WO2019219373A1

WO2019219373A1 - Collision avoidance system for a vehicle and method for said system

Info

Publication number: WO2019219373A1
Application number: PCT/EP2019/061042
Authority: WO
Inventors: Miklos Kremer; Gabor Nagy; Gergo SOMOGYI; Marton CSUTORAS; Attila ISOCZKI
Original assignee: Knorr-Bremse Systeme für Schienenfahrzeuge GmbH
Priority date: 2018-05-18
Filing date: 2019-04-30
Publication date: 2019-11-21
Also published as: EP3793881A1; DE102018111984A1

Abstract

The present invention relates to a collision avoidance system (10, 10') for a vehicle (12, 12'), in particular a rail vehicle (12, 12'), having at least one interface element (14, 14') for connection to a data supply system, in particular an on-board power system and/or bus system, of the vehicle for supplying a plurality of operating parameters of the vehicle (12, 12') in the collision avoidance system (10, 10'), having at least one sensor device (16, 16') for sensing at least one object (O, O') outside the vehicle (12, 12') and for generating corresponding object data, and having at least one evaluation device (18, 18') which has a data connection to the interface element (14, 14') and to the sensor device (16, 16'), wherein the operating parameters and the object data which are supplied by the interface element (14, 14') can be evaluated by means of the evaluation device (18, 18'), and in the event of an imminent collision between object (O, O') and vehicle (12, 12') it is possible to generate at least one collision avoidance signal which can be transmitted to at least one collision avoidance device (20, 20'), wherein the operating parameters comprise one or more coefficients of friction between the vehicle (12, 12') and at least one carriageway (22, 22') which carries the vehicle (12, 12'). In addition, the present invention relates to a method for operating such a collision avoidance system (10, 10') and to a vehicle having a collision avoidance system (10, 10').

Description

DESCRIPTION

A collision avoidance system for a vehicle and method therefor

The present invention relates to a collision avoidance system for a vehicle, in particular a rail vehicle. Furthermore, the present invention relates to a method for operating such a collision avoidance system.

From DE 10 2014 225 881 A1 and DE 10 2014 221 034 A1 are already

Collision warning systems known. DE 10 2014 220 778 A1 and DE 10 2015 214 425 A1 are concerned with the monitoring of track sections for

Rail vehicles.

Furthermore, in WO 2008/122547 A1 a rail vehicle with a

Vehicle control and at least one connected to the vehicle control detection device, wherein the vehicle control is adapted to influence at least one state parameter of the vehicle, the at least one detection means is adapted to detect a current state parameter of the vehicle and / or the environment of the vehicle

to output appropriate state signal.

Furthermore, WO 2016/042352 A1 shows a safety system for avoiding a collision of a vehicle, having a calculation unit that is suitable for calculating a plurality of regions of zones, with one or more

Radar sensors used to detect a relative position of an object to the

Vehicle are set up and with a determination unit that is adapted to determine a zone in which the object is positioned, based on the relative position, which is detected by the one or more radar sensors, and measures with a security unit that is suitable to avoid collision between the vehicle and the object ..

In addition, WO 2017/042044 A1 shows methods for warning

Road users in a rail vehicle by means of sound signals or Light signals. Moreover, WO 97/31810 A1 shows a system for warning a driver of a vehicle of the presence of a flaw in a lane of the vehicle.

In addition, WO 2015/150340 A1 discloses a method for automatic

Assisting a driver of a lane-bound vehicle, in particular a rail vehicle.

Furthermore, EP 2 808 224 A1 shows a system for monitoring the danger zone of a railway machine with a detection device for detecting objects located in a monitoring area.

In addition, US 9,321,470 B1 discloses a system and method for realizing advanced object collision avoidance for (rail) vehicles as a track break detection system.

Due to the limited involvement of current data of the

Operating parameters of the vehicles are those mentioned in the prior art

Collision avoidance systems or collision warning systems always certain

Subject to inaccuracies or inertias.

It is the object of the present invention to develop a collision avoidance system of the type mentioned in an advantageous manner, in particular

in that the accuracy of the collision avoidance system is improved.

This object is achieved by a collision avoidance system with the features of claim 1. Thereafter, it is provided that a

Collision avoidance system for a vehicle, in particular a rail vehicle, is provided with at least one interface element for connection to a subsystem, in particular a brake control system, a traction control system, a power supply system or level lingsystem a rail vehicle, and / or to a data supply system, in particular electrical system and / or bus system , the vehicle for providing a plurality of operating parameters of the vehicle in Collision avoidance system, with at least one sensor device for detecting at least one object outside the vehicle and for generating

corresponding object data and with at least one evaluation device, which is in data communication with the interface element and the sensor device, wherein by means of the evaluation device provided by the interface element operating parameters and the object data can be evaluated and in the case of

impending collision between object and vehicle at least one

Collision avoidance signal is generated, which at least one

Collision avoidance device is transmittable, wherein the operating parameters include one or more coefficients of friction between the vehicle and at least one vehicle-supporting roadway.

The invention is based on the basic concept that the vehicle operating parameters ascertained in a vehicle or transmitted to the vehicle by an external data source, in addition to its actual control and / or regulation, are also input variables for a collision avoidance system of the vehicle

are available. One for the operation of the collision avoidance device

essential operating parameters (such as acceleration, speed, load, vehicle weight, direction of travel, etc.) is the coefficient of friction between the

Vehicle and the road on which the vehicle drives or which carries the vehicle. The knowledge of the friction coefficient is particularly important because it reflects the current change of the road condition most recent and realistic and has a great influence on the braking distance of the vehicle. The vehicle is otherwise designed as a rail vehicle. Furthermore, the roadway is designed according to a track with at least two rails. Based on the knowledge of the friction coefficient is a possible collision between an object, which participates in the traffic, even more accurate or realistic by the

Evaluation device by means of adjustment of the operating parameters, in particular in the form of friction coefficients, and the object data determinable, whereby the

Traffic safety, especially in rail transport can be further improved. The object data also includes directional and / or positional data of the object that is moving relative to a current position of the vehicle. Such objects may, for example, only temporarily traffic-participating objects such as others Vehicles or pedestrians, traffic signs (eg warning signs) and / or traffic facilities (such as traffic lights). The sensor device for detecting at least one object outside the vehicle is eg as

Radar device, LIDAR device, camera device, infrared camera device, night vision camera device, stereo camera device and / or ultrasonic distance sensor or as any combination of these sensor devices formed.

The collision avoidance system can be connected to the interface element either to a subsystem of a vehicle, in particular rail vehicle. It is also conceivable that the interface element to a

Data supply system can be connected.

In a subsystem of the vehicle, in particular a rail vehicle, it may be the brake control system, the traction control system, the

Energy supply system or the leveling system of the vehicle, in particular rail vehicle act. The data supply system may be

in particular to act on the electrical system or the bus system. It is conceivable that each of the mentioned systems can be used alone or in combination with one of the other systems here.

Incidentally, it may be provided that the collision avoidance system and / or the vehicle has at least one device for continuous or interval-type determination of the friction coefficients. The determination of the

Coefficient of friction directly inside the vehicle provides the most accurate and shortest time to grasp the coefficient of friction. Because at one

Collision avoidance system decide fractions of a second about a possible collision, is a particularly fast and reliable deployment or

Determination of this coefficient, especially with regard to the increased

Traffic safety particularly advantageous. For this purpose, the device for determining the coefficients of friction has at least one sensor device. In this

It is conceivable that the sensor device is designed as a sensor device for detecting at least one rotational speed of at least one wheel of the vehicle. Furthermore, a plurality of sensor devices can each in the area a vehicle wheel be arranged to detect its speed. By means of the rotational speed of the respective vehicle wheels, the device for determining the

Friction coefficients determine the respective wheel slip. The wheel slip can be determined in particular during acceleration or deceleration phases of the vehicle. This is achieved by balancing the tangential velocity of the vehicle wheel at the point of contact with the rail and the actual vehicle speed. The actual vehicle speed is e.g. determined by a GPS device and / or a Flodometer of the vehicle. Furthermore, it can be provided that the sensor device has at least one sensor element for detecting at least one control current of at least one magnetic rail brake and at least one

Sensor element for detecting at least one force which acts on at least one suspension of the magnetic rail brake. In this case, the means for determining the coefficients of friction from a ratio of one to the

Magnetic rail brake acting tensile force (depending on the control current) and the force acting in the suspension force determine the corresponding coefficient of friction. Furthermore, a plurality of such sensor devices can also be arranged in each case in the region of a magnetic rail brake in order to detect the correspondingly acting forces. In addition, it is conceivable that the device for determining the

Friction coefficient at least one sensor device for detecting at least one property of the road, in particular at least one rail has. Such characteristics of the roadway or a rail may e.g. Brightness, roughness, conductivity, hue, etc. The detection of the property of the roadway can be done either contactless or by contact of the sensor device with the rail. Furthermore, a plurality of such sensor devices can each in

Be arranged portion of a rail traversed by the vehicle to detect the corresponding properties of the rail. If the device for

Determining the coefficients of friction of several of the aforementioned

Having sensor devices, it is conceivable that these determined the

Coefficient of friction averages.

It is further conceivable that the device for determining the coefficients of friction with the interface element is in data connection and by means of which the

continuously or intermittently or at intervals determined friction coefficients the interface element are transferable. Since the interface element is also in data communication with the evaluation device, thus the

Evaluation device continuously or at intervals actual friction coefficients are provided. This type of deployment increases the reaction or

Speed of action of the collision avoidance system considerably, since changing road conditions can be processed quasi in real time by means of the evaluation unit. A use case, for example, are rapidly changing

Weather conditions that have a significant influence on the coefficient of friction in the form of precipitation or ice. Thereby, the overall safety of both the collision avoidance system and the vehicle as a whole can be significantly increased and improved.

In addition, it is conceivable that the device for determining the coefficients of friction is in data connection with at least one location information acquisition device, in particular a GPS device, of the vehicle, so that the determined

Friction coefficients with location information, in particular GPS coordinates are linked. In the context of this application, location information is also simply called "GPS coordinates". Alternatively (and / or additionally) to the GPS system, all other known methods for position determination

both in terms of satellite positioning (eg GLONASS, Galileo) and in inertial navigation. The use of location-based services (LBS) is also conceivable. This type of connection is particularly advantageous for vehicles that drive certain road sections several times a day. For this case, the vehicle is already able to make statements about the coefficient of friction of future sections of the route before crossing the respective road section. Furthermore, in this context, the

Evaluation device have a comparison device which compares the currently provided friction coefficients with those at the same point previously recorded friction coefficient and overwrites at a determinable deviation. Incidentally, it is conceivable that is the GPS device with the

Interface element is in data connection, so that the evaluation device with respect to the evaluation of the object data can also include the current vehicle position in the form of GPS coordinates. The evaluation device can further comprising an artificial intelligence device and / or a neural network. Furthermore, the evaluation device can be designed as a self-learning evaluation device. Furthermore, it is conceivable that the evaluation device a

Having image evaluation device.

In a case where no GPS signal is available, the location information may

for example, via established and / or known points. It is conceivable, in particular, for a distance measurement to be carried out at the fixed and / or known points. The defined and / or known points may in particular be a rail vehicle device such as a beacon, a transition, an intersection, a stop, a signal, a traffic light or the like.

It is conceivable further, alternatively and / or additionally further

Positioning systems such as Galileo or mobile network (for example, determination of the surrounding mobile cells and then localization via triangulation in known mobile masts) to use.

In addition, it is possible for the collision avoidance system and / or the vehicle to have at least one data transmission interface connected to the

Interface element is in data connection. The data transmission interface particularly advantageously allows the exchange of information with respect to the vehicle external devices such as other vehicles and central

Vehicle monitoring devices. The data transfer interface is

in particular designed as a wireless data transmission interface. The wireless communication interface may be, for example, Wi-Fi or radio wave based (or similar) data communication interface. Furthermore, it is conceivable that the interface element is designed as a wireless or wired interface element. The wireless interface element can

especially as Wi-Fi or radio wave based (or similar)

Interface element may be formed. It is also conceivable that the

wired interface element is designed in particular as a field bus system. Furthermore, it can be provided that the determined friction coefficients can be transmitted to one or more vehicles, in particular rail vehicles, by means of the data transmission interface. This type of data transmission is particularly advantageous because no longer every single rail vehicle with an expensive and expensive device for detecting or determining the

Friction coefficient must be equipped. In addition, much more up-to-date data can be made available to the respective vehicles on road sections that are traveled over frequently than if each vehicle merely generates its own data relating to the respective friction coefficient. Thus, another possibility can be created to continue to increase the respective vehicle safety and related traffic safety.

It is likewise conceivable that the determined friction coefficients can be transmitted to at least one central vehicle monitoring server by means of the data transmission interface and can be retransmitted from this to one or more vehicles. The designed as a central data processing device

Vehicle monitoring server offers on the one hand the possibility of a much larger compared to a pure vehicle-to-vehicle communication

Process the database and gain much more detailed information. On the other hand, the processed data regarding the

Friction coefficient with additional data, which are not detectable by individual vehicles, linked and processed. In this regard, it is conceivable that the vehicle monitoring server has a weather data evaluation device which combines current weather data with the friction coefficients and which have a decisive influence on the actual value of the friction coefficient.

In addition, it is conceivable that by means of the data transmission interface

Friction coefficients of one or more vehicles and / or the

Vehicle monitoring server are receivable and can be transferred to the interface element. The transmission to the interface element is therefore particularly important and advantageous, because thereby the evaluation device continuously

Friction coefficients can be provided in real time. In addition can be omitted in the rail vehicle on an installation of a device for determining the coefficients of friction, whereby the operating and

Reduce the initial cost of the rail vehicle. In the case of an existing device for determining the friction coefficients, however, additionally the currently detected friction coefficients can be compared with those which were received by means of the data transmission interface, and a

Improvement of the measurement accuracy can be brought about.

Furthermore, it is possible that by means of the vehicle monitoring server based on the determined friction coefficients and the associated GPS coordinates (or other location information) at least one overview map of the

Friction coefficient is created and can be transferred to one or more vehicles. By means of the overview map of the friction coefficients, the vehicle operation can be further optimized or made safer, because very precise information regarding the friction value and an associated route section of the evaluation device can be provided. Incidentally, the

Outline map of the coefficients of friction a driver at least partially and very clearly displayed. Additionally or alternatively, this can be warned of a future section of the route, in which a critical

Coefficient of friction is present.

It can also be provided that the overview map of the friction coefficients can be continuously updated by means of the vehicle monitoring server. The

Updating the overview map of friction coefficients is particularly important for increasing vehicle safety and traffic safety. The update can be made, for example, for a certain position or a certain distance section on the condition that the one already assigned

Friction coefficient of the currently determined coefficient of friction by a determinable value distinguished. Furthermore, the update for a certain position or a certain stretch of road can be made under the condition that there is no associated friction coefficient there. Is a coefficient of friction of a certain position or a certain distance longer than a period to be determined (eg several hours or days etc.) assigned, this can also be automatically deleted by the vehicle monitoring server after the expiration of the period.

Furthermore, it is conceivable that the collision avoidance system at least one

Computing device for calculating at least one vehicle braking path and for generating corresponding Fahrzeugbremswegdaten has, with the

Interface element is in data connection and wherein the calculation of the

Fahrzeugbremsweges at least partially based on the

Friction coefficient is feasible. The calculation of the vehicle braking distance takes place during the ferrying operation of the vehicle at determinable intervals or continuously. This calculation contributes significantly to the increase in

Vehicle safety and thus also for traffic safety in general, as by knowing the current braking distance a much more accurate and insightful assessment of a possible imminent collision situation of the vehicle with an object is vornehmbar. The calculation of the braking distance can be updated, for example, if the computing device has an updated

Friction coefficient is provided by means of the interface element. However, the calculation of the braking distance can be performed even at regular intervals regardless of a condition of a current friction coefficient. Further operating parameters which can be provided to the computing device via the interface element and by means of which the computing device calculates the vehicle braking distance are the current vehicle speed, vehicle acceleration, vehicle weight, vehicle load, direction of travel, etc. The recalculation of the braking distance can be updated, for example, if the

At least one updated, additional operating parameters by means of the interface element is provided.

The Fahrbremsweg can be updated continuously. This can be done on the

Based on the currently determined coefficient of friction.

The computing device can be integrated into the evaluation device. It is also conceivable that the computing device is in data communication with the evaluation device, so that by means of the evaluation device

Fahrzeugbremswegdaten and the object data can be adjusted and / or evaluated. The continuous evaluation of the vehicle braking distance data and the object data is a central component of the collision avoidance system and thus particularly advantageous for improving the system accuracy and system speed. By means of the evaluation device, the dynamic behavior of at least one object compared to the current GPS vehicle position can also be determined on the basis of the object data (in the form of direction and / or position data). The dynamic behavior of the object includes e.g. whose trajectory,

Speed, acceleration, deceleration. Flierdurch can by means of

Evaluation device on the future dynamic behavior of the object to be closed in more detail, which in turn has a positive effect on the overall accuracy of the collision avoidance system. It is also conceivable that the

Computing device is part of the evaluation device.

The collision avoidance system may further comprise a collision avoidance device which is in data communication with the evaluation device.

The collision avoidance device may further include a plurality of output devices for outputting the collision avoidance signal to the driver.

The output devices can be designed as optical output devices and / or acoustic output devices. Alternatively or additionally, a haptic output device may be provided. This can be realized for example via a vibrating driver's seat or a vibrating driver's brake lever.

The optical output device can be designed, for example, in each case as a luminous element or in the form of a plurality of luminous elements (for example light-emitting diodes).

Furthermore, this can also be designed as an electrical display, in which the individual optical output devices in the form of the lighting elements can be displayed. The acoustic output device may be formed, for example, as an electrical speaker.

Furthermore, the present invention relates to a method for operating at least one collision avoidance system which is installed in at least one vehicle, in particular a rail vehicle, the method comprising the following steps:

- detecting at least one object outside the vehicle and generating corresponding object data;

- Providing several operating parameters of the vehicle;

- evaluating the provided operating parameters and the object data;

Generating at least one collision avoidance signal in case of

impending collision between object and vehicle;

- transmitting the collision avoidance signal to at least one

Collision avoidance device of the vehicle and / or the

Collision avoidance system; wherein the operating parameters include one or more coefficients of friction between the vehicle and at least one roadway carrying the vehicle.

All structural and functional features disclosed in connection with the above-described collision avoidance system according to the invention and its possible embodiments can also be provided alone or in combination in the method according to the invention for operating the collision avoidance system and the associated advantages can be achieved.

Accordingly, it can further be provided that the friction coefficients are determined continuously or at intervals.

Moreover, it is possible that the determined friction coefficients are linked with GPS coordinates (or other location information). It can further be provided that the determined friction coefficients are transmitted to one or more vehicles, in particular rail vehicles.

It is also conceivable that the determined coefficients of friction are transmitted to at least one central vehicle monitoring server and are re-transmitted from this to one or more vehicles.

It is also conceivable that by means of the vehicle monitoring server on the basis of the determined friction coefficients and the associated GPS coordinates (or other location information) at least one overview map of the

Friction coefficient is created and transmitted to one or more vehicles.

Furthermore, it is possible that the overview map of the friction coefficients

is continuously updated.

In addition, it can be provided that at least one vehicle braking distance is calculated and corresponding vehicle braking distance data are generated, wherein the calculation of the vehicle braking distance is carried out at least partially on the basis of the friction coefficients.

Incidentally, it is conceivable that the Fahrzeugbremswegdaten and the object data are adjusted and / or evaluated.

Furthermore, the present invention relates to a vehicle, in particular

Rail vehicle with a collision avoidance system as above

described.

Further details and advantages of the invention will now be described with reference to the in the

Drawings illustrated embodiments will be explained in more detail.

Show it: 1 is a schematic representation of a first embodiment of a collision avoidance system according to the invention for a

Inventive vehicle for carrying out a method according to the invention;

Fig. 2 is a schematic representation of a second embodiment of the

collision avoidance system according to the invention; and

Fig. 3 is a flowchart of an embodiment of an inventive

Method for operating the collision avoidance system according to FIG. 1 and FIG. 2.

Fig. 1 shows a schematic representation of a first embodiment of a collision avoidance system 10 according to the invention, by means of which a

inventive method is feasible.

Therein is shown a collision avoidance system 10, which is installed in an exemplary embodiment of a rail vehicle 12 according to the invention.

The collision avoidance system 10 includes an interface element 14

Provision of several operating parameters of the vehicle 12.

The interface element 14 is provided or designed for connection to a data supply system, here to the electrical system or to the fieldbus system, which is also part of the rail vehicle 12.

Through the interface element 14, the provision of several

Operating parameters of the vehicle 12 in the collision avoidance system 10.

Furthermore, the collision avoidance system includes a sensor device 16

Detecting at least one object O outside of the vehicle 12.

The sensor device 16 for detecting one or more objects O outside the vehicle 12 has a far-range radar device, short-range radar device, LIDAR device and a camera device or stereo camera device. In addition, the sensor device 16 may comprise an infrared camera device or infrared stereo camera device, night vision camera device or night vision stereo camera device or an ultrasonic distance sensor.

The sensor device 16 can also be designed in the form of all combinations of these sensor devices 16.

The sensor device 16 is shown in FIG. 1 in a front region of the

Rail vehicle 12 arranged relative to the direction of travel.

In this regard, it is also conceivable that the sensor device is arranged in a right or left side region of the rail vehicle 12 with respect to the direction of travel.

It is also conceivable that the sensor device is arranged in an end or spot area of the rail vehicle 12 with respect to the direction of travel.

However, the sensor device 16 can also be arranged at the aforementioned positions in a roof region of the rail vehicle.

Incidentally, the object to be detected may be a temporary traffic-participating object such as other vehicles, people, animals or plants.

Furthermore, the object as a traffic sign, road sign or as

Traffic device be formed.

In addition, the collision avoidance system 10 comprises an evaluation device 18 which is in data connection with the interface element 14 and the sensor device 16.

The evaluation device 18 is used as a data processing device for the

Object data and the operating parameters designed. The evaluation device 18 may further comprise an image processing or

Have image evaluation device for the object data.

In addition, it is conceivable that the evaluation device 18 has an artificial intelligence device and / or a neural network.

Furthermore, the evaluation device 18 may be designed as a self-learning evaluation device 18.

The collision avoidance system 10 further includes a

Collision avoidance device 20, which with the evaluation device 18 in

Data connection is available.

The collision avoidance device 20 has a plurality of output devices 36 for outputting the collision avoidance signal to the vehicle driver.

The output devices 36 are designed as optical output devices 36a and / or acoustic output devices 36b. Alternatively or additionally, a haptic output device may be provided. This can be realized for example via a vibrating driver's seat or a vibrating driver's brake lever.

The optical output device 36a is in each case configured as a luminous element or in the form of a plurality of luminous elements (for example light-emitting diodes).

Furthermore, this can also be designed as an electrical display, in which the individual optical output devices in the form of the lighting elements can be displayed.

The acoustic output device 36b is in each case designed as an electrical loudspeaker. Furthermore, the collision avoidance device 20 is provided with a control and

Control device 34 of the vehicle in data connection.

Incidentally, is the evaluation device 18 with the control and

Control device 34 of the rail vehicle 12 in data connection.

The operating parameters further include a plurality of friction coefficients between the vehicle 12 and a roadway 22 supporting the vehicle 12.

The roadway is shown in FIG. 1 as a track with two mutually parallel rails on which the rail vehicle 12 is arranged in the ready state.

The collision avoidance system 10 or the vehicle 12 further comprise means 24 for continuously or intermittently determining the

Coefficient of friction.

The means 24 for determining the coefficients of friction comprises a

Sensor device 24a for detecting the respective rotational speeds of several

Vehicle wheels of the rail vehicle 12 in a contact point to the rail.

The device 24 for determining the coefficients of friction is also in data communication with the interface element 14.

The friction coefficient determining means 24 is further in data communication with a GPS device 26 of the vehicle 12.

Alternatively, instead of a GPS device 26 also any other

Location information detection device can be used.

The collision avoidance system 10 or the vehicle 12 also has a data transmission interface 28 which is in data communication with the interface element 14. The data transmission interface 28 is designed as a wireless data transmission interface.

The wireless communication interface 28 may be, for example, Wi-Fi or radio wave based (or similar) data communication interface 28.

The data transmission interface 28 is further provided with a central

Vehicle monitoring server 30 in data connection.

The vehicle monitoring server 30 may further include a weather data evaluation device (not shown in FIG. 1) for linking actual weather data with the GPS data of the friction coefficients.

The collision avoidance system 10 further includes a computing device 32 for calculating a vehicle braking path.

The computing device 32 is still connected to the interface element 14 in FIG

Data Connection.

Furthermore, the computing device 32 is connected to the evaluation device 18

Data Connection.

The function of the collision avoidance system 10 can now be as follows

describe:

For a safe ferry operation of the rail vehicle 12, the previously described structurally described collision avoidance system 10 is used.

For this purpose, the collision avoidance system 10 has the sensor device 16, which is set up in particular to detect the surroundings of the rail vehicle 12. The sensor device 16 also serves to generate corresponding object data with respect to the detected object O.

The object data also include position and direction data of one or more detected objects O relative to a current position of the rail vehicle 12.

The detected object data can then be sent from the sensor device 16 to the

Evaluation device 18 are transmitted.

The currently detected position of the rail vehicle 12 may be the

Evaluation device 18 for evaluating the object data, moreover, be provided by the GPS device 26 by means of the interface element 14, since the GPS device 26 is also in data communication with the interface element 14.

By means of the means 24 for determining the coefficients of friction, moreover, the coefficients of friction determined continuously or at intervals are

Interface element 14 transferable.

Since the device 24 for determining the coefficients of friction with the GPS device 26 of the vehicle 12 is in data communication, the determined

Coefficients of friction also with GPS coordinates (or other

Location information).

By means of the evaluation device 18, the operating parameters provided by the interface element 14 can then be evaluated in addition to the object data.

The operating parameters include in particular the friction coefficients determined continuously or at intervals.

Other parameters that include the operating parameters are vehicle weight, vehicle speed or vehicle acceleration, vehicle load or direction, etc. In the event of an imminent collision between the object O and the rail vehicle 12, the evaluation device 18 then generates a collision avoidance signal which can be transmitted to the collision avoidance device 20.

The collision avoidance signal also contains information on the collision probability of the imminent collision between rail vehicle 12 and object O.

The collision probability can also be determined by the evaluation device 18.

Depending on the particular collision probability, both the optical and the acoustic output devices 36a, 36b issue a warning signal to the vehicle driver.

The warning signal to the driver can also be output purely text-based. It is conceivable that the dynamic behavior of the vehicle is also directly influenced. This is the case, for example, if that

Collision avoidance system with a subsystem of the rail vehicle,

For example, with the brake control unit (BCU) is connected. This may be the case, for example, if the vehicle is braked at short notice in order to warn or notify the driver accordingly.

From a certain value of collision probability transmits the

Collision avoidance device 20, the collision avoidance signal in addition to the control and regulation device 34 of the rail vehicle.

The latter then automatically initiates service braking or emergency braking by means of the vehicle brake system depending on the value of the collision probability in response to the collision avoidance signal. Incidentally, it is conceivable that the evaluation device 18 transmits the collision avoidance signal generated by it directly to the control and regulation device 34.

The determined coefficients of friction are also using the

Data transmission interface 28 to one or more rail vehicles 12 transferable.

In addition, by means of the data transmission interface 28, the determined

Friction coefficient to a central vehicle monitoring server 30

transferable.

The central vehicle monitoring server 30 then processes the transmitted friction coefficients and then transmits them back to one or more rail vehicles 12.

Accordingly, by means of the data transmission interface 28 friction coefficients of a plurality of vehicles 12 or the vehicle monitoring server 30 can be received and transmitted to the interface element 14, where they can be provided to the evaluation device 18.

It is also conceivable that by means of the data transmission interface 28

Friction coefficient of several vehicles 12 and the

Vehicle monitoring server 30 are receivable and can be transferred to the interface element 14.

Furthermore, an overview map of the friction coefficients can be generated by means of the vehicle monitoring server 30 on the basis of the determined friction coefficients and the associated GPS coordinates (or other location information).

This overview map of the friction coefficients is then by means of the

Vehicle monitoring server 30 to one or more vehicles 12 transferable. Furthermore, the overview map of the friction coefficient by means of

Vehicle monitoring server 30 continuously updatable.

In addition, the collision avoidance system 10 includes a computing device 32 for calculating a vehicle braking path and generating corresponding ones

Fahrzeugbremswegdaten on which it calculates continuously or discontinuously or intermittently.

The calculation of the Fahrzeugbremsweges takes place partly on the basis of friction coefficients.

However, the computing device 32 also performs the calculation of the vehicle braking path on the basis of further operating parameters, which are provided to it by means of the interface element 14.

Since the computing device 32 also with the evaluation device 18 in

Data connection is, by means of the evaluation device 18 in addition to the

Operating parameters also the Fahrzeugbremswegdaten and the object data

adjustable and evaluable.

Fig. 2 shows a schematic representation of a second embodiment of a collision avoidance system 10 'according to the invention, by means of which a

inventive method is feasible.

The illustrated in Fig. 2 second embodiment of the invention

Collision avoidance system 10 'has substantially the same structural and functional features as the first embodiment of collision avoidance system 10 of the present invention shown in FIG.

Only the following structural and functional feature differences are to be shown: The provision of the friction coefficients is carried out according to the second

Embodiment of the collision avoidance system 10 'from an external

Data Source.

Accordingly, according to the second embodiment of the

Collision avoidance system 10 ', the means for determining 24 of

Friction coefficient and the corresponding sensor device 24a (as shown in FIG. 1) for detecting the rotational speed of multiple vehicle wheels omitted.

Consequently, by means of the data transmission interface 28 ', friction coefficients of a plurality of vehicles 12' or the vehicle monitoring server 30 'can be received and transmitted to the interface element 14', by means of which they

Evaluation device 18 'can be provided.

It is also conceivable that by means of the data transmission interface 28

Friction coefficient of several vehicles 12 and the

FIG. 3 further shows a flowchart of an embodiment of a

inventive method for operating the above-described

Collision avoidance system 10, 10 'installed in a rail vehicle 12, 12':

In accordance with a first step S1, an object O, O 'outside the vehicle 12, 12' is detected by means of the sensor device 16, 16 'and corresponding object data are generated.

In a second step S2, a plurality of operating parameters of the vehicle 12, 12 'are provided by means of the interface element 14, 14' of the evaluation device 18, 18 '. The operating parameters include one or more coefficients of friction between the vehicle 12, 12 'and a track carrying the rail vehicle in the form of a track 22, 22'.

The coefficients of friction are determined by means of the friction coefficient determination device 24 or provided to the interface element 14 in a continuous manner by means of the data transmission interface 28.

In addition, according to a third step S3, the friction coefficients are linked to GPS coordinates by means of the GPS device.

The coefficients of friction thus determined and linked are transmitted to one or more rail vehicles 12, 12 'and to a central vehicle monitoring server 30, 30' according to a fourth step S4.

According to a fifth step S5 is by means of the vehicle monitoring server 30, 30 'based on the determined friction coefficients and the associated GPS coordinates (or other location information) an overview map of

Friction coefficient created and to one or more vehicles 12, 12 '

retransmitted.

Incidentally, the coefficients of friction prepared on the basis of this overview map are continuously updated by the vehicle monitoring server 30, 30 'as soon as a current friction coefficient with the same or similar GPS coordinates (or other location information) is transmitted to the vehicle monitoring server 30, 30'.

In accordance with a sixth step S6, a vehicle braking distance is then calculated continuously or at intervals by means of the computing device 30, 30 'and corresponding vehicle brake travel data is generated.

The calculation of the vehicle braking distance is carried out at least partially on the basis of the friction coefficients. Then, by means of a seventh step S7 by means of the evaluation device 18, 18 'provided by means of the interface element 14, 14'

Friction coefficient and the object data evaluated.

With reference to the seventh step S7, additionally or alternatively to the

Friction coefficients the Fahrzeugbremswegdaten and the object data are compared and evaluated.

In accordance with an eighth step S8, a collision avoidance signal is generated in the event of an imminent collision between object O, O 'and vehicle 12, 12' by means of evaluation device 18, 18 '.

As part of a ninth step S9, the collision avoidance signal is then transmitted to a collision avoidance device 20, 20 'of the vehicle 12, 12' or of the collision avoidance system 10, 10 '.

By means of the optical and acoustic output devices 36a, 36b is the

Collision avoidance signal then acoustically and visually output to a driver.

In addition, according to the ninth step S9, the collision avoidance signal is transmitted to the control device 34 of the rail vehicle, which can initiate service braking or emergency braking in response to this signal, depending on the value of the collision probability.

All the above-described method steps are by means of

Collision avoidance system 10, 10 'automatically feasible.

Further, the collision avoidance system automatically returns to step 1 after performing the ninth step S9. Further, it is conceivable that the collision avoidance system 10 performs a plurality of steps S1 to S9 in parallel with each other.

LIST OF REFERENCE NUMBERS

10 collision avoidance system

12 rail vehicle

14 interface element

16 sensor device

18 evaluation device

20 collision avoidance device

22 lane

24 Device for determining the coefficients of friction

24a sensor device of the device for determining the coefficients of friction

26 GPS setup

28 data transmission interface

30 central vehicle monitoring server

32 computing device

34 Control and regulation device

36 output devices

36a optical output devices

36b acoustic output devices

10 'collision avoidance system

12 'rail vehicle

14 'interface element

16 'sensor device

18 'evaluation device

20 'collision avoidance device

22 'lane

26 'GPS device

28 'data transmission interface

30 'central vehicle monitoring server

32 'computing device 34 'control and regulating device

36 'output devices

36a 'optical output devices

36b 'acoustic output devices

O object

O 'object

Claims

A collision avoidance system (10, 10 ') for a vehicle (12, 12'), in particular a

Rail vehicle (12, 12 '),

- With at least one interface element (14, 14 ') for connection to a

Subsystem, in particular a brake control system, a traction control system, a power supply system or leveling system of a rail vehicle, and / or to a data supply system, in particular electrical system and / or bus system of the vehicle for providing a plurality of operating parameters of the vehicle (12, 12 ') in the collision avoidance system (10, 10 '), with at least one sensor device (16, 16') for detecting at least one object (O, O ') outside the vehicle (12, 12') and for generating corresponding

Object data and

- With at least one evaluation device (18, 18 '), with the

Interface element (14, 14 ') and the sensor device (16, 16') in

Data connection is,

- By means of the evaluation device (18, 18 ') of the

Interface element (14, 14 ') provided operating parameters and the

Object data can be evaluated and

in the event of an imminent collision between the object (O, O ') and the vehicle (12, 12'), at least one collision avoidance signal can be generated which can be transmitted to at least one collision avoidance device (20, 20 '),

- The operating parameters include one or more coefficients of friction between the vehicle (12, 12 ') and at least one of the vehicle (12, 12') bearing roadway (22, 22 ').

Second collision avoidance system (10, 10 ') according to claim 1,

characterized in that

the collision avoidance system (10) and / or the vehicle (12) at least one

Device (24) for continuous or intermittent determination of the

Having friction coefficients.

3. collision avoidance system (10) according to claim 2 characterized in that

the means (24) for determining the coefficients of friction with the

Interface element (14) is in data connection and by means of which the determined friction coefficients are transferable to the interface element (14).

A collision avoidance system (10) according to claim 2 or claim 3,

characterized in that

the means (24) for determining the friction coefficients is in data communication with at least one location information acquisition device, in particular GPS device (26), of the vehicle (12), so that the determined friction coefficients can be linked to location information, in particular GPS coordinates.

A collision avoidance system (10, 10 ') according to claim 1 or claim 3 or claim 4,

characterized in that

the collision avoidance system (10, 10 ') and / or the vehicle (12, 12') has at least one data transmission interface (28, 28 ') connected to the

Interface element (14, 14 ') is in data connection.

A collision avoidance system (10, 10 ') according to claim 3 or claim 5,

characterized in that

by means of the data transmission interface (28, 28 ') the determined

Friction coefficient to one or more vehicles (12, 12 '), in particular

Rail vehicles (12, 12 '), are transferable.

A collision avoidance system (10, 10 ') according to claim 6,

characterized in that the friction coefficients are associated with GPS coordinates.

8. collision avoidance system (10, 10 ') according to one of claims 5 to 7,

characterized in that by means of the data transmission interface (28, 28 '), the friction coefficients determined on at least one central Vehicle monitoring server (30, 30 ') are transferable and from this to one or more vehicles (12, 12') are retransmitted.

A collision avoidance system (10, 10 ') according to claim 8,

characterized in that

Friction coefficients of one or more vehicles (12, 12 ') and / or the vehicle monitoring server (30, 30') can be received by means of the data transmission interface (28, 28 ') and can be transmitted to the interface element (14, 14').

A collision avoidance system (10, 10 ') according to any one of claims 4 to 9,

characterized in that

by means of the vehicle monitoring server (30, 30 ') on the basis of the determined

Friction coefficient and the associated GPS coordinates at least one overview map of the friction coefficients can be created and to one or more vehicles (12, 12 ') is transferable.

11. collision avoidance system (10, 10 ') according to claim 10,

characterized in that

the overview map of the coefficients of friction by means of

Vehicle monitoring server (30, 30 ') is continuously updatable.

12. collision avoidance system (10, 10 ') according to any one of the preceding claims, characterized in that

the collision avoidance system (10, 10 ') at least one computing device (32, 32') for calculating at least one vehicle braking path and for generating

corresponding Fahrzeugbremswegdaten which is in data communication with the interface element (14, 14 ') and wherein the calculation of

Fahrzeugbremsweges at least partially based on the

Friction coefficient is feasible.

A collision avoidance system (10, 10 ') according to claim 12,

characterized in that the computing device (32, 32 ') is in data communication with the evaluation device (18, 18'), so that the vehicle braking travel data and the object data can be calibrated and / or evaluated by means of the evaluation device (18, 18 ').

14. Method for operating at least one collision avoidance system (10, 10 ') which is installed in at least one vehicle (12, 12'), in particular a rail vehicle (12, 12 '), the method comprising the following steps:

- Detecting at least one object (O ') outside the vehicle (12, 12') and generating corresponding object data;

- Providing several operating parameters of the vehicle (12, 12 ');

- evaluating the provided operating parameters and the object data;

Generating at least one collision avoidance signal in case of

impending collision between object and vehicle;

- transmitting the collision avoidance signal to at least one

Collision avoidance means (20, 20 ') of the vehicle (12, 12') and / or the collision avoidance system (10, 10 '); wherein the operating parameters include one or more coefficients of friction between the vehicle (12, 12 ') and at least one roadway (22, 22') carrying the vehicle.

15. The method according to claim 14,

characterized in that

the friction coefficients are determined continuously or at intervals.

16. The method according to claim 14 or claim 15,

characterized in that

the coefficients of friction are linked with GPS coordinates.

17. The method according to claim 15 or claim 16,

characterized in that the determined coefficients of friction are transmitted to one or more vehicles (12, 12 '), in particular rail vehicles (12, 12').

18. The method according to any one of claims 15 to 17,

characterized in that

the determined coefficients of friction at least one central

Vehicle monitoring server (30, 30 ') are transmitted and from this to one or more vehicles (12, 12') are retransferred.

19. The method according to any one of claims 14 to 18,

characterized in that

Friction coefficient and the associated GPS coordinates at least one overview map of the friction coefficients is created and to one or more

Vehicles (12, 12 ') is transmitted.

20. The method according to claim 19,

characterized in that

the outline map of the friction coefficients is continuously updated.

21. The method according to any one of claims 14 to 19,

characterized in that

at least one vehicle braking distance is calculated and corresponding

Fahrzeugbremswegdaten be generated, wherein the calculation of the

Fahrzeugbremsweges at least partially based on the

Friction coefficient is performed.

22. The method according to claim 21,

characterized in that

the Fahrzeugbremswegdaten and the object data are compared and / or evaluated.

23. Vehicle (12, 12 '), in particular a rail vehicle (12, 12') with at least one collision avoidance system (10, 10 ') according to one of claims 1 to 13.