WO2019197332A1 - Surveillance de la température pour détecter des dysfonctionnements de capteurs radars de véhicules sur rails - Google Patents

Surveillance de la température pour détecter des dysfonctionnements de capteurs radars de véhicules sur rails Download PDF

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Publication number
WO2019197332A1
WO2019197332A1 PCT/EP2019/058796 EP2019058796W WO2019197332A1 WO 2019197332 A1 WO2019197332 A1 WO 2019197332A1 EP 2019058796 W EP2019058796 W EP 2019058796W WO 2019197332 A1 WO2019197332 A1 WO 2019197332A1
Authority
WO
WIPO (PCT)
Prior art keywords
radar sensor
doppler radar
temperature
sensor data
snow
Prior art date
Application number
PCT/EP2019/058796
Other languages
German (de)
English (en)
Inventor
Hamed Ketabdar
Navid Nourani-Vatani
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 WO2019197332A1 publication Critical patent/WO2019197332A1/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9328—Rail vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4039—Means for monitoring or calibrating of parts of a radar system of sensor or antenna obstruction, e.g. dirt- or ice-coating

Definitions

  • the invention relates to a method for estimating a function of a Doppler radar sensor of a rail vehicle.
  • the invention relates to a sensor data fusion method.
  • the invention relates to a detection device.
  • the invention relates to a sensor data fusion device.
  • the invention relates to a rail vehicle.
  • odometric systems are used in rail vehicles. Since position data and speed data are particularly important for the safe operation of a rail vehicle, odo metric systems are safety-critical components in a rail vehicle.
  • An odometrical system operates based on a fusion of output data from two or more sensors.
  • In odometrischen sensors used in rail vehicles are Doppler radar systems and tachometers. Each of these sensors may be affected by failures caused by track conditions or environmental conditions.
  • radar sensors can be affected by ice and snow. Therefore, it is very important to detect the occurrence of snow and ice and to use this information to reduce the rating of the reliability of the radar sensors or to completely neglect radar sensor data in a sensor data fusion of odometric data. While some radar sensors may themselves check the quality of their sensor data, such self-monitoring is not very reliable and involves a significant number of false negative and false positives. Other measures to determine the quality of the sensor data provided by these sensors are not known.
  • This object is achieved by a method for estimating a function of a Doppler radar sensor of a rail vehicle according to claim 1, a sensor data fusion method according to claim 7, a detection device according to patent claim 8, a sensor data fusion device according to patent claim 9 and a rail vehicle according to claim 10 ge triggers.
  • At least one temperature value is received which is measured in the outer region of the rail vehicle. Since the Doppler radar sensor is located in the exterior of the rail vehicle, the measured temperature value corresponds to the temperature prevailing on the surface of the Doppler radar sensor. On the basis of the at least one determined temperature value, it is estimated whether the Doppler radar sensor is covered by snow and / or ice or not. In this step, the observation is used that a snow cover or icing of a Doppler radar sensor is correlated with the values and the temporal course of the outside temperature.
  • the information obtained on the functionality of Doppler radar sensors can be used to correspondingly adapt a fusion of sensor data for the determination of odometric data in order in this way to increase accuracy in the determination of odometical data, such as a vehicle speed or a vehicle position to achieve.
  • the increased accuracy of the aforementioned information brings improved safety for the occupants of the rail vehicle and improved scheduling of departure and arrival times.
  • the method according to the invention for estimating a function of a Doppler radar sensor of a rail vehicle is first of all carried out. Then, in the event that it has been determined that the function of the Doppler radar sensor is degraded, a fusion of sensed sensor data comprising radar sender data occurs with a reduced weighting of the radar sensor data as compared to a situation where the function of the Doppler Radar sensor is not affected.
  • the reduced weighting reduces the influence of the potentially distorted Doppler radar sensor data, so that improved accuracy and reliability in the determination of odometric data is achieved.
  • the detection device has an input interface.
  • the input interface is configured, for example, to receive temperature values from a temperature sensor which indicate the temperature in the outer region of a rail vehicle.
  • the detection device is also an estimation unit, which is set up to estimate, based on the at least one received temperature value, whether the Doppler radar sensor is covered by snow and / or ice.
  • the detection device according to the invention also has a detection unit configured to determine that an impaired function of the Doppler radar sensor is present in the event that it has been estimated that the radar sensor is covered by snow and / or ice ,
  • the erfindungsge Permitted detection device shares the advantages of the inventive method for estimating a function of a Dopp ler radar sensor of a rail vehicle.
  • the sensor data fusion device has the detection device according to the invention.
  • Part of the sensor data fusion device is also an input interface for receiving sensor data from a plurality of sensors of different types, which comprise at least one Doppler Ra dar sensor and at least one temperature sensor.
  • the sensor data fusion device also includes a fusion unit for combining the sensor data from a plurality of sensors of different types, the combination being such as to reduce a weighting of the sensor data of the Doppler radar sensor in the event that the detection device provides a result that the Function of the Doppler radar sensor is impaired. The reduction of the weighting occurs in comparison to the situation in which the Doppler radar sensor is not impaired in its function.
  • the sensor data fusion device shares the advantages of the sensor data fusion method according to the invention.
  • the rail vehicle according to the invention comprises the erfindungsge Permitted detection device. Furthermore, the inven tion proper rail vehicle comprises a temperature sensor unit which is adapted to measure an outside temperature of an Au - Scheme the rail vehicle and to transmit the detec tion device.
  • the slide according to the invention nensecurity shares the advantages of Detecti onsvorraum invention.
  • Parts of the detection device according to the invention and he inventive sensor data fusion device can be installed det for the most part in the form of software components. This applies in particular to parts of the estimation unit, the determination unit and the merger unit. In principle, these components but also in part, in particular when it comes to very fast calculations, in the form of software-supported hardware, such as FPGAs or the like, be realized.
  • the required interfaces for example, if it is only about an acquisition of data from other software components, be designed as software interfaces. However, they can also be configured as hardware-based interfaces, which are controlled by suitable software.
  • a partial software realization has the advantage that also previously used in rail vehicles Rech nersysteme can be prepared in a simple way by a software update to work on the inventive way.
  • the object is also achieved by a corre sponding computer program product with a computer program, which is directly loadable into a memory device of a sol chen computer system, with program sections to projectivat all steps of the method for estimating a function of a Doppler radar sensor of a rail vehicle, if the Computer program is executed in the computer system.
  • Such a computer program product in addition to the computer program optionally additional components, such as documentation and / or additional components, including hardware components, such as hardware keys (dongles, etc.) for using the software
  • additional components such as documentation and / or additional components, including hardware components, such as hardware keys (dongles, etc.) for using the software
  • a compu terlesbares medium such as a memory stick, a hard disk or other portable or fixed Clarker disk serve, on which the unit readable by a computer and executable program sections of the computer program are stored.
  • the computer unit may, for example, have one or more cooperating microprocessors or the like.
  • the Doppler radar sensor of FIG. 2 is estimated to be 0 ° C. in the case where the minimum of one temperature value is within a predetermined temperature Snow and / or ice is covered.
  • the fact is used in this variant that a
  • Snow cover at very low temperatures far below 0 ° C is very unlikely, since the powdery consistency of snow prevailing at these temperatures makes bedding of the radar sensor unlikely. At temperatures well above 0 ° C, covering with snow or ice is also very unlikely.
  • the predetermined interval can be determined experimentally, for example, and determined accordingly.
  • a plurality of temperature values are determined on the rail vehicle and, in the event that an increase in the temperature values from a value lying below 0 ° C. to a value lying within a predetermined temperature interval of 0 ° C. is determined, it is estimated that the Doppler radar system covered by snow.
  • the temperature rises from very low temperatures of well below 0 ° C to temperatures around 0 ° C the consistency of snow changes so that the snow becomes stickier and liable to adhere to radar sensors. Consequently, it can be concluded more accurately on an impairment of the Doppler radar sensor at the described time union temperature profile.
  • a plurality of temperature values is determined and it is in the event that an increase in the temperature values from a value lying below 0 ° C to above 0 ° C. Value and dropping again to a value below 0 ° C, it is estimated that the Doppler radar sensor is covered by ice. If the freezing point is slightly exceeded, snow thaws, possibly located on the Doppler radar sensor, and subsequent freezing will cause the sensor to freeze, as in this case the thawed snow will increase Ice freezes.
  • a plurality of temperature values are determined and, in the event that on the basis of the temperature values, an oscillation between temperature values below 0 ° C. and a temperature value of 0 ° C or above, it is estimated that the Doppler radar sensor is covered by snow and / or ice.
  • a frequency analysis for example, by means of a Fourier transform, take place.
  • a frequent fluctuation of the temperatures around the freezing point makes an icing of Doppler radar sensors more likely.
  • a certain degree of temperature change should be achieved in order to allow thawing and freezing. This aspect is taken into consideration by checking whether a predetermined amplitude value is reached in the temperature fluctuation.
  • FIG. 1 is a flowchart illustrating a method for estimating a function of a radar sensor of a rail vehicle according to an embodiment of the invention.
  • FIG. 2 shows a flowchart illustrating a sensor data fusion method according to an embodiment of the invention
  • FIG. 3 shows a schematic representation of a Detektionsvorrich device according to an embodiment of the invention
  • FIG. 4 shows a schematic representation of a sensor data fusion device according to an exemplary embodiment of the invention
  • FIG. 5 shows a schematic representation of a rail vehicle according to an embodiment of the invention.
  • a flowchart 100 is shown, which is a method for estimating a function of a Doppler radar sensor 53 (see FIG. 5) of a rail vehicle 50 (see FIG 5).
  • step 1.1 first Tem peratursensor schemes using a arranged on the outside of the rail vehicle temperature sensor 55 (see FIG 5) are measured.
  • the temperature value T encompassed by these temperature sensor data is then compared in step l.II with a predetermined temperature interval IT1, which ranges, for example, from -1 ° C to + 1 ° C. If the measured temperature is in this range, which is marked with "j" in FIG.
  • step l.III in which it is estimated on the basis of the result determined in step l.II that the Doppler Radar sensor 53 is covered by snow and / or ice Finally, it is determined in step 1. IV based on the estimated situation in step l.III th situation that there is an impaired function BF of the Doppler radar sensor 53. Is in the step l.II determines that the measured temperature value T is not in the predetermined temperature interval IT1, which is marked with "n" in FIG. 1, then the procedure proceeds to step IV, based on the step determined in step l.II. It is estimated from the result that the Doppler radar sensor 53 is not covered by snow and / or ice. Subsequently, at the step I.VI, based on the estimation at the step IV, it is determined that there is no impaired function KBF of the Doppler radar sensor 53.
  • step 2.1 a method for estimating a function of a Doppler radar sensor of a railway vehicle is first performed, as illustrated in FIG.
  • step 2. II is determined Ba sis of the found in the step 2.1 result EG ermit telt whether a limited function of the tested Doppler radar sensor is present.
  • step 2. III in which a reduced weighting w for a later merger of Ra sensor data RSD is set with other sensor data DSD.
  • step IV then takes place a weighted Fusi on F (RSD, DSD, w) of the radar sensor data RSD with Drehbaumsen sorloch DSD, where combined sensor data FSD or derived therefrom odometrical data with the specified in step 2.
  • III weighting of the radar sensor data RSD generates who the. If it is determined in step 2. II that the result EG of the method carried out in step 2.1 indicates that the Doppler radar sensor has no functional restriction, which is marked "n" in FIG. 2, then step 2.V in which a fusion F (RSD, DSD) of the radar sensor data RSD and the rotational speed sensor data DSD is carried out without a changed weighting, wherein combined sensor data FSD or odometrical data derived therefrom are generated.
  • a fusion F (RSD, DSD) of the radar sensor data RSD and the rotational speed sensor data DSD is carried out without a changed weighting, wherein combined sensor data FSD or odometrical data derived therefrom
  • a detection device 30 according to an exemplary embodiment of the invention is shown schematically.
  • the detection device 30 has an input interface 31, an estimation unit 32, a determination unit 33 and an output interface 34.
  • the input interface 31 receives temperature values T representing a temperature measured outside the rail vehicle 50 (see FIG. 5).
  • the temperature values T are transmitted to the estimation unit 32, which is set up on the basis of the averaged temperature values T to estimate whether a Doppler radar sensor 53 (see FIG. 5), which is arranged on the outside of the rail vehicle 50, of snow and / or or ice is covered.
  • An information SE about the snow-and-ice cover is transmitted from the estimation unit 32 to the determination unit 33.
  • the determination unit 33 is configured to determine on the basis of the obtained information SE, whether a be impaired function of the Doppler radar sensor 53 is present.
  • the result EG is then output via an output interface 34.
  • a sensor data fusion device 40 according to an exemplary embodiment of the invention is shown schematically. provides.
  • the sensor data fusion device 40 has an input interface 41 via which temperature data T, radar sensor data RSD of Doppler radar sensors and rotational speed sensor data DSD are received by rotational speed sensors.
  • Part of the sensor data fusion device 40 is also a Detektionsvor device 30, which has the structure shown in FIG 3.
  • a temperature value T is transmitted from the input interface 41 to the detection device 30, which on the basis of this temperature value generates a result EG which comprises the information as to whether the relevant Doppler radar sensors have an impaired function or not.
  • the result EG is transmitted to a fusion unit 42.
  • the fusion unit 42 additionally receives from the input interface 41 the radar sensor data RSD and the rotational speed sensor data DSD and combines the different sensor data RSD, DSD with a suitable weighting w depending on whether the result includes the information that the function is based on the obtained result EG Doppler radar sensors 53 are affected or not.
  • the combined sensor data FSD are finally output via an output interface 43.
  • a rail vehicle 50 according to an embodiment example of the invention is shown schematically.
  • the rail vehicle 50 has a total of four wheels 51 (for the sake of simplicity, the number of wheels on four wheels be limited).
  • the speed sensors 52 determine speed readings DSD on the wheels 51 and transmit these speed readings DSD to a sensor data fusion device 40 having the structure shown in FIG.
  • the rail vehicle 50 also includes Doppler radar sensors 53 on its front side, which detect radar sensor data RSD.
  • the radar sensor data RSD are also transmitted to the sensor data fusion device 40.
  • the rail vehicle 50 includes a temperature sensor 55 on its front side (right side in FIG 5).
  • the temperature sensor 55 measures one Outside temperature T in the vicinity of the radar sensors 53.
  • the value of the outside temperature T is also transmitted to the sensor data fusion device 40.
  • the SensororSchfusionseinrich device 40 generates based on the received sensor data RSD, DSD, T combined sensor data FSD, which provide information about a speed of the rail vehicle 50.
  • the combined sensor data FSD are transmitted to a control device 54, which determines further odometric data on the basis of the received combined sensor data FSD, uses the o-metric data for automated control processes and also outputs this data to a driver's cab (not shown) of the rail vehicle 50.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

La présente invention concerne un procédé servant à évaluer la fonction d'un capteur radar à effet Doppler (53) d'un véhicule sur rails (50). Dans ce procédé, au moins une valeur de température (T) est déterminée à l'extérieur du véhicule sur rails (50). La ou les valeurs de température (T) déterminées permettent d'évaluer si le capteur radar (50) est recouvert de neige et/ou de glace. Pour finir, le procédé détermine l'existence d'un dysfonctionnement (BF) du capteur radar (53) dans l'éventualité où le capteur radar à effet Doppler (53) serait recouvert de neige et/ou de glace. La présente invention concerne également un procédé de fusion des données de capteur. L'invention concerne en outre un dispositif de détection (30). L'invention concerne également un dispositif de fusion des données de capteur (40). L'invention concerne de plus un véhicule ferroviaire (50).
PCT/EP2019/058796 2018-04-13 2019-04-08 Surveillance de la température pour détecter des dysfonctionnements de capteurs radars de véhicules sur rails WO2019197332A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018205656.0A DE102018205656A1 (de) 2018-04-13 2018-04-13 Temperaturüberwachung zur Detektion von Funktionsbeeinträchtigungen von Radarsensoren von Schienenfahrzeugen
DE102018205656.0 2018-04-13

Publications (1)

Publication Number Publication Date
WO2019197332A1 true WO2019197332A1 (fr) 2019-10-17

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PCT/EP2019/058796 WO2019197332A1 (fr) 2018-04-13 2019-04-08 Surveillance de la température pour détecter des dysfonctionnements de capteurs radars de véhicules sur rails

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WO (1) WO2019197332A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006024693A1 (de) * 2006-05-19 2007-11-22 Siemens Ag Verfahren und Vorrichtung zum Reinigen eines auf elektromagnetischer Strahlung beruhenden Sensors
EP2000826A1 (fr) * 2007-06-04 2008-12-10 Audi Ag Procédé de détection de givre d'un capteur radar servant à la détection d'objets d'un système d'assistance du conducteur prévu dans un véhicule automobile
DE102014209629A1 (de) * 2014-05-21 2015-11-26 Conti Temic Microelectronic Gmbh Verfahren und Fahrerassistenzsystem zur Umfeldüberwachung eines Fahrzeugs

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3308231B2 (ja) * 1999-05-17 2002-07-29 本田技研工業株式会社 レーダ装置
DE10244127A1 (de) * 2002-09-27 2004-04-08 Siemens Ag Sensorsystem zur Fahrwegüberwachung für eine autonome mobile Einheit, Verfahren sowie Computerprogramm mit Programmcode-Mitteln und Computerprogramm-Produkt zur Überwachung eines Fahrwegs für eine autonome mobile Einheit
DE102006038219A1 (de) * 2006-08-03 2008-02-07 Siemens Ag Verfahren und Vorrichtung zur Verhinderung einer Verschmutzung eines auf elektromagnetischer Strahlung beruhender Sensors

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006024693A1 (de) * 2006-05-19 2007-11-22 Siemens Ag Verfahren und Vorrichtung zum Reinigen eines auf elektromagnetischer Strahlung beruhenden Sensors
EP2000826A1 (fr) * 2007-06-04 2008-12-10 Audi Ag Procédé de détection de givre d'un capteur radar servant à la détection d'objets d'un système d'assistance du conducteur prévu dans un véhicule automobile
DE102014209629A1 (de) * 2014-05-21 2015-11-26 Conti Temic Microelectronic Gmbh Verfahren und Fahrerassistenzsystem zur Umfeldüberwachung eines Fahrzeugs

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