 2014-03-06 Siemens Aktiengesellschaft Positionsbestimmung eines Schienenfahrzeugs
WO2015090932A1 (fr) * 2013-12-19 2015-06-25 Siemens Aktiengesellschaft Équipement de voies avec le etcs
WO2017174155A1 (fr) 2016-04-08 2017-10-12 Siemens Aktiengesellschaft Procédé, dispositif et véhicule sur voie, notamment véhicule ferroviaire, pour la détection de signal dans le transport sur voie, en particulier le transport ferroviaire

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SHENTON R: "Video Train Positioning", IRSE AUSTRALASIA TECHNICAL MEETING,, 18 March 2011 (2011-03-18), pages 1 - 8, XP003029634 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020224862A1 (fr) * 2019-05-03 2020-11-12 Siemens Mobility GmbH Procédé et produit programme informatique pour déterminer la position de véhicules sur rails, ainsi que système de détermination de la position et véhicule sur rails, notamment un véhicule ferroviaire
CN110758473A (zh) * 2019-10-25 2020-02-07 中铁武汉勘察设计研究院有限公司 一种铁水联运轨道车辆跟踪定位方法及系统
CN110758473B (zh) * 2019-10-25 2021-06-01 中铁武汉勘察设计研究院有限公司 一种铁水联运轨道车辆跟踪定位方法及系统

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