EP3577006B1 - Dispositif pour la détermination d'au moins une valeur de mesure liée à un lieu et/ou à au moins une grandeur de mouvement d'un véhicule guidé ainsi que procédé pour faire fonctionner un tel dispositif - Google Patents

Dispositif pour la détermination d'au moins une valeur de mesure liée à un lieu et/ou à au moins une grandeur de mouvement d'un véhicule guidé ainsi que procédé pour faire fonctionner un tel dispositif Download PDF

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Publication number
EP3577006B1
EP3577006B1 EP18710383.3A EP18710383A EP3577006B1 EP 3577006 B1 EP3577006 B1 EP 3577006B1 EP 18710383 A EP18710383 A EP 18710383A EP 3577006 B1 EP3577006 B1 EP 3577006B1
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EP
European Patent Office
Prior art keywords
integrity level
specified
safety integrity
track
confidence interval
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.)
Active
Application number
EP18710383.3A
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German (de)
English (en)
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EP3577006A1 (fr
Inventor
Bernhard PÖSEL
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Siemens Mobility GmbH
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Siemens Mobility GmbH
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Publication date
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Publication of EP3577006A1 publication Critical patent/EP3577006A1/fr
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Publication of EP3577006B1 publication Critical patent/EP3577006B1/fr
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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
    • 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

Definitions

  • the present invention relates to a device for determining at least one measured value related to a location and / or at least one movement variable of a track-bound vehicle.
  • Modern train protection or train control systems require precise information in relation to the current location and / or in relation to current movement variables of the respective track-bound vehicle, for example in the form of information on a distance covered by the vehicle and a current speed.
  • Different diverse sensors are usually used to determine and provide this information.
  • Corresponding sensors can, for example, be position pulse generators, acceleration sensors, radar systems, balise systems or even satellite-supported sensors or location systems, for example based on GPS (Global Positioning System).
  • GPS Global Positioning System
  • the situation can arise that the performance of a train protection system, which the corresponding measured values for control or protection of the respective track-bound vehicle is used, due to the uncertainty expressed by the confidence interval in relation to the respective measured value is limited.
  • this can mean that a reduction in the speed of the respective lane-bound vehicle (or also other lane-bound vehicles traveling in the system) is necessary or increased safety distances must be observed in front of danger points.
  • the document DE 10 2005 046456 A describes a method for determining the location and / or a movement quantity of moving objects, in particular of moving track-bound vehicles, with at least one preprocessing computer being provided.
  • at least three sensors are used that determine sensor data and transfer it to processes in preprocessing computers.
  • Each process calculates a difference factor from the sensor data from two sensors.
  • the processes exchange the difference factors with one another and the sensor quality for each sensor is determined.
  • security integrity level 4 represents the highest and security integrity level 1 the lowest level of security integrity.
  • the respective security integrity level influences the confidence interval of a measured value to the effect that the confidence interval is particularly large in the event that the respective Device to meet or provide a high security integrity level. This results in restrictions due to comparatively imprecise measured values and the comparatively large confidence interval associated therewith, in particular for systems that meet the highest safety integrity level SIL4 or SIL3.
  • a device of the type mentioned is, for example, from the German patent application DE 10 2005 046 456 A1 known. This describes a device in which sensor data from several sensors are combined and the location or the respective movement size of the lane-bound vehicle is determined taking into account the respective sensor quality.
  • the present invention is based on the object of specifying a device for determining at least one measured value related to a location and / or at least one movement variable of a track-bound vehicle, which can be used flexibly and at the same time reduces operational restrictions due to inaccurate measured values and the associated large confidence intervals.
  • this object is achieved for a device for determining at least one measured value related to a location and / or at least one movement variable of a track-bound vehicle in that the device is designed in such a way that a safety integrity level can be specified for it, and the device for the measured value or, for at least one of the measured values, a confidence interval dependent on the respective predetermined security integrity level is determined.
  • the at least one movement variable can in particular be a distance covered by the track-bound vehicle, a speed of the track-bound vehicle and / or an acceleration of the track-bound vehicle.
  • the at least one measured value can be the direct result of a measurement or also a value derived or determined from one or more corresponding measurements.
  • the device according to the invention is designed in such a way that a security integrity level can be specified for it.
  • the device according to the invention unlike previously known corresponding devices, can apply or base different security integrity levels when determining measured values of the location and / or the at least one movement variable of the track-bound vehicle.
  • the security integrity level is not fixed, but can be specified flexibly.
  • the device determines a corresponding confidence interval for the respective measured value. In the event that the device is given a lower security integrity level, a smaller confidence interval is determined by it than in the event that it is given a higher security integrity level.
  • the device according to the invention has the advantage that it is not restricted to a security integrity level. Instead, the same device can be used to implement different security integrity levels. To avoid misunderstandings, it should be pointed out at this point that a security integrity level specified for the device will generally only have an effect on the determination of the respective confidence interval.
  • a device which is intended to meet the highest safety integrity level SIL4 for example, is to be designed in terms of hardware and, if necessary, software, in principle, in such a way that this safety integrity level is or can be achieved.
  • This can include, for example, the use of a computer that is secure in terms of signaling technology and the development of the software in accordance with the applicable regulations.
  • the device according to the invention can therefore in principle, for example, be SIL4-compatible, it is precisely characterized by the fact that it is capable of the measured variables it provides is to determine the confidence intervals of the measured values according to different security integrity levels.
  • the size of the respective confidence interval depends in particular on the confidence level on which the respective security integrity level is based. For example, a confidence interval with a confidence level of 95% is significantly smaller than in the case of a confidence level of 99.9999%.
  • the device according to the invention will be arranged on the vehicle side or be provided for use on the vehicle side.
  • the device can optionally also include trackside components. This means in particular that the determination of the confidence interval, which is dependent on the respective predetermined safety integrity level, can in principle take place both on the vehicle side and on the track side.
  • the device according to the invention is preferably designed to be secure in terms of signaling. This means that appropriate measures - known to those skilled in the field of railway signaling technology - ensure that the device meets the particularly high safety requirements of railway operations according to the relevant regulations of the respective licensing authority. A correspondingly signal-technically secure design will generally be appropriate or necessary, particularly with regard to the specification of the security integrity level and the determination of the confidence interval that is dependent on the respective specified security integrity level.
  • the device according to the invention is designed in such a way that the security integrity level can be specified for it in terms of hardware and / or software.
  • a hardware specification of the security integrity level can take place here, for example, by means of a corresponding hardware coding of the device, which is preferably implemented safely in terms of signal technology.
  • the safety integrity level of the device can also be specified in software, for example in the form of project planning that is preferably designed to be safe in terms of signal technology.
  • the device according to the invention can preferably also be developed in such a way that the safety integrity level of the device can be specified by a corresponding configuration, parameterization or setting.
  • a specification of the safety integrity level of the device by means of a corresponding configuration, parameterization or setting is advantageous in that this allows the respectively desired or required safety integrity level to be set in a particularly simple and flexible manner.
  • the configuration, parameterization or setting can advantageously take place in particular on the basis of software. This can be done, for example, by means of a corresponding configuration parameter, depending on the value of which the device uses or applies different security integrity levels.
  • the security integrity level of the device can also be predetermined by a control device connected to the device for communication purposes.
  • a control device connected to the device for communication purposes.
  • the control device in question can itself select or define the respective safety integrity level.
  • the communication-related connection is preferably also designed to be secure in terms of signaling.
  • the device according to the invention can preferably also be designed in such a way that the security integrity level the device can be specified dynamically while the device is in operation. This is advantageous because a dynamic specification of the security integrity level enables flexible switching between different security integrity levels while the device is in operation. In this way, there is in particular the possibility of specifying the security integrity level dynamically adapted to the operation and the operational restrictions associated therewith.
  • the safety integrity level of the device can be specified as a function of the application and / or as a function of the situation. This advantageously makes it possible, for example, for applications or functions that have high security requirements to calculate or work with a conservative, ie large, confidence interval.
  • a corresponding function can, for example, be a hazard point protection with a safety integrity level or safety requirement level SIL4.
  • applications or functions for which a lower security integrity level is sufficient ie for example a passenger change or a passenger evacuation, can work with a smaller confidence interval and thus achieve an improved accuracy adapted to the respective security integrity level.
  • the respective safety integrity level of the device can also be specified as a function of the respective situation, ie as a function of the respective specific operational conditions.
  • the device according to the invention can preferably also be developed to output the at least one measured value and the confidence interval determined for this to a control device of a train control system. This advantageously makes it possible for the said variables to be used by the control device of the train control system when controlling or securing the track-bound vehicle.
  • the invention further comprises a train control system with at least one device according to the invention or at least one device according to one of the preferred developments of the device according to the invention described above.
  • the present invention further relates to a method for operating a device for determining at least one measured value related to a location and / or at least one movement variable of a track-bound vehicle.
  • the present invention is based on the object of specifying a method for operating a device for determining at least one measured value related to a location and / or at least one movement variable of a track-bound vehicle, which can be used particularly flexibly and at the same time has operational restrictions due to inaccurate measured values and associated large confidence intervals are reduced.
  • This object is achieved according to the invention by a method for operating a device for determining at least one measured value related to a location and / or at least one movement variable of a track-bound vehicle, the device being given a safety integrity level and the device being assigned to the measured value or at least one of the measured values one of the respective specified security integrity level dependent confidence interval is determined.
  • the security integrity level is specified for the device in terms of hardware and / or software.
  • the method according to the invention can advantageously also be designed in such a way that the safety integrity level of the device is specified by a corresponding configuration, parameterization or setting.
  • the security integrity level of the device is specified by a control device connected to the device in terms of communication technology.
  • the method according to the invention can also be developed in such a way that the safety integrity level of the device is specified dynamically while the device is in operation.
  • the safety integrity level of the device is specified as a function of the application and / or as a function of the situation.
  • the method according to the invention can preferably also be developed in such a way that the at least one measured value and the confidence interval determined for this are output by the device to a control device of a train control system.
  • a track-bound vehicle 10 in the form of a rail vehicle can be seen in the figure.
  • the track-bound vehicle 10 could also be, for example, a track-guided vehicle with rubber tires or a magnetic levitation train.
  • the track-bound vehicle 10 moves along a track or a route 100.
  • precise information is required, in particular with regard to the respective location and the current speed of the track-bound vehicle 10.
  • the location can for example be specified absolutely or as a distance or distance covered relative to a reference point.
  • the acceleration of the lane-bound vehicle can also be recorded or determined as a movement variable and used for controlling the lane-bound vehicle 10.
  • the track-bound vehicle 10 has a device 20 which can also be referred to as an odometry device.
  • the device 20 comprises a computer or odometer 30, which is designed to be secure in terms of signaling.
  • a first sensor 40 is connected to the computer 30 in terms of communication technology and is, for example, a Distance pulse generator or a radar device can act.
  • the computer 30 is also connected in terms of communication technology to a second sensor 50, which can be used, for example, for satellite-supported position determination, for example using GPS, and is connected to an antenna 60 for this purpose.
  • the device 20 could also include any other sensors known per se.
  • the computer 30 of the device 20 is also connected to a memory device 70.
  • control software i.e. for example control software
  • an electronic route atlas i.e. for example route atlas and / or configuration parameters.
  • the figure only shows a schematic representation. This means that further components known per se are not shown for reasons of clarity and the device 20 can also be constructed differently.
  • the storage device 70 can alternatively consist of a plurality of separate storage devices.
  • the computer 30 and the memory device 70 can of course also be designed as a common component.
  • the computer 30 of the device 20 is also connected to a control device 80 of a train control or train protection system.
  • the corresponding train control system can be any system used for local or long-distance traffic.
  • the control device 80 can be a computer or a vehicle device of the European train control system ETCS (European Train Control System) or a vehicle device of a communication-based train control system (Communications-Based Train Control, CBTC) used in local traffic.
  • ETCS European Train Control System
  • CBTC Communication-Based Train Control
  • the device 20 or, in the illustrated embodiment, the computer 30 of the same provides the control device 80 with measured values that relate to a location and / or at least one movement variable of the track-bound vehicle 20.
  • the control computer 80 possibly in interaction with other vehicle-side and / or track-side components, controls and secures the track-bound vehicle 10.
  • the safety integrity level or the safety requirement level of the train control system ie for example SIL4 to ensure or guarantee also in the event that the measured values or data provided by the device 20 have a comparatively great inaccuracy.
  • the measured values each have an accuracy or inaccuracy specification in the form of a confidence interval.
  • the confidence interval indicates the precision of the position estimation of the respective measured variable, with a confidence level being used as a basis.
  • the confidence interval is increased accordingly, with the result that the performance of the train control system can be restricted. This applies in particular with regard to a possible reduction in the speed of the track-bound vehicle 10 or the application of increased safety distances from danger points.
  • corresponding odometry devices In the case of known devices in the form of corresponding odometry devices, the relationship between the security integrity level and the respective confidence interval of certain measured values cannot be changed in relation to one defined security integrity level.
  • This fixed safety integrity level is often or usually the highest safety integrity level SIL4.
  • corresponding odometry devices are designed in such a way that, even in the case of sensor inaccuracies, the fixed, predetermined safety integrity level is maintained by adapting the confidence interval, which is also referred to as the “confidence interval”.
  • the respective device is thus developed specifically for the respective safety integrity level, so that the device is specific for this safety integrity level, ie for example SIL2 or SIL4.
  • the device 20 is now characterized in that a security integrity level can be specified for it.
  • the corresponding specification of the security integrity level can be made in terms of hardware or software, in particular by means of a corresponding configuration, parameterization or setting.
  • the respective security integrity level can be specified by a configuration parameter stored in the memory device 70, with a corresponding specification being able to be made, for example, by a corresponding signal-technically secure input or selection on a screen.
  • the security integrity level of the device 20 it is also possible for the security integrity level of the device 20 to be specified or selected by the control device 80 connected to the device 20 for communication purposes.
  • a corresponding specification can be made either statically, that is to say, for example, once before the start of operation of the device 20, or dynamically while the device 20 and the track-bound vehicle 10 are in operation.
  • the safety integrity level of the device 20 can be specified by the control device 80 as a function of the respective application and / or the respective situation.
  • the device 20 is designed such that it has at least one dependent on the respective specified safety integrity level for the measured value or at least one of the measured values Confidence interval determined.
  • a corresponding confidence interval is preferably determined for each of the measured values.
  • the device 20 is thus able to work with a plurality of different security integrity levels and to determine confidence intervals for the determined measured values which depend on the respective predetermined security integrity level.
  • the safety integrity level can therefore be scaled in such a way that with a high safety integrity level, e.g. SIL4, a very conservative confidence interval is set, which expresses a comparatively high level of inaccuracy and leads to comparatively large operational restrictions, while with a lower safety integrity level, e.g. SIL2, a smaller confidence interval is determined.
  • the device 20 or the computer 30 thereof is designed to transmit the at least one measured value and the at least one confidence interval determined for the measured value or for at least one of the measured values to the control device 80 of the train control system.
  • This enables the control device 80 of the train control system to take into account the location and / or the respective movement quantity of the track-bound vehicle 10 when controlling the track-bound vehicle 20.
  • the flexible specification of the respective safety integrity level allows flexible modeling of odometry-dependent functions in train control systems. This means that functions with a high security requirement level, ie for example a danger point protection, count on a conservative (large) confidence interval can, while functions with lower safety requirement levels, ie for example a passenger change or an evacuation, can count on a smaller or minimized confidence interval. In the latter case, operational restrictions are reduced or minimized due to a high confidence interval.
  • the device 20 thus realizes an odometry architecture which is flexible or scalable with regard to the respectively determined confidence interval. This makes it possible in particular to optimize or adapt odometry-dependent functions in train protection systems specifically for the respective safety integrity level.
  • a passenger change classified according to SIL2 can be treated with a small confidence interval. This makes it possible to reliably switch passengers, since the so-called "stopping window” is hit robustly.
  • a safety integrity level of SIL4 a larger confidence interval would be required, which can limit the reliable hit of the "stopping window”.
  • the device according to the invention and the method according to the invention ultimately enable a balance between the respective security requirements (defined by the respective security integrity level) and the respective confidence interval of the measured values provided (or the associated confidence level, i.e. ultimately the underlying or required accuracy).

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Claims (15)

  1. Installation (20) de détermination d'au moins une valeur de mesure se rapportant à un lieu et/ou à une grandeur de déplacement d'un véhicule (10) guidé sur rail,
    caractérisée en ce que
    - l'installation (20) est constituée de manière à pouvoir lui prescrire un niveau d'intégrité de sécurité, et
    - l'installation (20) détermine, par rapport à la valeur de mesure ou par rapport à au moins l'une des valeurs de mesure, un intervalle de confiance, qui dépend du niveau d'intégrité de sécurité prescrit respectivement.
  2. Installation (20) suivant la revendication 1,
    caractérisée en ce que
    l'installation (20) est constituée de manière à pouvoir lui prescrire, par matériel et/ou par logiciel, le niveau d'intégrité de sécurité.
  3. Installation (20) suivant la revendication 1 ou 2,
    caractérisée en ce que
    le niveau d'intégrité de sécurité de l'installation (20) peut être prescrit par une configuration, un paramétrage ou un réglage adéquat.
  4. Installation (20) suivant l'une des revendications précédentes,
    caractérisée en ce que
    le niveau d'intégrité de sécurité de l'installation (20) peut être prescrit par un dispositif (80) de commande rattaché à l'installation (20) en technique de communication.
  5. Installation (20) suivant l'une des revendications précédentes,
    caractérisée en ce que
    le niveau d'intégrité de sécurité de l'installation (20) peut être prescrit dynamiquement pendant le fonctionnement en cours de l'installation (20).
  6. Installation (20) suivant la revendication 5,
    caractérisée en ce que
    le niveau d'intégrité de sécurité de l'installation (20) peut être prescrit en fonction de l'application et/ou en fonction de la situation.
  7. Installation (20) suivant l'une des revendications précédentes,
    caractérisée en ce que
    l'installation (20) est constituée pour donner la valeur de mesure, ainsi que l'intervalle de confiance déterminé pour celle-ci, à un dispositif de commande d'un système d'arrêt automatique des trains.
  8. Système d'arrêt automatique des trains ayant au moins une installation (20) suivant l'une des revendications 1 à 7.
  9. Procédé pour faire fonctionner une installation (20) de détermination d'au moins une valeur de mesure se rapportant à un lieu et/ou à au moins une grandeur de déplacement d'un véhicule (10) guidé sur rail,
    caractérisé en ce que
    - on prescrit un niveau d'intégrité de sécurité à l'installation (20) et
    - on détermine, par l'installation (20), par rapport à la valeur de mesure ou par rapport à au moins l'une des valeurs de mesure, un intervalle de confiance, qui dépend du niveau d'intégrité de sécurité prescrit respectif.
  10. Procédé suivant la revendication 9,
    caractérisé en ce que
    on prescrit, en matériel ou en logiciel, le niveau d'intégrité de sécurité à l'installation (20).
  11. Procédé suivant la revendication 9 ou 10,
    caractérisé en ce que
    on prescrit le niveau d'intégrité de sécurité à l'installation (20) par une configuration, un paramétrage ou un réglage adéquat.
  12. Procédé suivant l'une des revendications 9 à 11, caractérisé en ce que
    caractérisé en ce que
    on prescrit le niveau d'intégrité de sécurité à l'installation (20) par un dispositif (80) de commande rattaché à l'installation (20) en technique de communication.
  13. Procédé suivant l'une des revendications 9 à 12,
    caractérisé en ce que
    on prescrit le niveau d'intégrité de sécurité à l'installation (20) dynamiquement pendant le fonctionnement en cours de l'installation (20).
  14. Procédé suivant la revendication 13,
    caractérisé en ce que
    on prescrit le niveau d'intégrité de sécurité à l'installation (20) en fonction d'une application et/ou en fonction d'une situation.
  15. Procédé suivant l'une des revendications 9 à 14,
    caractérisé en ce que
    on donne la au moins une valeur de mesure, ainsi que l'intervalle de confiance déterminé par rapport à celle-ci, par l'installation (20) à un dispositif de commande d'un système d'arrêt automatique des trains.
EP18710383.3A 2017-03-30 2018-03-01 Dispositif pour la détermination d'au moins une valeur de mesure liée à un lieu et/ou à au moins une grandeur de mouvement d'un véhicule guidé ainsi que procédé pour faire fonctionner un tel dispositif Active EP3577006B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017205456.5A DE102017205456A1 (de) 2017-03-30 2017-03-30 Vorrichtung zur Bestimmung zumindest eines auf einen Ort und/oder zumindest eine Bewegungsgröße eines spurgebundenen Fahrzeugs bezogenen Messwertes sowie Verfahren zum Betreiben einer solchen Vorrichtung
PCT/EP2018/055043 WO2018177677A1 (fr) 2017-03-30 2018-03-01 Dispositif pour la détermination d'au moins une valeur de mesure liée à un lieu et/ou à au moins une grandeur de mouvement d'un véhicule guidé ainsi que procédé pour faire fonctionner un tel dispositif

Publications (2)

Publication Number Publication Date
EP3577006A1 EP3577006A1 (fr) 2019-12-11
EP3577006B1 true EP3577006B1 (fr) 2021-01-27

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Country Status (6)

Country Link
US (1) US11772693B2 (fr)
EP (1) EP3577006B1 (fr)
CN (1) CN110475704B (fr)
DE (1) DE102017205456A1 (fr)
ES (1) ES2867580T3 (fr)
WO (1) WO2018177677A1 (fr)

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CA3158147C (fr) * 2019-12-10 2024-04-09 Alon Green Systeme et procede de surveillance de l'integrite de positionnement d'un vehicule

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ATE352467T1 (de) * 2002-11-07 2007-02-15 Siemens Schweiz Ag Verfahren zur lage- und geschwindigkeitsbestimmung
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Publication number Publication date
DE102017205456A1 (de) 2018-10-04
US11772693B2 (en) 2023-10-03
EP3577006A1 (fr) 2019-12-11
ES2867580T3 (es) 2021-10-20
CN110475704B (zh) 2021-10-29
WO2018177677A1 (fr) 2018-10-04
US20200023869A1 (en) 2020-01-23
CN110475704A (zh) 2019-11-19

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