WO2019020282A1 - Procédé de commande et dispositif de commande permettant de faire fonctionner un véhicule ferroviaire - Google Patents

Procédé de commande et dispositif de commande permettant de faire fonctionner un véhicule ferroviaire Download PDF

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Publication number
WO2019020282A1
WO2019020282A1 PCT/EP2018/066353 EP2018066353W WO2019020282A1 WO 2019020282 A1 WO2019020282 A1 WO 2019020282A1 EP 2018066353 W EP2018066353 W EP 2018066353W WO 2019020282 A1 WO2019020282 A1 WO 2019020282A1
Authority
WO
WIPO (PCT)
Prior art keywords
driving
control
vehicle
rail vehicle
stored
Prior art date
Application number
PCT/EP2018/066353
Other languages
German (de)
English (en)
Inventor
Frank BIENEK
Volker Knollmann
Bernhard PÖSEL
Gerd Tasler
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
Priority to EP18738204.9A priority Critical patent/EP3634828B1/fr
Priority to US16/632,577 priority patent/US20200156681A1/en
Priority to CN201880048335.7A priority patent/CN110958967A/zh
Publication of WO2019020282A1 publication Critical patent/WO2019020282A1/fr

Links

Classifications

    • 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
    • B61L15/0058—On-board optimisation of vehicle or vehicle train operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
    • B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
    • B61K9/08—Measuring installations for surveying permanent way
    • 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
    • B61L15/0094—Recorders on the vehicle
    • 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
    • B61L25/021—Measuring and recording of train speed
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L2201/00—Control methods

Definitions

  • the invention relates to a control method for operating a rail vehicle, wherein the method is ⁇ based on the basis of a vehicle control program Deutschenge ⁇ leads.
  • Such control methods are known in the field of rail vehicle technology.
  • the invention has for its object to provide an improved control method for operating a rail vehicle suits ⁇ ben.
  • the invention provides that the Anlagensteu ⁇ erprogramm detected by reference to driving and / or
  • At least vehicle-specific driving behavior data are metrologically recorded during the journey of the rail vehicle.
  • Fahrver ⁇ hold data for example, the acceleration and / or the braking power detected and used to control the rail vehicle.
  • the vehicle control program is parameterized using the acquired driving and / or environment data.
  • a control profile data set from a predetermined group (preferably a plurality) of istspei ⁇ cherten control profile data sets is selected on the basis of vehicle and / or environment data and a fixed programmed control module of the vehicle control program is configured with ⁇ means of the selected control profile data set may be provided.
  • the last-mentioned method variant is particularly simple and quick to carry out because the stored group of stored control profile data records can be accessed and no generation of a completely new control profile data record is required.
  • access is made to an empirical database in which positioning commands of a real rail vehicle driver are stored during previous journeys as a function of driving situations, the stored driving situations being measured with the measurements made during the preceding journeys. technically recorded driving and / or environment data has been determined and stored with the corresponding positioning commands of the real rail vehicle driver.
  • the self-determined current Driving situation is compared with the stored in the experience database driving situations and in accordance or at least - ge ⁇ default predetermined match criteria - sufficient similarity between each self-recorded driving situation and one of the stored driving situations of the experience database corresponding to the stored driving situation, stored control commands real rail vehicle operator read out and output.
  • the process is preferably carried out rail vehicle side with ⁇ means of a rail-vehicle-installed device control ⁇ .
  • the invention additionally relates to a control device for a rail vehicle, which comprises a vehicle computer and a vehicle control program that can be run on the vehicle computer.
  • the vehicle control program is designed such that it operates using detected driving and / or environment data.
  • the vehicle control program preferably has an observation module, a Parametritationsmodul and a control module, wherein the monitoring module detected during running of the rails ⁇ vehicle, the vehicle and / or environment data,
  • Parametritationsmodul parameterized the control module using the detected driving and / or environment data and outputs the parameterized control module setting commands for the rail vehicle ⁇ . It when the parameterization module is designed such that it with the driving and / or. It is particularly advantageous
  • Environment data forms a control profile data set or selects a control profile data set from a group stored control profile records and the control module by means of the formed or selected control profile data set paramet ⁇ riert.
  • the vehicle control program has an experience database or is in connection with an experience database are stored in the control commands of a real rail vehicle driver in previous trips depending on driving situations, the stored driving situations with the measured during the previous trips detected driving and / or environment data and have been till ⁇ saved together with the corresponding control commands of the real rail vehicle driver in the previous trips.
  • the vehicle control program has an observation module which evaluates the driving and / or surrounding data during the journey of the rail vehicle and detects the respectively current driving situation
  • the vehicle control program has a selection module which contains the current detected self Fahrsi ⁇ situation compares with the stored in the database experience driving situations and if they match or at least - according to predetermined matching criteria - sufficient similarity between the respective self-detected driving situation and one of the stored Fahrsituatio NEN of experience database to the stored driving situation corresponding stored control commands of the real rail vehicle driver for controlling the Schie ⁇ nenhuss from the experience database reads and ⁇ out .
  • the invention also relates to a rail vehicle having a control device as described above.
  • Figure 1 shows an embodiment of an inventive
  • FIG. 3 shows a third embodiment of a fiction, ⁇ according rail vehicle, by means of which a third embodiment is explained control method for a train according to the invention
  • FIG. 1 shows a rail vehicle 10 which is equipped with a control device, referred to below as train control device 20.
  • the train control device 20 comprises a vehicle computer 30 and a memory 40, which communicates with the vehicle computer 30.
  • the rail vehicle 10 can - as will be explained below ⁇ leads - multi-membered or consist of several cars and form a train; This is not shown in detail in the figures for reasons of clarity.
  • a vehicle control program 50 is stored, which can be executed by the vehicle computer 30 and is executed and output side can issue control commands SB for controlling the rail vehicle 10 and outputs at Be ⁇ drive.
  • the driving ⁇ imaging control program 50 includes a monitoring module BM, a
  • Parameterization module PM and a hard-coded Steuerermo ⁇ module STM.
  • Parameterization module PM and the control module STM preferably as follows:
  • the observation module BM detects on the input side incoming or applied driving and / or environment data FUD, which are supplied or fed in by the vehicle's own or its own sensors, for example; the sensors are not shown for Green ⁇ the overview in FIG. 1 Suitable sensors are, for example, those that directly describe the driving behavior of the train, such as. As speed sensors, location sensors or acceleration sensors, or those that detect the environment metrologically, such as ⁇ inclination sensors for detecting slopes or gradients, moisture, ice or snow sensors for detecting dry, wet or icy track or to detect friction on the track.
  • driving and / or environmental data FUD can come from external sources, for example from a signal box or a control center, and can be transmitted to the rail vehicle, for example by radio.
  • the observation module BM detects the input side ⁇ abutting the driving and / or environment data and passes them to the
  • Parameterization module PM continues.
  • the parameterization module PM evaluates the driving and / or
  • the parameterization module PM can conclude physical properties of the rail vehicle 10 and adapt control parameters in accordance with these properties. For example, that can
  • Parametrianssmodul PM on the basis of Beministerungsmesswer ⁇ th on the total mass of the rail vehicle 10 close and in the case of a large mass a shallower brake curve before ⁇ see, ie earlier with the braking before a stop begin than a small mass.
  • the train length, the weight distribution within the train and / or the dome distances or buffer distances between individual Wa ⁇ conditions of the train can be determined, and it can be taken into account in the control profile data set SD, for example with regard to an optimized braking behavior, especially when it comes to a particularly good position accuracy when stopping the train.
  • the parameterisation module PM can also take the environmental conditions into account and, in the case of ice or wet conditions, a flatter one Provide brake curve and / or accelerate slip avoidance with less driving force than in dry conditions.
  • the determination of a suitable control profile data set SD is performed with respect to the vehicle-related parameters in an advantageous manner, based on data which are determined in a Testa driving operation and / or a Testabbremsvorgangs to Be ⁇ beginning of each trip, so ride individually. Such a procedure ensures that modifiers ⁇ requirements may be on the rail vehicle or train, for example by uncoupling or coupling of carriage detected and taken into account in the formation of the control profile data set SD.
  • control module STM is permanently programmed and is by means of the
  • Parametrianssmodul PM supplied control profile data set SD only parameterized. As soon as the parameterization module PM has fed the control profile data record SD into the control module STM, the control module STM can generate the control commands SB for controlling the rail vehicle and output it on the output side.
  • 2 shows an exemplary embodiment of a rail ⁇ vehicle 10 equipped with an embodiment of the Glassteue ⁇ inference means 20 according to FIG. 1
  • a group of control profile data records SD is stored in the memory 40, for example in the parameterization module PM, so that the
  • Parametritationsmodul PM - in contrast to the embodiment ⁇ variant of Figure 1 - to control the control module STM does not have to generate its own control profile data SD, but from the group of stored Steuerprofilarians2011 ⁇ ze - based on the input adjacent driving and / or Environment data FUD - only has to select a suitable tax profile data record SD.
  • a can be stored in the memory, in the event of heavy rail vehicle, one for the case ei ⁇ nes moderate rail vehicle and one for the case of a light rail vehicle.
  • the control profile data record SD for a heavy rail vehicle for example, provide a particularly flat braking curve, ie earlier with the
  • Brakes start before a stop when the control profile records for medium or light rail vehicles.
  • the control profile data set SD for a light railway vehicle may provide a particularly steep braking curve.
  • control profile data sets SD can be provided in dependence on further parameters, such as - in case of a Herglied- ring rail vehicle or the train - in dependence on the train length, the weight distribution within the train, the Kup ⁇ pelablindersn or buffer distances between individual cars of the train and / or in dependence on the respective environmental ⁇ conditions, such as ice or moisture, as already explained above in connection with Figure 1.
  • the selected from Parametrianssmodul PM Steuerprofilda ⁇ SD cost rate is fed into the control module STM, whereby the control module STM is parameterized and output side control commands SB for controlling the rail vehicle 10 may be given out;
  • the control module STM is parameterized and output side control commands SB for controlling the rail vehicle 10 may be given out;
  • the train control devices 20 according to FIGS. 1 and 2 have the advantage that the permanently programmed control module STM is parameterized automatically or automatically, without requiring external intervention, for example by a rail vehicle driver.
  • 3 shows an exemplary embodiment of a rail vehicle ⁇ 10, in which a vehicle control program 50 of a Switzerland horrungs prepared 20 includes a monitoring module BM and a selection module AM and communicates with an experience database EFD.
  • EFD experience database
  • the driving situations were in the previous trips from metrologically recorded driving and / or
  • the vehicle control program 50 preferably operates as follows:
  • the observation module BM evaluates the input side
  • the determined ⁇ te current driving situation FS is transmitted to the selection module AM, which compares the current driving situation FS with the stored in the experience database EFD driving situations and at Match or at least - according to predetermined match criteria - sufficient similarity between the self-detected current driving situation FS and one of the stored driving situations of the experience database EFD selects the most similar stored Fahrsituati ⁇ on. For the selected most similar driving situation, the corresponding stored control commands SB of the real rail vehicle driver can be read out and output for controlling the rail vehicle 10.
  • Driving situation FS1 secured railroad crossing, no approach of persons and / or motor vehicles
  • the selection module AM can read out the output to the driving situation FS4 control commands SB and output if such a driving situation FS4 from the monitoring module BM, for example on the basis of video, route and location data is detected aktu ⁇ ell.
  • the described method allows stepwise or stepwise upgrading from a train operation with a driver to higher automation levels without driver and attendant.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'invention concerne entre autres un procédé de commande permettant de faire fonctionner un véhicule ferroviaire (10), ledit procédé étant mis en oeuvre de manière assistée par ordinateur sur la base d'un programme de commande de véhicule (50). Selon l'invention, le programme de commande de véhicule (50) fonctionne à l'aide de données de conduite et/ou environnementales acquises (FUD).
PCT/EP2018/066353 2017-07-20 2018-06-20 Procédé de commande et dispositif de commande permettant de faire fonctionner un véhicule ferroviaire WO2019020282A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP18738204.9A EP3634828B1 (fr) 2017-07-20 2018-06-20 Procédé de commande permettant de faire fonctionner un véhicule ferroviaire
US16/632,577 US20200156681A1 (en) 2017-07-20 2018-06-20 Control method and control device for operating a rail vehicle
CN201880048335.7A CN110958967A (zh) 2017-07-20 2018-06-20 用于运行轨道车辆的控制方法和控制装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017212499.7A DE102017212499A1 (de) 2017-07-20 2017-07-20 Steuerverfahren und Steuereinrichtung zum Betreiben eines Schienenfahrzeugs
DE102017212499.7 2017-07-20

Publications (1)

Publication Number Publication Date
WO2019020282A1 true WO2019020282A1 (fr) 2019-01-31

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2018/066353 WO2019020282A1 (fr) 2017-07-20 2018-06-20 Procédé de commande et dispositif de commande permettant de faire fonctionner un véhicule ferroviaire

Country Status (5)

Country Link
US (1) US20200156681A1 (fr)
EP (1) EP3634828B1 (fr)
CN (1) CN110958967A (fr)
DE (1) DE102017212499A1 (fr)
WO (1) WO2019020282A1 (fr)

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Also Published As

Publication number Publication date
EP3634828B1 (fr) 2024-04-10
CN110958967A (zh) 2020-04-03
EP3634828A1 (fr) 2020-04-15
US20200156681A1 (en) 2020-05-21
DE102017212499A1 (de) 2019-01-24

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