EP0795454A1 - Procédé de détermination de position d'un véhicule guidé sur rails et dispositif de mise en oeuvre du procédé - Google Patents

Procédé de détermination de position d'un véhicule guidé sur rails et dispositif de mise en oeuvre du procédé Download PDF

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Publication number
EP0795454A1
EP0795454A1 EP97250069A EP97250069A EP0795454A1 EP 0795454 A1 EP0795454 A1 EP 0795454A1 EP 97250069 A EP97250069 A EP 97250069A EP 97250069 A EP97250069 A EP 97250069A EP 0795454 A1 EP0795454 A1 EP 0795454A1
Authority
EP
European Patent Office
Prior art keywords
route
current
route map
vehicle
location
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP97250069A
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German (de)
English (en)
Other versions
EP0795454B1 (fr
Inventor
Karl-Albrecht Klinge
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Siemens Corp
Original Assignee
Siemens AG
Siemens Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG, Siemens Corp filed Critical Siemens AG
Publication of EP0795454A1 publication Critical patent/EP0795454A1/fr
Application granted granted Critical
Publication of EP0795454B1 publication Critical patent/EP0795454B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/021—Measuring and recording of train speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0092—Memory means reproducing during the running of the vehicle or vehicle train, e.g. smart cards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0094—Recorders on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/026—Relative localisation, e.g. using odometer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L2205/00—Communication or navigation systems for railway traffic
    • B61L2205/04—Satellite based navigation systems, e.g. global positioning system [GPS]

Definitions

  • the invention relates to a method according to the preamble of claim 1 and to a device for performing this method.
  • the vehicles traveling on a route determine their respective travel location by correlating a current route image detected by them with a reference route map for which route positions are stored in a route atlas.
  • the route image should consist of a radar, infrared or video image of the route.
  • the reference map with which the current route map is to be correlated was recorded when the vehicle or a vehicle of the same vehicle type was traveling earlier in the same way as the current route map and was stored together with the route kilometrage in a memory.
  • the route map for a specific driving location is subject to at least seasonal and weather-related changes, i.e. the route panorama in winter differs greatly from the corresponding summer panorama, especially after snowfall, and the greening of bushes and trees in spring and summer results in a different result Panorama of defoliated or partly defoliated bushes and trees in autumn and winter.
  • construction activities along the route change the route panorama and make vehicle location more difficult.
  • a device for self-locating a track-guided object on a route which is provided with a line conductor crossed at regular intervals for wireless information transmission from the route to the train.
  • Vehicle-side reception coils detect the phase position of the reception voltages in the line conductor section in use and evaluate them. By counting the number of line conductor crossing points, the vehicle can determine where it is on the route; for the fine location within the individual line sections, additional, z. B. controlled by a non-driven vehicle shaft, measuring devices required.
  • This known device for self-locating a track-guided object absolutely requires the line conductor laid in the track and is therefore quite complex.
  • a device for measuring the distance and speed of rail-bound vehicles in which a vehicle-side radar device has a radar antenna directed obliquely to the ground in the direction of travel, which illuminates a narrow area between the tracks.
  • the signal reflected on the track bed is received on the vehicle and evaluated with respect to the Doppler shift containing the information about the instantaneous speed of the vehicle.
  • the travel distance and thus the respective travel location can also be calculated on the vehicle from the driving speed, but only as long as the radar transmission signals from gravel or other reflective materials in the track bed are reflected back to a sufficient extent. This is not the case with snow and ice, so that the locating device then fails or at least works unreliably.
  • EP 0 561 705 A1 From EP 0 561 705 A1 a method and a device for self-locating track-guided vehicles are known, which are based on the correlation of certain route parameters, preferably also the curvature of the track. The location of rail current closers is to be assessed as a further location parameter. A continuous sensitive localization of vehicles on the free route is not possible with the means of EP 0 561 705 A1.
  • the object of the invention is to provide a method according to the preamble of claim 1 and a device for carrying out the method, the or the everywhere on the route a sufficiently accurate localization Permits vehicles and does this without additional equipment on the track side such as line conductors and local beacons.
  • the invention solves this problem by the characterizing features of claim 1 and claim 3.
  • FIG. 1 shows the frequency spectrum of an acceleration signal that is generated by a vehicle-side sensor when it passes a certain route point.
  • This location-specific sensor signal has different amplitudes A at different frequencies f.
  • the low-frequency accelerations say something about the macroscopic track topology (curve radii, track bedding), the higher-frequency shock accelerations say something about microscopic bumps in the track.
  • the acceleration sensor which provides this vibration profile for the track, must be extremely robust in order to be able to withstand the extreme environmental conditions and the accelerations that occur. It should be attached to the vehicle as unsprung as possible and then detects, for example, the accelerations that occur in the vertical direction. Additional sensors can be used for Detection of accelerations that occur, in particular, in the horizontal direction transversely to the direction of travel can be provided, which likewise deliver a location-specific multi-frequency acceleration signal for each driving location.
  • FIG. 2 shows the multi-frequency acceleration values detected by a vehicle-side acceleration sensor when passing successive driving locations S0 to S10.
  • the individual curves have a certain similarity to one another; in fact, they differ markedly from one another depending on the location.
  • the invention is based on the presence and on the reproducibility of the location-selective frequency spectra of the acceleration signals in such a way that it compares the acceleration signals detected by a vehicle sensor during a current journey with the acceleration signals determined during a previous journey, for which a clear assignment from a route atlas given absolute or relative locations.
  • An acceleration sensor S records the vibration profile of this route each time it travels a route and feeds it to one of two memories, where it is stored in digital form.
  • the route profile was stored in the form of location-specific frequency spectra in a so-called reference memory RS.
  • corresponding acceleration signals are fed via the now changed switching contact U to a track memory SS and are stored there in the same way as the corresponding acceleration signals in the reference memory RS.
  • the signals supplied by the sensor are not advantageous saved directly, but compressed beforehand in order to keep the storage volume within limits.
  • For the location-specific acceleration signals stored in the reference memory there is an assignment to travel location information stored in a route atlas SA.
  • the respective current travel location can be clearly determined on the vehicle.
  • the correlation process is symbolized in FIG. 3 by a comparator VGL. If the acceleration signals supplied to the track memory and the reference memory are compressed before they are stored, the data must be decompressed again before the correlation process. The accuracy of the locating process depends on the number of acceleration curves stored per route unit and included in the correlation process, as well as on their resolution.
  • the values of the reference memory included in the comparison process can be replaced by the current correlation values of the distance memory. In this way, the location results are made independent of possible long-term changes in the location-dependent acceleration spectra.
  • a speed sensor V in particular a radar device which is present anyway for speed measurement and whose output signal adapts the readout speed of the current acceleration spectra from the track memory to the readout speed of the acceleration spectra stored in the reference memory.
  • the respective travel location is determined by accessing the data of the route atlas SA and made available as the location result OB.
  • the recognition of the location result determined in each case can be made dependent on the fact that the respective location result harmonizes with previously determined location results, i. H. that there are no jumps in route kilometrage. Whether the previously determined travel location information was also determined from the correlation of acceleration spectra or by another location system, such as. B. a wheel pulse generator or a GPS satellite navigation system is irrelevant.
  • the location-dependent acceleration spectra of all travel locations on a route can be stored in the reference memory or just the acceleration spectra valid for selected route points or route areas. These route areas are then preferably those in which satellite navigation cannot be used. This is the case in tunnels and train stations.
  • the security of the location results depends on the length and resolution of the correlation area involved in the location process.
  • the sensor signals can be correlated independently of one another or as a mixed signal.
  • the acceleration spectra stored in the reference memory only apply to the vehicle that determined them. In practice, it will be sufficient to use the data stored there for correlation with the data currently determined by all vehicles of the same type.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Navigation (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Replacement Of Web Rolls (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)
EP97250069A 1996-03-14 1997-03-12 Procédé de détermination de position d'un véhicule guidé sur rails et dispositif de mise en oeuvre du procédé Expired - Lifetime EP0795454B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19611775 1996-03-14
DE19611775A DE19611775A1 (de) 1996-03-14 1996-03-14 Verfahren zur Eigenortung eines spurgeführten Fahrzeugs und Einrichtung zur Durchführung des Verfahrens

Publications (2)

Publication Number Publication Date
EP0795454A1 true EP0795454A1 (fr) 1997-09-17
EP0795454B1 EP0795454B1 (fr) 1999-07-28

Family

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EP97250069A Expired - Lifetime EP0795454B1 (fr) 1996-03-14 1997-03-12 Procédé de détermination de position d'un véhicule guidé sur rails et dispositif de mise en oeuvre du procédé

Country Status (4)

Country Link
EP (1) EP0795454B1 (fr)
AT (1) ATE182535T1 (fr)
DE (2) DE19611775A1 (fr)
ES (1) ES2135968T3 (fr)

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0947411A1 (fr) * 1998-04-02 1999-10-06 Sagem Sa Odomètre
DE10020520A1 (de) * 2000-04-19 2001-10-31 Deutsche Bahn Ag Verfahren und Vorrichtung zum Überwachen von Fahreigenschaften eines Schienenfahrzeuges
EP1172276A1 (fr) * 2000-07-15 2002-01-16 Robert Bosch Gmbh Dispositif de présentation d'informations dépendant de la position dans un véhicule ferroviaire
EP1211152A1 (fr) * 2000-12-04 2002-06-05 Alstom Procédé et dispositif de localisation d'un véhicule sur une voie
WO2010063547A1 (fr) * 2008-12-01 2010-06-10 Siemens Aktiengesellschaft Procédé et dispositif de détermination de la position pour véhicules ferroviaires
WO2011018416A2 (fr) 2009-08-14 2011-02-17 Knorr-Bremse Systeme für Schienenfahrzeuge GmbH Procédé et dispositif électronique pour surveiller l'état de composants dans des véhicules ferroviaires
US8126934B2 (en) 2009-03-12 2012-02-28 Lockheed Martin Corporation Updating track databases after track maintenance
US8244456B2 (en) 2009-03-12 2012-08-14 Lockheed Martin Corporation Validation of track databases
US8260548B2 (en) * 2000-05-18 2012-09-04 Csr Technology Inc. Satellite based positioning method and system for coarse location positioning
US8392103B2 (en) 2009-03-12 2013-03-05 Lockheed Martin Corporation Database for efficient storage of track geometry and feature locations
US20150019116A1 (en) * 2012-01-12 2015-01-15 Honda Motor Co., Ltd. Synchronized driving assist apparatus and synchronized driving assist system
CN105346568A (zh) * 2015-12-07 2016-02-24 河南思维信息技术有限公司 一种通过gps经纬度定位主线支线的方法
GB2562414A (en) * 2018-07-26 2018-11-14 Innovarail Ltd Determining position of a vehicle on a rail
CN114559898A (zh) * 2022-02-08 2022-05-31 深圳市有方科技股份有限公司 车辆及其座椅组件、坐垫和后排安全带未系提醒方法

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19924497C2 (de) * 1998-06-18 2002-03-28 Karl Albrecht Klinge Verfahren zur Konsistenzprüfung von Informationen über Linienführungen
DE10128761A1 (de) * 2001-06-07 2002-12-12 Siemens Ag Vorrichtung zur Auswertung von Verkehrsdaten
DE10233527B4 (de) * 2002-07-23 2004-07-22 Db Reise & Touristik Ag Verfahren zur Onboard Diagnose von Radsatzführungselementen
DE102014212629A1 (de) 2014-06-30 2015-12-31 Siemens Aktiengesellschaft Verfahren zum Betreiben eines Schienenfahrzeugs
EP3431362B1 (fr) 2017-06-30 2025-05-28 Deutsches Zentrum für Luft- und Raumfahrt e.V. Procédé de détection sans infrastructure d'un passage sur un tronçon de voie d'un véhicule ferroviaire

Citations (6)

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Publication number Priority date Publication date Assignee Title
DE3143234A1 (de) * 1981-10-31 1983-05-11 Teldix Gmbh, 6900 Heidelberg Navigationsverfahren
WO1989012234A1 (fr) * 1988-06-03 1989-12-14 Durand Charles Rene Procede et dispositif de tachymetrie et localisation des materiels roulants de chemin de fer
EP0561705A1 (fr) * 1992-03-20 1993-09-22 Societe Nationale Des Chemins De Fer Francais Procédé et dispositif de localisation d'un véhicule sur une voie et application à l'analyse et à l'expertise de la géométrie d'une voie ferrée
EP0605848A1 (fr) * 1992-12-28 1994-07-13 UNION SWITCH & SIGNAL Inc. Système de commande de trafic utilisant un appareil de mesure d'informations de véhicule embarque
DE19505487A1 (de) * 1994-03-09 1995-09-14 Mannesmann Ag Einrichtung in einem Fahrzeug zur Bestimmung der aktuellen Fahrzeugposition
DE19529986A1 (de) * 1995-08-04 1997-02-06 Siemens Ag Verfahren zur Ortung spurgeführter Fahrzeuge und Einrichtungen zur Durchführung des Verfahrens

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3143234A1 (de) * 1981-10-31 1983-05-11 Teldix Gmbh, 6900 Heidelberg Navigationsverfahren
WO1989012234A1 (fr) * 1988-06-03 1989-12-14 Durand Charles Rene Procede et dispositif de tachymetrie et localisation des materiels roulants de chemin de fer
EP0561705A1 (fr) * 1992-03-20 1993-09-22 Societe Nationale Des Chemins De Fer Francais Procédé et dispositif de localisation d'un véhicule sur une voie et application à l'analyse et à l'expertise de la géométrie d'une voie ferrée
EP0605848A1 (fr) * 1992-12-28 1994-07-13 UNION SWITCH & SIGNAL Inc. Système de commande de trafic utilisant un appareil de mesure d'informations de véhicule embarque
DE19505487A1 (de) * 1994-03-09 1995-09-14 Mannesmann Ag Einrichtung in einem Fahrzeug zur Bestimmung der aktuellen Fahrzeugposition
DE19529986A1 (de) * 1995-08-04 1997-02-06 Siemens Ag Verfahren zur Ortung spurgeführter Fahrzeuge und Einrichtungen zur Durchführung des Verfahrens

Cited By (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0947411A1 (fr) * 1998-04-02 1999-10-06 Sagem Sa Odomètre
FR2777078A1 (fr) * 1998-04-02 1999-10-08 Sagem Odometre pour vehicule tel que vehicule ferroviaire et dispositif de localisation de vehicule, comportant l'odometre
DE10020520A1 (de) * 2000-04-19 2001-10-31 Deutsche Bahn Ag Verfahren und Vorrichtung zum Überwachen von Fahreigenschaften eines Schienenfahrzeuges
DE10020520B4 (de) * 2000-04-19 2004-02-12 Db Reise & Touristik Ag Verfahren und Vorrichtung zum Überwachen von Fahreigenschaften eines Schienenfahrzeuges
US8260548B2 (en) * 2000-05-18 2012-09-04 Csr Technology Inc. Satellite based positioning method and system for coarse location positioning
EP1172276A1 (fr) * 2000-07-15 2002-01-16 Robert Bosch Gmbh Dispositif de présentation d'informations dépendant de la position dans un véhicule ferroviaire
EP1211152A1 (fr) * 2000-12-04 2002-06-05 Alstom Procédé et dispositif de localisation d'un véhicule sur une voie
FR2817527A1 (fr) * 2000-12-04 2002-06-07 Alstom Procede et dispositif de localisation d'un vehicule sur une voie
US6498969B2 (en) 2000-12-04 2002-12-24 Alstom Method and a system for locating a vehicle on a track
WO2010063547A1 (fr) * 2008-12-01 2010-06-10 Siemens Aktiengesellschaft Procédé et dispositif de détermination de la position pour véhicules ferroviaires
US8126934B2 (en) 2009-03-12 2012-02-28 Lockheed Martin Corporation Updating track databases after track maintenance
US8244456B2 (en) 2009-03-12 2012-08-14 Lockheed Martin Corporation Validation of track databases
US8392103B2 (en) 2009-03-12 2013-03-05 Lockheed Martin Corporation Database for efficient storage of track geometry and feature locations
RU2542784C2 (ru) * 2009-08-14 2015-02-27 Кнорр-Бремзе Зюстеме Фюр Шиненфарцойге Гмбх Способ и электронное устройство для контроля состояния деталей рельсовых транспортных средств
DE102009037637A1 (de) * 2009-08-14 2011-02-24 Knorr-Bremse Systeme für Schienenfahrzeuge GmbH Verfahren und elektronische Einrichtung zur Zustandsüberwachung von Bauteilen bei Schienenfahrzeugen
CN102574536A (zh) * 2009-08-14 2012-07-11 克诺尔-布里姆斯轨道车辆系统有限公司 用于在轨道车辆中监测部件状态的方法和电子装置
WO2011018416A2 (fr) 2009-08-14 2011-02-17 Knorr-Bremse Systeme für Schienenfahrzeuge GmbH Procédé et dispositif électronique pour surveiller l'état de composants dans des véhicules ferroviaires
US8649921B2 (en) 2009-08-14 2014-02-11 Knorr-Bremse Systeme Fur Schienenfahrzeuge Gmbh Method and electronic device for monitoring the state of components of railway vehicles
CN102574536B (zh) * 2009-08-14 2014-12-10 克诺尔-布里姆斯轨道车辆系统有限公司 用于在轨道车辆中监测部件状态的方法和电子装置
WO2011018416A3 (fr) * 2009-08-14 2011-04-14 Knorr-Bremse Systeme für Schienenfahrzeuge GmbH Procédé et dispositif électronique pour surveiller l'état de composants dans des véhicules ferroviaires
US20150019116A1 (en) * 2012-01-12 2015-01-15 Honda Motor Co., Ltd. Synchronized driving assist apparatus and synchronized driving assist system
US9564053B2 (en) * 2012-01-12 2017-02-07 Honda Motor Co., Ltd. Synchronized driving assist apparatus and synchronized driving assist system
CN105346568A (zh) * 2015-12-07 2016-02-24 河南思维信息技术有限公司 一种通过gps经纬度定位主线支线的方法
GB2562414A (en) * 2018-07-26 2018-11-14 Innovarail Ltd Determining position of a vehicle on a rail
WO2020021282A1 (fr) * 2018-07-26 2020-01-30 Innovarail Limited Détermination de la position d'un véhicule sur un rail
GB2562414B (en) * 2018-07-26 2020-12-09 Innovarail Ltd Determining position of a vehicle on a rail
CN114559898A (zh) * 2022-02-08 2022-05-31 深圳市有方科技股份有限公司 车辆及其座椅组件、坐垫和后排安全带未系提醒方法

Also Published As

Publication number Publication date
DE19611775A1 (de) 1997-09-18
ES2135968T3 (es) 1999-11-01
EP0795454B1 (fr) 1999-07-28
ATE182535T1 (de) 1999-08-15
DE59700274D1 (de) 1999-09-02

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