WO2024068381A1

WO2024068381A1 - Object detection at the ends and coupling points of a vehicle

Info

Publication number: WO2024068381A1
Application number: PCT/EP2023/075889
Authority: WO
Inventors: Claus-Ulrich Karipidis; Thomas Waschulzik
Original assignee: Siemens Mobility GmbH
Priority date: 2022-09-30
Filing date: 2023-09-20
Publication date: 2024-04-04
Also published as: DE102022210426A1

Abstract

The invention relates to a method and an apparatus for operating a vehicle (11, 111, 1011) which is designed to move in two directions (14, 15) along a route (6). In the method, a front region (18), which is a region lying ahead in the direction of travel (14) of the vehicle (11, 111, 1011), is sensed by means of a first sensing device (20). At least one object (30, 34, 734) that is located within the front region (18) is detected by means of a first detection device (24) on the basis of the sensed front region (18). Object properties of the detected object (30, 34, 734) are taken into consideration by a vehicle device (26) during operation of the vehicle (11, 111, 1011). A rear region (19), which is a region lying behind in the direction of travel (14) of the vehicle (11, 111, 1011), is sensed by means of a second sensing device (22). In order to increase the reliability of operation of the vehicle, at least one object (32, 36, 736) which is located within the rear region (19) is detected by means of a second detection device (28) on the basis of the sensed rear region (19). Object properties of the detected object (30, 32, 34, 734, 36, 736) are taken into consideration during operation of the vehicle (11, 111, 1011), of a vehicle (112) coupled to the vehicle (111) and/or of a further vehicle (1012).

Description

Object detection at the ends and coupling points of a vehicle

The invention relates to a method and a device for operating a vehicle which is designed to move in two directions along a route. The invention also relates to a vehicle, a computer program and a provision device.

In the method, a front area, which is an area ahead in the direction of travel of the vehicle, is detected by means of a first detection device. At least one object located within the front area is recognized on the basis of the detected front area by means of a first detection device. Object properties of the recognized object are taken into account by a vehicle device when operating the vehicle. A rear area, which is an area behind the vehicle in the direction of travel, is detected by means of a second detection device.

The device comprises a first detection device which is set up to detect a front area which is an area lying ahead in the direction of travel of the vehicle. A first recognition device is set up to recognize at least one object which is located within the front area based on the detected front area. A vehicle device is set up to take object properties of the recognized object into account when operating the vehicle. A second detection device is set up to detect a rear area which is an area lying behind in the direction of travel of the vehicle by means of a second detection device. In principle, the use of detection devices on vehicles, for example for object detection, is known. The detection devices serve, for example, to detect objects that are located ahead in the direction of travel.

DE 10 2016 216 528 A1 describes a method for determining the location of a rail vehicle. In the method, a spatial area in the area surrounding the vehicle is recorded using an image capture unit. Image information that is representative of a portion of the spatial area is generated by the image capture unit based on the capture. Reference image information, which is representative of at least one reference subarea of a spatial reference area in the surroundings of the vehicle, is provided by means of a reference unit. The location of the vehicle is determined using a location determination unit based on the image information and the reference information.

US 2014/0183303 Al describes a system for recording current visual information (as images or video) of the area around the end of a train and for transmitting this visual information to a locomotive in the system. One or more imaging devices are positioned near the rear of the train to collect image data from there. A transmission device is used to transmit the image data to a locomotive. A receiving device, which is located in the locomotive, is used to receive the image data that was transmitted by the one or more imaging devices. The system also has a device installed at the end of the train where the imaging device is present. A display, which is communicatively coupled to the receiving device, is used to display the transmitted image data on the locomotive.

US 2010/0148013 Al describes a device for indicating whether a first coupling of a locomotive is in a coupled or uncoupled state. The device includes a visual sensor positioned on a portion of the coupling, the sensor providing a real-time signal indicating either a coupled or an uncoupled condition. The coupled or uncoupled state indicates that a part of a second clutch is in the vicinity or in a receiving area of the first clutch. The signal is transmitted wirelessly, for example, by means of a transmission device that communicates with the sensor.

Against this background, it is the object of the invention to increase the reliability of the operation of vehicles.

This object is achieved by a method of the type mentioned at the outset, in which at least one object which is located within the rear area is recognized on the basis of the detected rear area by means of a second recognition device and object properties of the recognized object are taken into account in the operation of the vehicle, a vehicle coupled to the vehicle and/or another vehicle.

The invention recognizes that objects located in the vicinity of a vehicle are usually detected by means of a detection device in the vehicle, usually in the direction of travel ahead or in a sideways direction (for example using door cameras). The transmission of image data from a rear-facing detection device is known in principle. However, in previous solutions, the objects detected by the second rear detection device are in no way intended for object detection.

The solution according to the invention eliminates these problems by detecting an object located within the rear area by means of a second detection device. During operation of the vehicle, a vehicle-coupled Vehicle and/or another vehicle, object properties of the detected object are taken into account.

This solution opens up a wide range of possible applications for increasing the reliability and safety of vehicle operation. In particular, the safety and reliability of partially automated or fully automated operation of vehicles are increased by the solution according to the invention.

The vehicle is, for example, a land vehicle (e.g. an automobile or a bus), an aircraft (e.g. an airplane) or a watercraft (e.g. a ship). The vehicle is preferably a track-bound vehicle, more preferably a rail vehicle. The rail vehicle is, for example, a high-speed public long-distance passenger train or a regional train or a light rail system, a tram or a subway for local public transport. The rail vehicle is, for example, a multiple unit. Alternatively, the rail vehicle is, for example, a freight train. The route along which the rail vehicle can move in two directions is the track. The rail vehicle can be a locomotive, a single car, a consist (consisting of several cars firmly connected to one another) and/or a vehicle group (consisting of vehicles coupled mechanically and/or virtually/data-technically).

For example, the vehicle is a consist and the “vehicle coupled to the vehicle” is a further consist. The “additional vehicle” is, for example, a vehicle that is operated separately from the vehicle and separately from the vehicle coupled to the vehicle.

The front area in front preferably comprises a displacement area which is displaced by the vehicle when travelling along the route. In other words: Objects that are located in the displacement area ahead in the direction of travel will collide with the vehicle as it continues along the route. Objects in this displacement area include, for example, vehicles, people, animals, objects, etc. In addition, the front area ahead preferably includes areas outside the displacement area, particularly next to the route. The objects in these areas include, for example, landmarks, signals, buildings, plants, etc.

Analogous to the front area, the rear area preferably comprises a displacement area which was displaced by the vehicle when traveling along the route and/or is displaced by another vehicle following. In addition, the rear area preferably further comprises an area outside the displacement area, in particular next to the route.

The first and/or second detection device is preferably an optical detection device, which optically detects the front area and/or rear area and generates image data based on the detection. For example, the first and second detection devices are each designed as a camera device. The image data generated is transmitted to the first and/or second recognition device, preferably wirelessly or via a wired train bus or an Ethernet-based control network of the vehicle.

The second detection device is preferably arranged at one end of the vehicle and/or at one end of the vehicle coupled to the vehicle. The end of the vehicle is preferably the rear end of the vehicle in the direction of travel. In a vehicle association, each inseparable part of the vehicle (e.g. Consist) preferably has the first detection device at the top (i.e. in the direction of travel) and the second detection device at the end. The first and second detection devices can be separate devices or at least partially designed as a common detection device. The first and/or second detection device is preferably installed on the vehicle. For example, the first and second recognition devices are designed as a central recognition device. In this case, the central detection device is preferably the central contact person for the vehicle device, which serves, for example, as a train protection device (e.g. onboard unit). Alternatively or additionally, the first or second recognition device part of the first or be the second detection device. Alternatively or additionally, the first and/or second detection device can be installed on a land-based device and designed as a central detection device.

The recognition of the object by means of the first and/or second recognition device is preferably carried out by executing a computer program which represents a model that assigns data generated by the detection device to object properties (e.g. an object class). The model is preferably formed using an artificial neural network. Object detection is, for example, obstacle detection in which the object is classified as an obstacle because it is on the route ahead and is relevant as an obstacle (a non-relevant obstacle is, for example, a stick of a tree; is a relevant obstacle). for example branch of a tree).

The vehicle device is, for example, a central control unit and/or a so-called onboard unit.

The object properties of the second

The object detected by the detection device is detected, for example, by the vehicle's equipment during operation of the vehicle. Alternatively or additionally, these object properties are taken into account by the vehicle equipment of the vehicle and/or by a vehicle equipment of the vehicle coupled to the vehicle. Alternatively or additionally, the object properties are taken into account by a vehicle equipment of the other vehicle. The other vehicle is, for example, a vehicle that follows the vehicle on the same route.

According to a preferred embodiment of the method according to the invention, object properties of the recognized object and an object library, which includes object identification information and object type information, are taken into account when operating the vehicle.

Preferably, a location of the vehicle is determined based on the object properties of the recognized object. In a preferred development, a location of at least a part of the vehicle is determined based on the object properties and the object library.

For example, the location of the vehicle's end is determined as the vehicle's location. The vehicle's end is preferably understood to be the end of the vehicle that is at the rear in the direction of travel.

The object library preferably assigns location information that represents the location of the vehicle to the object identification information and the object type information. This assignment is often referred to in technical terms as a digital map. In other words: a comparison of the recognized objects with a digital map can be used to locate the vehicle. The objects that are used to determine the location are, for example, landmarks. Landmarks include signs, signals, buildings, natural objects, etc.

In addition to determining the location, the speed of the vehicle is preferably determined based on a temporal change in the object property (e.g. size).

The location is preferably used to locate a parked vehicle that has been moved (so-called cold movement detection).

According to a further preferred embodiment of the method according to the invention, the object which is located within the rear area is detected at a time after it has been detected as an object within the front area. Object properties of the object detected within the front area and object properties of the same object detected within the rear area are combined in order to determine combination properties of the object.

In this way, the quality of object detection can be increased because the object is detected from two viewing directions and a detection is carried out. In addition, additional information about an object can be determined because it is viewed from both the front and rear view.

The object properties preferably comprise a two-dimensional outline of the detected object. The combination properties further preferably comprise a 3D contour of the object.

The combination properties can be transferred to a subsequent vehicle, which adapts its operation according to the knowledge gained about the combination properties. According to a preferred embodiment of the method according to the invention, the detected rear area is used by the second detection device to detect whether a stretch of road behind in the direction of travel is clear.

In this way, the solution according to the invention can be used particularly effectively for track clearance detection, since the rear detection can be used to determine whether the track behind a track-bound vehicle is clear. If, for example, an object located on the previous route is detected, a track clearance detection is prevented.

It should be noted that the track that is considered is the one that the vehicle has exclusively used, and this used track is then released for another vehicle.

According to a preferred embodiment of the method according to the invention, a safety risk for the operation of another vehicle is determined on the basis of the detection of the object which is located within the rear area.

An example case is an object that has fallen from a rail vehicle and remains on the track. Another example case is a wagon or component of a rail-bound vehicle that has come loose.

The fallen object or the detached car/consist can represent an obstacle for another vehicle following.

Another example is a fire on the previous route, which poses a danger to another following vehicle. In particular, the security risk for a

Traffic system, which includes the vehicle and several other vehicles, is determined.

According to a preferred development, the vehicle is a rail vehicle. Moving block train protection is carried out based on the detection of whether the previous route is clear and/or on the basis of the detection of the object.

This development is based on the knowledge that the method according to the invention is particularly suitable for train protection in a moving block in which a moving spatial distance to other vehicles is provided. For this type of operation, the route must be continuously reported as being available and current train control systems are not adequately set up for this. In contrast to this, the continuous track clearance notification in a moving block is only possible through the second detection device, which detects objects within the rear area.

According to a further preferred embodiment of the method according to the invention, the vehicle is a part vehicle of a plurality of part vehicles that can be coupled to one another mechanically and / or data-technically and which can together form a vehicle group. A further sub-vehicle of the vehicle group is recognized as an object and, based on the recognition, the further sub-vehicle is identified and/or it is determined whether the further sub-vehicle is coupled to the vehicle.

The identification of the further part of the vehicle is carried out, for example, on the basis of the external shape and/or labeling of the front (for example with a vehicle number) and/or on the basis of a signal emitted by the further vehicle, which can be recognized by the recognition device. In a preferred development, a train integrity test is carried out based on the determination of whether the further part of the vehicle is coupled to the vehicle.

In this way, a particularly clever solution for determining the train integrity of a vehicle group is created by recognizing another part of the vehicle as an object. The detection can be compared with a coupling signal and, for example, it can be determined whether the vehicle is coupled to the correct other vehicle. Alternatively or additionally, the distance between the vehicle and the other part of the vehicle can be determined based on the recognition of the object in order to determine or rule out a coupling.

Furthermore, the vehicle type (for example, model) can preferably be determined as an object property based on the recognition. This is desirable, for example, for operation in a mixed multiple traction in order to establish correct communication between vehicles of different types.

According to a further preferred embodiment of the method according to the invention, the second detection device is designed as an installable detection device with a communication unit for communication with the second detection device.

In this way, vehicles can be particularly easily equipped with a second detection device, for example by installing it temporarily.

Preferably, the second detection device can be installed in a detachable manner so that it can be reused and installed at another location on the vehicle or another vehicle. For example, a communication interface for communication with the second recognition device is created via the communication unit. This is used, for example, to transmit captured image data to the second recognition device. The transmission takes place, for example, wirelessly or via a train bus or via an Ethernet-based control network of the vehicle.

According to a preferred development, the second detection device comprises an energy generation device, which obtains energy to supply the detection device with energy from the movement of the vehicle during operation of the vehicle.

The energy generation device preferably obtains the energy through at least one wheel, which converts the kinetic energy of the vehicle into electrical energy.

Preferably, the detection device comprises an energy storage device, which stores the energy obtained by means of the energy production device and, if necessary, makes it available to supply energy to the second detection device.

The described method according to the invention is particularly useful and desirable for the operation of a vehicle fleet. For example, an evaluation device is provided on a land-based facility, which evaluates information provided by several vehicles in the fleet. The evaluation can be used to gain knowledge that is made available to one or more vehicles in the vehicle fleet. Alternatively or additionally, the vehicles in the vehicle fleet make their information available to other vehicles via direct communication. In other words: the vehicles share the information they have gained with each other. The object mentioned at the outset is also achieved by the computer program mentioned. The computer program comprises instructions which, when the program is executed by a computing device, cause the latter to carry out the method of the type described above. The invention also relates to a computer program product with a computer program of this type. The computing device is preferably at least in part a computing device of the vehicle and/or the land-based device.

The object mentioned at the outset is further achieved by the provision device for the computer program of the type described above, wherein the provision device stores and/or provides the computer program. The provision device is, for example, a storage unit that stores and/or provides the computer program. Alternatively and/or additionally, the provision device is, for example, a network service, a computer system, a server system, in particular a distributed, for example cloud-based computer system and/or virtual computer system, which stores and/or provides the computer program product preferably in the form of a data stream.

The provision takes place in the form of a program data block as a file, in particular as a download file, or as a data stream, in particular as a download data stream, of the computer program. This provision can also take place, for example, as a partial download consisting of several parts. Such a computer program is read into a system, for example, using the provision device, so that the method according to the invention is carried out on a computer.

The above-mentioned task is further solved by a device of the type mentioned at the outset. The device includes a second recognition device, which is set up to recognize at least one object that is located within the rear area based on the detected rear area. A vehicle device is set up to take into account object properties of the recognized object when operating the vehicle, a vehicle coupled to the vehicle and/or another vehicle.

The vehicle device can be the vehicle device mentioned above. Alternatively or additionally, the vehicle device can be a vehicle device of the vehicle coupled to the vehicle and/or a vehicle device of the other vehicle.

The invention further relates to a vehicle, preferably a track-bound vehicle, with a device of the type described above.

For advantages, embodiments and design details of the computer program according to the invention, the provision device according to the invention, the device according to the invention and the vehicle according to the invention, reference can be made to the above description of the corresponding method features of the method according to the invention.

Exemplary embodiments of the invention are explained with reference to the drawings. Show it :

Figure 1 a track-bound vehicle moving on a track,

Figure 2 shows an embodiment of a vehicle according to the invention,

Figure 3 shows a first application example for the method according to the invention,

4 shows a first exemplary embodiment of the method according to the invention,

5 shows a second application example for the method according to the invention, 6 shows a third application example for the method according to the invention,

7 shows two further exemplary embodiments of the vehicle according to the invention,

Figure 8 shows a further embodiment of the method according to the invention,

Figure 9 shows a further exemplary embodiment of the method according to the invention and

Figure 10 shows a further exemplary embodiment of the method according to the invention.

Figure 1 shows a track-bound vehicle 2, which moves in the direction of travel 4 on a route 6. A front area 8, which is an area ahead in the direction of travel 4, is detected by means of a detection device 10.

Figure 2 shows an embodiment of a vehicle 11 according to the invention, in particular a track-bound vehicle 12. The vehicle 11 can move in two directions 14, 15, namely in a direction of travel 14 and in a return direction 15 opposite to the direction of travel 14, along a route 6. The vehicle 11 has a first detection device 20 which is set up to detect a front area 18, which is an area lying ahead in the direction of travel 14 of the vehicle 11. The vehicle 11 also has a second detection device 22 which is set up to detect a rear area 19, which is an area lying behind in the direction of travel 14. The first and second detection devices 20, 22 are each designed as a camera device which, based on the detection, generates image data which represent the respective detected area 18 or 19.

A first detection device 24 is set up to recognize at least one object 30, which is located within the front area 18, based on the detected front area 18. The object 30 is recognized using the image data generated by the first detection device 20. A computer program is preferably executed by the recognition device 24, which represents a model that assigns object properties, for example an object class, to the image data. The model is created using an artificial neural network.

A vehicle device 26 is used to control the vehicle 11. The vehicle device 26 takes into account object properties of the recognized object 30 when the vehicle 11 is operating.

A second recognition device 28 is set up to recognize at least one object 32 which is located within the rear area 19, based on the detected rear area 19. The recognition of the object 32 takes place analogously to the recognition of the object 30 (for example by means of a model which is formed with the aid of an artificial neural network).

Figure 3 shows an application example for the method according to the invention, in which the vehicle 11 according to the invention can be used. Identical or functionally identical elements are provided with the same reference symbols as in relation to Figures 1 and 2. The vehicle 11 consists of several coupled cars 13 and moves in the direction of travel 14 along the route 6. A moving spatial distance from other vehicles is provided as a moving block. For this purpose, it is desirable to continuously determine whether the previous (or completed) route 7 is free. For this purpose, knowledge about the location of the end of the vehicle 302, about the integrity of the vehicle group formed by the vehicle 11 and the recognition of whether an object is on the previous route 7 is desirable.

Figure 4 shows an embodiment of the method according to the invention, in which an embodiment of the vehicle 11 according to the invention. Identical or functionally equivalent elements are provided with the same reference numerals as in relation to Figures 1-3.

The front area 18 is detected by the first detection device 20 and it is detected by the first detection device 24 that several objects 34 are located on the route 6. One of the objects 34 is, for example, a person. It is desirable to initiate a braking process immediately when the person on the route 6 is detected. The braking process can be triggered and/or controlled by the vehicle device 26. In other words: when the vehicle 11 is operated (namely when braking), the vehicle device 26 takes into account an object property according to which the object is a person.

The rear area 19 is detected by means of the second detection device 22 and it is recognized by the second detection device 28 that one or more objects 36 are located on the route 7 traveled and next to this route 7. One of the objects 36 is, for example, a door flap that has fallen from the vehicle 11. In the case shown, there is no track clearance notification and a warning message is sent to an operations control center. Due to the lack of track clearance notification, another vehicle that is intended to travel on the route 7 will not initially travel on it. In other words: The object property (door flap on the track) is taken into account when operating another vehicle.

Figure 5 shows a further application example for the method according to the invention, in which the vehicle 11 according to the invention can be used. Identical or functionally identical elements are provided with the same reference numerals as in relation to Figures 1-4. The vehicle 11 consists of several carriages 13, which are connected to one another are coupled. The vehicle 11 therefore forms a vehicle convoy. It is desirable to determine the integrity of the vehicle convoy. Questions arise such as: What components does vehicle 11 consist of? Are all components of vehicle 11 known? Is an unknown component attached to vehicle 11? Are the properties of all components of vehicle 11 and the overall properties of the vehicle convoy known? How well does the vehicle convoy brake? How long is the vehicle convoy? Where is the end of the vehicle convoy? Is the vehicle complete? Are all vehicle parts of the vehicle convoy still connected? Has a part come loose from the vehicle convoy?

Figure 6 shows a further application example for the method according to the invention, in which the vehicle 11 according to the invention can be used. Identical or functionally equivalent elements are provided with the same reference numerals as in relation to Figures 1-5. The vehicle 3 shown at the top in Figure 6 forms a vehicle group, the integrity of which is determined by means of a physical loop (the integrity is present if the loop has no interruption).

The vehicle 5 shown in the middle of Figure 6 is, for example, a goods transport vehicle with a locomotive and several wagons. In vehicles of this type, wiring with a physical loop analogous to the vehicle 3 is not practical. Therefore, a radio unit 603 or 605 is installed at the end 602 of the vehicle and at the front 604 of the vehicle in order to determine a distance between these radio units by measuring radio propagation times. It is desirable to know whether the correct radio units 603, 605 are actually communicating with each other or whether radio units from different vehicles are communicating instead. This problem also exists with the vehicle 9 shown below in Figure 6. Even if two radio units are installed on each of the wagons 13 of the vehicle 9 (one at the end of the vehicle and one at the front of the vehicle), it is not possible to determine whether the correct radio units are communicating with each other.

Figure 7 shows two exemplary embodiments of the vehicle according to the invention, which are set up to carry out an exemplary embodiment of the method according to the invention. The vehicle 711 forms a train consisting of several connectable units (Consists). Each unit has the first detection device 20 at one tip and the second detection device 22 at one end. The vehicle 712 forms a train set consisting of a locomotive and several cars.

A front area 18 is detected by means of the respective first detection device 20 at the front of the vehicle 701 of the vehicle 711 or 712. Using the respective first recognition device 24, objects 734 that are located within the front area 18 are recognized. The objects 734 in the application shown in FIG. 7 are landmarks.

A rear area 19 is detected by means of the respective second detection device 22 at the vehicle end 702 of the vehicle 711 or 712. Objects 736 located within the rear area are detected by means of the respective second detection device 28. The objects 736 are landmarks (in the application shown in Figure 7).

The location of the vehicle 711 or 712, in particular the location of the end of the vehicle 702, can be determined using the landmarks (location). For example, the location of the end of the vehicle 702 is determined using digital maps in which the locations of the recognized landmarks (objects 734, 736) are stored. Against this background, the problem described with reference to FIG. 6 is solved according to the invention by reducing the uncertainties in determining the train integrity by means of a comparison with the locating the vehicle 711 or . 712 to be eliminated.

Figure 8 shows a further exemplary embodiment of a method according to the invention, in which an exemplary embodiment of the device according to the invention is used. Identical or functionally equivalent elements are provided with the same reference numerals as in relation to Figures 1-7. In a method step A, a vehicle 111 moves in the direction of travel 14 towards the stationary vehicle 112. The vehicles 111 and 112 are intended for future coupling. The vehicle 111 detects the front area 18 using the first detection device 20 and detects the vehicle 112 using the first detection device 24. Based on the detection, information about the vehicle 112 can be retrieved from a database. In a method step B, the vehicles 111 and 112 are coupled. The vehicle 111 detects the vehicle 112 using the first detection device 24. The vehicle 112 detects the vehicle 111 using the second detection device 28.

The two vehicles 111 and 112 can each retrieve information about the coupled vehicle from a database. In this way, information from a train inauguration of a vehicle group formed by vehicles 111 and 112 can be confirmed via the respective recognition of the coupling partner. For example, information from an electronic train christening can be compared with the information obtained through recognition. In a method step C, the vehicle 112 moves away from the stationary vehicle 111 in the direction of travel 14. The vehicle 112 detects the rear area 19 using the second detection device 22 and detects the vehicle 111 and the increasing distance between the vehicles 111 and 112 using the second detection device 28. In this way, the separation of the vehicles, which has already been recognized, for example, by an electronic coupling signal, is confirmed by the object recognition after decoupling. In other words: The vehicle 111 shown in FIG. 8 is a sub-vehicle of a plurality of sub-vehicles 111, 112 that can be coupled to one another and can together form a vehicle group. The other sub-vehicle 112 of the vehicle group is recognized as the object. Based on the detection, the further sub-vehicle 112 is identified and it is determined whether the further sub-vehicle is coupled to the vehicle 111.

The method steps described show that the determination of train integrity is improved by the method according to the invention by combining information from different sources (electronic train inauguration, database content, object recognition).

Figure 9 shows a further exemplary embodiment of the method according to the invention, in which an exemplary embodiment of the device according to the invention is used. Identical or functionally identical elements are provided with the same reference numbers as in relation to Figures 1-8.

Figure 9 shows several vehicles 911, 912, 913 according to the invention that are parked.

A first application occurs when the vehicles 911, 912, 913 are parked at a large distance from one another in such a way that they do not recognize each other. In this case, the respective vehicle can determine its location and orientation based on the recognition of the detected objects 930.

A second application occurs when the vehicles 911, 912, 913 are parked at a smaller distance from one another in such a way that they can at least partially recognize each other. In this way, the respective vehicle can use the detection to determine which other vehicles it is standing next to and/or between. Management can use this knowledge to determine which vehicles are “parked” and in what order the vehicles can be moved. A third application is the location of a vehicle 911, 912 or 913 after it was moved to the switched off state (so-called cold movement detection). By detecting objects 930 in the surrounding area, the displaced vehicle can determine its location alone or in addition to a GPS signal.

Figure 10 shows a further embodiment of the method according to the invention, in which an embodiment of the device according to the invention is used. Identical or functionally identical elements are provided with the same reference numerals as in relation to Figures 1-9.

In a method step AA, the object 1030 is recognized within the front area 18 by means of the first recognition device 24 of the vehicle 1011. In a method step BB, after the vehicle has passed the object 1030, the object 1030 is recognized within the rear area 19 by means of the second recognition device 28 of the same vehicle 1011. In other words: The object 1030 is recognized within the rear area 19 at a time after it has already been recognized as an object within the front area 18. The object properties of the object 1030 recognized within the front region 18 and the object properties of the object 1030 recognized within the rear region 19 are brought together in a method step CG in order to determine combination properties of the object 1030. This combination is illustrated in FIG. 10 by a schematic representation of an enlargement through a magnifying glass 1031. The respective object property is, for example, a two-dimensional silhouette of the object 1030 (from the front and from the back). The combination property is, for example, a three-dimensional contour of the object 1030. This contour can be taken into account when operating a subsequent vehicle 1012 in a method step DD and for improved recognition of the object 1030 by the further Vehicle 1012 can be used. This is helpful, for example, if the other vehicle 1012 detects the object 1030 in a changed orientation. Although the invention has been illustrated and described in detail by the preferred exemplary embodiment, the invention is not limited by the disclosed examples and other variations can be derived by those skilled in the art without departing from the scope of the invention.

Claims

Patent claims

1. Method for operating a vehicle (11, 111, 711, 712, 1011) which is designed to move in two directions (14, 15) along a route (6), in which a front area (18), which is an area lying ahead in the direction of travel (14) of the vehicle (11, 111, 711, 712, 1011), is detected by means of a first detection device (20), at least one object (30, 34, 734) which is located within the front area (18) is detected on the basis of the detected front area (18) by means of a first detection device (24), object properties of the detected object (30, 34, 734) are determined by a vehicle device (26) during operation of the vehicle (11, 111, 711, 712, 1011) are taken into account, and a rear area (19), which is an area lying behind in the direction of travel (14) of the vehicle (11, 111, 711, 712, 1011), is detected by means of a second detection device (22), characterized in that at least one object (32, 36, 736) which is located within the rear area (19) is detected on the basis of the detected rear area (19) by means of a second detection device (28), and object properties of the detected object (30, 32, 34, 734, 36, 736) are taken into account during operation o of the vehicle (11, 111, 1011), o of a vehicle (112) coupled to the vehicle (111) and/or o of another vehicle (1012).

2. The method according to claim 1, wherein

- the object properties of the detected object (30, 32, 34, 36) and

- an object library, which includes object identification information and object type information, which is taken into account when operating the vehicle (11).

3. The method according to claim 2, in which a location of at least a part (702) of the vehicle (711, 712) is determined based on the object properties and the object library.

4. Method according to at least one of the preceding claims, in which

- the object (1030) located within the rear area (19) is detected at a time after it is detected as an object (1030) within the front area (18), and

- object properties of the object (1030) detected within the front area (18) and object properties of the same object (1030) detected within the rear area (19) are combined to determine combination properties of the object (1030).

5. Method according to at least one of the preceding claims, in which it is recognized on the basis of the detected rear area (19) by means of the second recognition device (28) whether a previous route (7) is clear.

6. Method according to at least one of the preceding claims, in which a safety risk for the operation of another vehicle is determined on the basis of the detection of the object (36) which is located within the rear area (19).

7. The method according to claim 5 and / or 6, in which the vehicle is a rail vehicle and

- based on the detection of whether the previous route (7) is free and/or

- Moving block train protection takes place based on the detection of the object (36).

8. The method according to at least one of the preceding claims, in which the vehicle (111) is a sub-vehicle of a plurality of sub-vehicles (111, 112) that can be coupled to one another mechanically and / or data-technically and which can together form a vehicle group, the object being a further sub-vehicle ( 112) of the vehicle association is recognized and based on the recognition

- the further sub-vehicle (112) is identified and/or

- it is determined whether the further sub-vehicle (112) is coupled to the vehicle (111).

9. The method according to claim 8, in which a train integrity check is carried out based on the determination of whether the further sub-vehicle (112) is coupled to the vehicle (111).

10. Method according to at least one of the preceding claims, wherein the second detection device (22) is designed as an installable detection device with a communication unit for communication with the second recognition device (28).

11. The method according to claim 10, in which the second detection device (22) comprises an energy generation device which recovers energy for supplying energy to the detection device (22) from the movement of the vehicle (11, 111, 711, 712, 1011) during operation of the vehicle .

12. Computer program, comprising commands which, when the program is executed by a computing device (38), cause it to carry out the method according to at least one of claims 1 to 11.

13. Provision device for the computer program

Claim 12, wherein the providing device stores and/or provides the computer program.

14. Device for operating a vehicle (11, 111, 711, 712, 1011), which is set up to move in two directions (14, 15) along a route (6), comprising: a first detection device (20), which is set up to detect a front area (18), which is an area ahead in the direction of travel (14) of the vehicle (11, 111, 711, 712, 1011), a first detection device (24), which is set up, at least one Object (30, 34, 734), which is located within the front area (18), can be recognized based on the detected front area (18), a vehicle device (26), which is set up, object properties of the recognized object (30, 34, 734 ) to be taken into account when operating the vehicle (11, 111, 711, 712, 1011), and a second detection device, which is set up to detect a rear area, which is an area lying back in the direction of travel of the vehicle, characterized by a second detection device (28), which is set up to recognize at least one object (32, 36, 736), which is located within the rear area (19), based on the detected rear area (19), and a vehicle device (26), which is set up, Object properties of the recognized object (30, 32, 34, 734, 36, 736) when operating o the vehicle (11, 111, 1011), o a vehicle (112) coupled to the vehicle (111) and/or o another Vehicle (1012) must be taken into account.

15. Vehicle (11), in particular track-bound vehicle (12), with a device according to claim 14.