WO2024002440A1 - Method for determining the position of a rail vehicle - Google Patents

Method for determining the position of a rail vehicle Download PDF

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Publication number
WO2024002440A1
WO2024002440A1 PCT/DE2023/200129 DE2023200129W WO2024002440A1 WO 2024002440 A1 WO2024002440 A1 WO 2024002440A1 DE 2023200129 W DE2023200129 W DE 2023200129W WO 2024002440 A1 WO2024002440 A1 WO 2024002440A1
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Prior art keywords
information
rail vehicle
vehicle
angle
rail
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PCT/DE2023/200129
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German (de)
French (fr)
Inventor
Patrick Schnöll
Sven HELLWIG
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Continental Engineering Services Gmbh
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Publication of WO2024002440A1 publication Critical patent/WO2024002440A1/en

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Classifications

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

Definitions

  • the invention relates to a method according to the preamble of claim 1.
  • the invention is based on the object of providing at least one piece of information for determining the position of a rail vehicle or of improving the determination of the position of a rail vehicle.
  • the position of a rail vehicle is preferably understood to mean position information of a rail vehicle, which is used in particular to calculate absolute position information of the rail vehicle.
  • An axis angle or axis angle information is preferably also understood to mean a pivot angle or pivot angle information and vice versa.
  • the rail vehicle has at least three vehicle units pivotably coupled to one another, the pivot angle between the two coupled vehicle units of a defined coupling being detected and/or determined by means of at least one sensor unit per coupling between two of the vehicle units coupled to one another, and that the ECU obtains/calculates the common swivel angle combination information at least depending on these at least two swivel angles.
  • the rail vehicle preferably has at least one sensor unit for detecting the pivot angle.
  • the swivel angle or swivel angle information of a swivel angle combination information or a set/data set of swivel angle information are preferably detected directly or indirectly by the assigned sensor units.
  • a pivot angle is preferably understood to mean pivot angle information and vice versa.
  • the pivot angle with respect to two coupled vehicle units is preferably defined as the angle of rotation of the longitudinal axis of one vehicle unit relative to the longitudinal axis of the other, coupled vehicle unit.
  • Axle angle information is preferably understood to mean chassis angle information, in particular angle information which relates to the alignment of an axle and/or a chassis and/or a chassis component on a rail relative to the longitudinal axis of the respective vehicle unit.
  • Such axle angle information is used in particular to increase the precision and robustness of the method for determining the position of the rail vehicle.
  • the pivot angle combination information comprises a set of pivot angle information which is detected and/or determined substantially simultaneously.
  • the rail vehicle prefferent for the rail vehicle to have at least one satellite navigation system, the output information of which is used to determine the position of the rail vehicle, in particular in addition to the pivot angle combination information.
  • a position for each of the vehicle units of the rail vehicle in the ECU is determined at least by means of the output information of the satellite navigation system and the pivot angle combination information is calculated, in particular a position with respect to a defined reference point of each vehicle unit.
  • a reference point of a vehicle unit and/or the rail vehicle is particularly preferably understood to mean a center of gravity of the vehicle unit and/or the rail vehicle or the center of the front axle or the vehicle unit and/or the rail vehicle and/or the pivot point of the front axle and/or the center Bumper of the vehicle unit and/or the rail vehicle.
  • the reference point of the rail vehicle the above definition particularly preferably refers to the reference point with respect to the first vehicle unit.
  • the pivot angle combination information includes a pivot angle between coupled vehicles and/or one or more axle angle information, each of which is detected by means of at least one axle angle sensor unit as a sensor unit.
  • a virtual, at least two-dimensional map and/or position database to be created and/or corrected and/or its data/information to be used to determine the position of the rail vehicle.
  • the at least two-dimensional map and/or position database is designed in such a way that it provides/links/correlates position data with swivel angle combination information data with regard to the rail course.
  • the swivel angles are preferably recorded at defined times and/or within defined time intervals and/or depending on the assignment to position information, which is dependent on the course of the rail and is provided in particular by the satellite navigation information system.
  • the at least two-dimensional map and/or position database is created by storing position information, for example provided by a satellite navigation information system Position information is each assigned and/or linked to pivot angle combination information and is also stored in the at least two-dimensional map and/or position database.
  • At least the swivel angle combination information prefferably be used in a driver assistance system and/or autonomous driving system, in particular in a brake assistant.
  • the position determination is used at least by means of the swivel angle combination information in areas where a satellite navigation system is not available, for example in a tunnel or in a canyon or in addition to plausibility checks.
  • the position information can expediently be used in a downstream driver assistance system in order to reduce its false triggering rate.
  • the position information used in a driver assistance system can preferably be improved by more precise and/or more robust position information, in particular of the rail vehicle and/or its vehicle units, and thus the performance of the driver assistance system can be optimized and its susceptibility to errors reduced.
  • the invention also relates to a sensor system or a driver assistance system or an autonomous driving system, which has at least one electronic control unit ECU and at least two sensor units connected thereto for detecting a pivot angle, wherein the sensor system or driver assistance system or autonomous driving system is suitable or designed to carry out the method .
  • 1 a) shows a schematic representation of an exemplary embodiment of a rail vehicle with four vehicle units 1, 2, 3 and m, which travels through a curve on rails, with three pivot angles 01, 02, 0m being recorded or calculated with respect to the rail vehicle, for example based on or by means of a sensor unit, not shown.
  • the pivot angle 01, 02, 0m is detected at one of the couplings A, B, C between two coupled vehicle units 1, 2, 3, m.
  • the pivot angle 01, 02, 0m with respect to two coupled vehicle units 1, 2, 3, m, in particular in a coupling A, B, C or in a coupling point, is defined as the angle of rotation of the longitudinal axis of one vehicle unit relative to the longitudinal axis of the other coupled vehicle unit.
  • a swivel angle combination information (01, 02, 0m) is generated from the swivel angles 01, 02, 0m at defined times, as illustrated in the diagram Fig. 1 b).
  • Such pivot angle combination information is, for example, assigned to position information of the rail vehicle or at least assigned to position information of a vehicle unit.
  • a position or position information of the rail vehicle is calculated, for example.
  • absolute position information or an absolute position of the rail vehicle can be determined.
  • Fig. 1 c in the case of a circumferential, schematically represented route, which has, for example, four curves of the route, which are marked by hatched circles and which have an essentially identical curve course, it is only possible to have one position or Position information to be calculated depending on the swivel angle combination information within the respective curve, but not absolutely with regard to the entire route.
  • Position information for example provided by a satellite navigation system, required.
  • clear position information can only be obtained depending on the swivel angle combination information when the rail vehicle is on a curve or a curve segment.

Abstract

The invention relates to a method for determining the position of a rail vehicle (1, 2, 3, m), in which method the rail vehicle (1, 2, 3, m) records at least two pivoting angles of the rail vehicle by means of at least one sensor unit, the pivoting angles being defined as an angle between two vehicle units (1, 2, 3, 4) and/or as an angle between the orientation of an axle and/or a running gear and/or a running gear component on a rail relative to the longitudinal axis of the rail vehicle or a relevant vehicle unit, and the rail vehicle (1, 2, 3, m) comprising an electronic control unit ECU which is configured to obtain/calculate, from the pivoting angles, common pivoting angle combination information (Θ1, Θ2, Θm) which is used to determine the position of the rail vehicle (1, 2, 3, m).

Description

Beschreibung Description
Verfahren zur Bestimmung der Position eines Schienenfahrzeugs Method for determining the position of a rail vehicle
Die Erfindung betrifft ein Verfahren gemäß Oberbegriff von Anspruch 1 . The invention relates to a method according to the preamble of claim 1.
Der Erfindung liegt die Aufgabe zu Grunde, zumindest eine Information zur Bestimmung der Position eines Schienenfahrzeugs bereitzustellen bzw. die Bestimmung der Position eines Schienenfahrzeugs zu verbessern. The invention is based on the object of providing at least one piece of information for determining the position of a rail vehicle or of improving the determination of the position of a rail vehicle.
Diese Aufgabe wird erfindungsgemäß gelöst durch das Verfahren gemäß Anspruch 1. Unter der Position eines Schienenfahrzeugs wird vorzugsweise eine Positionsinformation eines Schienenfahrzeugs verstanden, welche insbesondere dazu genutzt wird, eine absolute Positionsinformation des Schienenfahrzeugs zu berechnen. This object is achieved according to the invention by the method according to claim 1. The position of a rail vehicle is preferably understood to mean position information of a rail vehicle, which is used in particular to calculate absolute position information of the rail vehicle.
Unter einem Achswinkel bzw. einer Achswinkelinformationen wird bevorzugt auch ein Schwenkwinkel bzw. eine Schwenkwinkelinformation verstanden und umgekehrt. An axis angle or axis angle information is preferably also understood to mean a pivot angle or pivot angle information and vice versa.
Es ist bevorzugt, dass das Schienenfahrzeug wenigstens drei miteinander schwenkbar gekoppelte Fahrzeugeinheiten aufweist, wobei jeweils mittels zumindest einer Sensoreinheit pro Kopplung zwischen jeweils zwei der miteinander gekoppelten Fahrzeugeinheiten der Schwenkwinkel zwischen den zwei gekoppelten Fahrzeugeinheiten einer definierten Kopplung erfasst und/oder bestimmt wird, und dass die ECU zumindest in Abhängigkeit dieser zumindest zwei Schenkwinkel die gemeinsame Schwenkwinkelkombinationsinformation gewinnt/ berechnet. It is preferred that the rail vehicle has at least three vehicle units pivotably coupled to one another, the pivot angle between the two coupled vehicle units of a defined coupling being detected and/or determined by means of at least one sensor unit per coupling between two of the vehicle units coupled to one another, and that the ECU obtains/calculates the common swivel angle combination information at least depending on these at least two swivel angles.
Bevorzugt weist das Schienenfahrzeug zur Erfassung der Schwenkwinkel jeweils mindestens eine Sensoreinheit auf. Die Schwenkwinkel bzw. Schwenkwinkelinformationen einer Schwenkwinkelkombinationsinformation bzw. eines Satz/ Datensatzes von Schwenkwinkelinformationen, werden bevorzugt durch die zugeordnete Sensoreinheiten direkt oder indirekt erfasst. The rail vehicle preferably has at least one sensor unit for detecting the pivot angle. The swivel angle or swivel angle information of a swivel angle combination information or a set/data set of swivel angle information are preferably detected directly or indirectly by the assigned sensor units.
Unter einem Schwenkwinkel wird vorzugsweise eine Schwenkwinkelinformation verstanden und umgekehrt. A pivot angle is preferably understood to mean pivot angle information and vice versa.
Der Schwenkwinkel hinsichtlich von zwei gekoppelten Fahrzeugeinheiten, insbesondere in einer Kopplung bzw. in einem Koppelungspunkt, ist vorzugsweise definiert als der Verdrehwinkel der Längsachse der einen Fahrzeugeinheit gegenüber der Längsachse der anderen, gekoppelten Fahrzeugeinheit. The pivot angle with respect to two coupled vehicle units, in particular in a coupling or in a coupling point, is preferably defined as the angle of rotation of the longitudinal axis of one vehicle unit relative to the longitudinal axis of the other, coupled vehicle unit.
Unter einer Achswinkelinformation wird vorzugsweise eine Fahrwerkswinkelinformation verstanden, insbesondere eine Winkelinformation, welche die Ausrichtung einer Achse und/oder eines Fahrwerks und/oder einer Fahrwerkskomponente auf einer Schiene relativ zur Längsachse der jeweiligen Fahrzeugeinheit betrifft. Solche Achswinkelinformationen werden insbesondere zur Erhöhung der Präzision und der Robustheit des Verfahrens zur Bestimmung der Position des Schienenfahrzeugs verwendet. Axle angle information is preferably understood to mean chassis angle information, in particular angle information which relates to the alignment of an axle and/or a chassis and/or a chassis component on a rail relative to the longitudinal axis of the respective vehicle unit. Such axle angle information is used in particular to increase the precision and robustness of the method for determining the position of the rail vehicle.
Es ist bevorzugt, dass die Schwenkwinkelkombinationsinformation einen Satz Schwenkwinkelinformationen umfasst, welche im Wesentlichen gleichzeitig erfasst und/oder bestimmt werden. It is preferred that the pivot angle combination information comprises a set of pivot angle information which is detected and/or determined substantially simultaneously.
Es ist zweckmäßig, dass das Schienenfahrzeug wenigstens ein Satellitennavigationssystem aufweist, dessen Ausgangsinformationen zur Bestimmung der Position des Schienenfahrzeugs genutzt wird, insbesondere zusätzlich zur Schwenkwinkelkombinationsinformation. It is expedient for the rail vehicle to have at least one satellite navigation system, the output information of which is used to determine the position of the rail vehicle, in particular in addition to the pivot angle combination information.
Es ist bevorzugt, dass zumindest mittels der Ausgangsinformationen des Satellitennavigationssystems sowie der Schwenkwinkelkombinationsinformation eine Position für jede der Fahrzeugeinheiten des Schienenfahrzeugs in der ECU berechnet wird, insbesondere jeweils eine Position hinsichtlich eines definierten Referenzpunktes jeder Fahrzeugeinheit. Unter einem Referenzpunkt einer Fahrzeugeinheit und/oder des Schienenfahrzeugs wird besonders bevorzugt ein Schwerpunkt der Fahrzeugeinheit und/oder des Schienenfahrzeugs bzw. des Mittelpunkts der Vorderachse bzw. der Fahrzeugeinheit und/oder des Schienenfahrzeugs verstanden und/oder der Drehpunkt der Vorderachse und/oder die Mitte Stoßstange der Fahrzeugeinheit und/oder des Schienenfahrzeugs. Hinsichtlich des Referenzpunktes des Schienenfahrzeugs bezieht sich die obige Definition ganz besonders bevorzugt auf den Referenzpunkt hinsichtlich der ersten Fahrzeugeinheit. It is preferred that a position for each of the vehicle units of the rail vehicle in the ECU is determined at least by means of the output information of the satellite navigation system and the pivot angle combination information is calculated, in particular a position with respect to a defined reference point of each vehicle unit. A reference point of a vehicle unit and/or the rail vehicle is particularly preferably understood to mean a center of gravity of the vehicle unit and/or the rail vehicle or the center of the front axle or the vehicle unit and/or the rail vehicle and/or the pivot point of the front axle and/or the center Bumper of the vehicle unit and/or the rail vehicle. With regard to the reference point of the rail vehicle, the above definition particularly preferably refers to the reference point with respect to the first vehicle unit.
Es ist bevorzugt, dass die Schwenkwinkelkombinationsinformation einen Schwenkwinkel zwischen gekoppelten Fahrzeugen und/oder eine oder mehrere Achswinkelinformationen umfasst, welche jeweils mittels zumindest einer Achswinkelsensoreinheit als Sensoreinheit erfasst werden. It is preferred that the pivot angle combination information includes a pivot angle between coupled vehicles and/or one or more axle angle information, each of which is detected by means of at least one axle angle sensor unit as a sensor unit.
Es ist zweckmäßig, dass insbesondere in der ECU, eine virtuelle, zumindest zwei-dimensionale Karte und/oder Positionsdatenbank erstellt wird und/oder korrigiert wird und/oder auf deren Daten/ Informationen zur Bestimmung der Position des Schienenfahrzeugs genutzt wird. It is expedient, particularly in the ECU, for a virtual, at least two-dimensional map and/or position database to be created and/or corrected and/or its data/information to be used to determine the position of the rail vehicle.
Es ist bevorzugt, dass die zumindest zwei-dimensionale Karte und/oder Positionsdatenbank so ausgebildet ist, dass sie hinsichtlich des Schienenverlaufs Positionsdaten mit Schwenkwinkelkombinationsinformationsdaten bereitstellt/verknüpft/ korreliert. It is preferred that the at least two-dimensional map and/or position database is designed in such a way that it provides/links/correlates position data with swivel angle combination information data with regard to the rail course.
Vorzugsweise erfolgt jeweils die Erfassung der Schwenkwinkel, zu definierten Zeitpunkten und/oder innerhalb definierter Zeitintervalle und/oder abhängig der Zuordnung zu Positionsinformationen sind, welche abhängig vom Schienenverlauf sind und insbesondere seitens des Satellitennavigationsinformationssystems, bereitgestellt werden. The swivel angles are preferably recorded at defined times and/or within defined time intervals and/or depending on the assignment to position information, which is dependent on the course of the rail and is provided in particular by the satellite navigation information system.
Es ist bevorzugt, dass die Erstellung der zumindest zwei-dimensionale Karte und/oder Positionsdatenbank erfolgt durch Speicherung von Positionsinformationen, beispielsweise durch ein Satellitennavigationsinformationssystem bereitgestellt, wobei diesen Positionsinformationen jeweils eine Schwenkwinkelkombinationsinformation zugeordnet und/oder verknüpft und ebenfalls in der der zumindest zwei-dimensionale Karte und/oder Positionsdatenbank abgespeichert werden. It is preferred that the at least two-dimensional map and/or position database is created by storing position information, for example provided by a satellite navigation information system Position information is each assigned and/or linked to pivot angle combination information and is also stored in the at least two-dimensional map and/or position database.
Es ist zweckmäßig, dass zumindest die Schwenkwinkelkombinationsinformation in einem Fahrerassistenzsystem und/oder Autonomen Fahrsystem, insbesondere in einem Bremsassistenten, genutzt werden. It is expedient for at least the swivel angle combination information to be used in a driver assistance system and/or autonomous driving system, in particular in a brake assistant.
Es ist bevorzugt, dass die Positionsbestimmung zumindest mittels der Schwenkwinkelkombinationsinformation in Bereichen genutzt wird, wo ein Satellitennavigationssystem nicht verfügbar ist, beispielsweise in einem Tunnel oder in einer Häuserschlucht oder zusätzlich zur Plausibilisierung. It is preferred that the position determination is used at least by means of the swivel angle combination information in areas where a satellite navigation system is not available, for example in a tunnel or in a canyon or in addition to plausibility checks.
Die Positionsinformation kann zweckmäßigerweise in einem nachgelagerten Fahrerassistenzsystem genutzt werden, um dessen Fehlauslösungsrate zu verringern. The position information can expediently be used in a downstream driver assistance system in order to reduce its false triggering rate.
Weiterhin kann vorzugsweise durch eine präzisere und/oder robustere Positionsinformation insbesondere des Schienenfahrzeugs und/oder seiner Fahrzeugeinheiten die in einem Fahrerassistenzsystem genutzte Positionsinformation verbessert und somit die Leistungsfähigkeit des Fahrerassistenzsystems optimiert und seine Fehleranfälligkeit verringert werden. Furthermore, the position information used in a driver assistance system can preferably be improved by more precise and/or more robust position information, in particular of the rail vehicle and/or its vehicle units, and thus the performance of the driver assistance system can be optimized and its susceptibility to errors reduced.
Die Erfindung betrifft außerdem ein Sensorsystem oder ein Fahrerassistenzsystem oder ein autonomes Fahrsystem, welches wenigstens eine elektronische Kontrolleinheit ECU und zumindest zwei damit verbundene Sensoreinheiten zur Erfassung jeweils eines Schwenkwinkels aufweist, wobei das Sensorsystem oder Fahrerassistenzsystem oder autonomes Fahrsystem zur Durchführung des Verfahrens geeignet bzw. ausgelegt ist. Fig. 1 a) zeigt in schematischer Darstellung ein Ausführungsbeispiel eines Schienenfahrzeugs mit vier Fahrzeugeinheiten 1 , 2, 3 und m, welches auf Schienen eine Kurve durchfährt, wobei hinsichtlich des Schienenfahrzeugs beispielhaft drei Schwenkwinkel 01 , 02, 0m erfasst bzw. errechnet werden, beispielhaft anhand bzw. mittels jeweils einer nicht dargestellten Sensoreinheit. The invention also relates to a sensor system or a driver assistance system or an autonomous driving system, which has at least one electronic control unit ECU and at least two sensor units connected thereto for detecting a pivot angle, wherein the sensor system or driver assistance system or autonomous driving system is suitable or designed to carry out the method . 1 a) shows a schematic representation of an exemplary embodiment of a rail vehicle with four vehicle units 1, 2, 3 and m, which travels through a curve on rails, with three pivot angles 01, 02, 0m being recorded or calculated with respect to the rail vehicle, for example based on or by means of a sensor unit, not shown.
Der Schwenkwinkel 01 , 02, 0m ist dabei beispielgemäß jeweils an einer der Kopplungen A, B, C zwischen jeweils zwei gekoppelten Fahrzeugeinheiten 1 , 2, 3, m erfasst. Dabei ist der Schwenkwinkel 01 , 02, 0m hinsichtlich jeweils zwei gekoppelter Fahrzeugeinheiten 1 , 2, 3, m, insbesondere in einer Kopplung A, B, C bzw. in einem Koppelungspunkt, definiert als der Verdrehwinkel der Längsachse der einen Fahrzeugeinheit gegenüber der Längsachse der anderen, gekoppelten Fahrzeugeinheit. According to the example, the pivot angle 01, 02, 0m is detected at one of the couplings A, B, C between two coupled vehicle units 1, 2, 3, m. The pivot angle 01, 02, 0m with respect to two coupled vehicle units 1, 2, 3, m, in particular in a coupling A, B, C or in a coupling point, is defined as the angle of rotation of the longitudinal axis of one vehicle unit relative to the longitudinal axis of the other coupled vehicle unit.
Aus den Schwenkwinkeln 01 , 02, 0m wird dabei beispielgemäß zu definierten Zeitpunkten jeweils eine Schwenkwinkelkombinationsinformation (01 , 02, 0m) wie in dem Diagramm Fig. 1 b) veranschaulicht, erzeugt. Solche eine Schwenkwinkelkombinationsinformation wird beispielgemäß jeweils einer Positionsinformation des Schienenfahrzeugs zugeordnet oder wenigstens Positionsinformation einer Fahrzeugeinheit zugeordnet. In Abhängigkeit der Schwenkwinkelkombinationsinformation wird beispielhaft eine Position bzw. Positionsinformation des Schienenfahrzeugs berechnet. In Abhängigkeit der Schwenkwinkelkombinationsinformation in Verbindung mit einer zugeordneten Positionsinformation des Schienenfahrzeugs, bereitgestellt durch ein Satellitennavigationssystems kann eine absolute Positionsinformation bzw. eine absolute Position des Schienenfahrzeugs bestimmt werden. According to the example, a swivel angle combination information (01, 02, 0m) is generated from the swivel angles 01, 02, 0m at defined times, as illustrated in the diagram Fig. 1 b). Such pivot angle combination information is, for example, assigned to position information of the rail vehicle or at least assigned to position information of a vehicle unit. Depending on the swivel angle combination information, a position or position information of the rail vehicle is calculated, for example. Depending on the pivot angle combination information in conjunction with associated position information of the rail vehicle, provided by a satellite navigation system, absolute position information or an absolute position of the rail vehicle can be determined.
Wie aus der Fig. 1 c) ersichtlich, ist bei einer umlaufenden, schematisch dargestellten Strecke, welche beispielhaft vier Kurven der Strecke aufweist, welche durch schraffierte Kreise markiert sind, und welche einen im Wesentlichen identischen Kurvenverlauf aufweisen, es nur möglich eine Position bzw. Positionsinformation in Abhängigkeit der Schwenkwinkelkombinationsinformation zu berechnen innerhalb der jeweiligen Kurve, aber nicht absolut hinsichtlich der gesamten Strecke. Für eine absolute Positionsberechnung ist noch eine zusätzliche Positionsinformation, beispielsweise bereitgestellt durch ein Satellitennavigationssystem, erforderlich. As can be seen from Fig. 1 c), in the case of a circumferential, schematically represented route, which has, for example, four curves of the route, which are marked by hatched circles and which have an essentially identical curve course, it is only possible to have one position or Position information to be calculated depending on the swivel angle combination information within the respective curve, but not absolutely with regard to the entire route. For an absolute position calculation there is an additional one Position information, for example provided by a satellite navigation system, required.
Bei einer nicht dargestellten beispielhaften Strecke, welche keine sich wiederholenden/ identischen Kurvenverläufe aufweist, kann eine eindeutige Positionsinformation gewonnen werden nur in Abhängigkeit der Schwenkwinkelkombinationsinformation, wenn das Schienenfahrzeug sich auf einer Kurvenfahrt bzw. einem Kurvenstreckensegment befindet. In the case of an exemplary route, not shown, which does not have repeating/identical curves, clear position information can only be obtained depending on the swivel angle combination information when the rail vehicle is on a curve or a curve segment.

Claims

Patentansprüche Patent claims
1. Verfahren zur Bestimmung der Position eines Schienenfahrzeugs (1 , 2, 3, m), wobei das Schienenfahrzeug (1 , 2, 3, m) mittels zumindest einer Sensoreinheit wenigstens zwei Schwenkwinkel (01 , 02, 0m) des Schienenfahrzeugs erfasst, wobei die Schwenkwinkel (01 , 02, 0m) als Winkel zwischen zwei Fahrzeugeinheiten (1 , 2, 3, 4) und/oder als Winkel zwischen der Ausrichtung einer Achse und/oder eines Fahrwerks und/oder einer Fahrwerkskomponente auf einer Schiene relativ zur Längsachse des Schienenfahrzeugs oder einer jeweiligen Fahrzeugeinheit definiert sind, dadurch gekennzeichnet, dass das Schienenfahrzeug (1 , 2, 3, m) eine elektronische Kontrolleinheit ECU aufweist, die so ausgebildet ist, dass sie aus den Schwenkwinkeln eine gemeinsame Schwenkwinkelkombinationsinformation (01 , 02, 0m) gewinnt/ berechnet, welche zur Bestimmung der Position des Schienenfahrzeugs (1 , 2, 3, m) genutzt wird. 1. Method for determining the position of a rail vehicle (1, 2, 3, m), wherein the rail vehicle (1, 2, 3, m) detects at least two pivot angles (01, 02, 0m) of the rail vehicle by means of at least one sensor unit, wherein the pivot angles (01, 02, 0m) as an angle between two vehicle units (1, 2, 3, 4) and/or as an angle between the alignment of an axle and/or a chassis and/or a chassis component on a rail relative to the longitudinal axis of the Rail vehicle or a respective vehicle unit are defined, characterized in that the rail vehicle (1, 2, 3, m) has an electronic control unit ECU, which is designed so that it obtains common pivot angle combination information (01, 02, 0m) from the pivot angles / calculated, which is used to determine the position of the rail vehicle (1, 2, 3, m).
2. Verfahren nach Anspruch 1 , dadurch gekennzeichnet, dass das Schienenfahrzeug wenigstens drei miteinander schwenkbar gekoppelte Fahrzeugeinheiten (1 , 2, 3, m) aufweist, wobei jeweils mittels zumindest einer Sensoreinheit pro Kopplung (A, B, C) zwischen jeweils zwei der miteinander gekoppelten Fahrzeugeinheiten der Schwenkwinkel (01 , 02, 0m) zwischen den zwei gekoppelten Fahrzeugeinheiten einer definierten Kopplung (A, B, C) erfasst und/oder bestimmt wird, und dass die ECU zumindest in Abhängigkeit dieser zumindest zwei Schenkwinkel (01 , 02, 0m) die gemeinsame Schwenkwinkelkombinationsinformation (01 , 02, 0m) gewinnt/ berechnet. 2. The method according to claim 1, characterized in that the rail vehicle has at least three vehicle units (1, 2, 3, m) which are pivotally coupled to one another, with at least one sensor unit per coupling (A, B, C) between two of them coupled vehicle units, the pivot angle (01, 02, 0m) between the two coupled vehicle units of a defined coupling (A, B, C) is detected and / or determined, and that the ECU is at least dependent on these at least two pivot angles (01, 02, 0m ) the common swivel angle combination information (01, 02, 0m) is obtained/calculated.
3. Verfahren nach mindestens einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Schwenkwinkelkombinationsinformation (01 , 02, 0m) einen Satz Schwenkwinkelinformationen umfasst, welche im Wesentlichen gleichzeitig erfasst und/oder bestimmt werden. 3. The method according to at least one of the preceding claims, characterized in that the swivel angle combination information (01, 02, 0m) comprises a set of swivel angle information which is detected and/or determined essentially simultaneously.
4. Verfahren nach mindestens einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass das Schienenfahrzeug (1 , 2, 3, m) wenigstens ein Satellitennavigationssystem aufweist, dessen Ausgangsinformationen zur Bestimmung der Position des Schienenfahrzeugs (1 , 2, 3, m) genutzt wird. 4. The method according to at least one of the preceding claims, characterized in that the rail vehicle (1, 2, 3, m) has at least one satellite navigation system, the output information of which is used to determine the position of the rail vehicle (1, 2, 3, m).
5. Verfahren nach mindestens einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass zumindest mittels der Ausgangsinformationen des Satellitennavigationssystems sowie der Schwenkwinkelkombinationsinformation eine Position für jede der Fahrzeugeinheiten des Schienenfahrzeugs in der ECU berechnet wird, insbesondere jeweils eine Position hinsichtlich eines definierten Referenzpunktes jeder Fahrzeugeinheit. 5. The method according to at least one of the preceding claims, characterized in that at least by means of the output information of the satellite navigation system and the swivel angle combination information, a position for each of the vehicle units of the rail vehicle is calculated in the ECU, in particular a position with respect to a defined reference point of each vehicle unit.
6. Verfahren nach mindestens einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Schwenkwinkelkombinationsinformation einen Schwenkwinkel zwischen gekoppelten Fahrzeugen und/oder eine oder mehrere Achswinkelinformationen umfasst, welche jeweils mittels zumindest einer Achswinkelsensoreinheit als Sensoreinheit erfasst werden. 6. The method according to at least one of the preceding claims, characterized in that the pivot angle combination information comprises a pivot angle between coupled vehicles and / or one or more axle angle information, which are each detected by means of at least one axle angle sensor unit as a sensor unit.
7. Verfahren nach mindestens einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass insbesondere in der ECU, eine virtuelle, zumindest zwei-dimensionale Karte und/oder Positionsdatenbank erstellt wird und/oder korrigiert wird und/oder auf deren Daten/ Informationen zur Bestimmung der Position des Schienenfahrzeugs genutzt wird. 7. The method according to at least one of the preceding claims, characterized in that, in particular in the ECU, a virtual, at least two-dimensional map and / or position database is created and / or corrected and / or based on its data / information to determine the position of the rail vehicle is used.
8. Verfahren nach mindestens einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die zumindest zwei-dimensionale Karte und/oder Positionsdatenbank so ausgebildet ist, dass sie hinsichtlich des Schienenverlaufs Positionsdaten mit Schwenkwinkelkombinationsinformationsdaten bereitstellt/verknüpft/ korreliert. 8. The method according to at least one of the preceding claims, characterized in that the at least two-dimensional map and / or position database is designed such that it provides / links / correlates position data with swivel angle combination information data with regard to the rail course.
9. Verfahren nach mindestens einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass jeweils die Erfassung der Schwenkwinkel (01 , 02, 0m) und/oder Achswinkelinformationen, zu definierten Zeitpunkten und/oder innerhalb definierter Zeitintervalle und/oder abhängig der Zuordnung zu Positionsinformationen erfolgt, welche abhängig vom Schienenverlauf sind und insbesondere seitens des Satellitennavigationsinformationssystems, bereitgestellt werden. 9. The method according to at least one of the preceding claims, characterized in that the detection of the pivot angle (01, 02, 0m) and / or axis angle information, at defined times and / or within defined time intervals and/or depending on the assignment to position information, which is dependent on the course of the rail and is provided in particular by the satellite navigation information system.
10. Verfahren nach mindestens einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die 10. The method according to at least one of the preceding claims, characterized in that
Erstellung der zumindest zwei-dimensionale Karte und/oder Positionsdatenbank erfolgt durch Speicherung von Positionsinformationen, beispielsweise durch ein Satellitennavigationsinformationssystem bereitgestellt, wobei diesen Positionsinformationen jeweils eine Schwenkwinkelkombinationsinformation zugeordnet und/oder verknüpft und ebenfalls in der der zumindest zwei-dimensionale Karte und/oder Positionsdatenbank abgespeichert werden. The at least two-dimensional map and/or position database is created by storing position information, for example provided by a satellite navigation information system, with this position information each being assigned and/or linked with pivot angle combination information and also being stored in the at least two-dimensional map and/or position database .
11 . Verfahren nach mindestens einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass zumindest die Schwenkwinkelkombinationsinformation in einem Fahrerassistenzsystem und/oder Autonomen Fahrsystem, insbesondere in einem Bremsassistenten, genutzt werden. 11. Method according to at least one of the preceding claims, characterized in that at least the pivot angle combination information is used in a driver assistance system and/or autonomous driving system, in particular in a brake assistant.
12. Verfahren nach mindestens einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Positionsbestimmung zumindest mittels der Schwenkwinkelkombinationsinformation (01 , 02, 0m) in Bereichen genutzt wird, wo ein Satellitennavigationssystem nicht verfügbar ist, beispielsweise in einem Tunnel oder in einer Häuserschlucht oder zusätzlich zur Plausibilisierung. 12. The method according to at least one of the preceding claims, characterized in that the position determination is used at least by means of the swivel angle combination information (01, 02, 0m) in areas where a satellite navigation system is not available, for example in a tunnel or in a canyon or in addition to Reasonability.
PCT/DE2023/200129 2022-06-30 2023-06-27 Method for determining the position of a rail vehicle WO2024002440A1 (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2130374A (en) * 1982-07-22 1984-05-31 Lyonnaise Transport Process and device for locating and monitoring the position of transport vehicles
DE19532104C1 (en) * 1995-08-30 1997-01-16 Daimler Benz Ag Method and device for determining the position of at least one location of a track-guided vehicle
WO1998024676A1 (en) * 1996-12-04 1998-06-11 Abb Daimler-Benz Transportation (Technology) Gmbh Method of influencing the inflection angle of railway vehicle wagons, and railway vehicle for carrying out this method
EP2204308A2 (en) * 2008-12-31 2010-07-07 Bombardier Transportation GmbH Vehicle comprising several articulated carbodies
WO2010127958A1 (en) * 2009-05-07 2010-11-11 Siemens Aktiengesellschaft Method and apparatus for determining the position of rail-bound vehicles

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2130374A (en) * 1982-07-22 1984-05-31 Lyonnaise Transport Process and device for locating and monitoring the position of transport vehicles
DE19532104C1 (en) * 1995-08-30 1997-01-16 Daimler Benz Ag Method and device for determining the position of at least one location of a track-guided vehicle
WO1998024676A1 (en) * 1996-12-04 1998-06-11 Abb Daimler-Benz Transportation (Technology) Gmbh Method of influencing the inflection angle of railway vehicle wagons, and railway vehicle for carrying out this method
EP2204308A2 (en) * 2008-12-31 2010-07-07 Bombardier Transportation GmbH Vehicle comprising several articulated carbodies
WO2010127958A1 (en) * 2009-05-07 2010-11-11 Siemens Aktiengesellschaft Method and apparatus for determining the position of rail-bound vehicles

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