WO2020224862A1 - Procédé et produit programme informatique pour déterminer la position de véhicules sur rails, ainsi que système de détermination de la position et véhicule sur rails, notamment un véhicule ferroviaire - Google Patents

Procédé et produit programme informatique pour déterminer la position de véhicules sur rails, ainsi que système de détermination de la position et véhicule sur rails, notamment un véhicule ferroviaire Download PDF

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Publication number
WO2020224862A1
WO2020224862A1 PCT/EP2020/058314 EP2020058314W WO2020224862A1 WO 2020224862 A1 WO2020224862 A1 WO 2020224862A1 EP 2020058314 W EP2020058314 W EP 2020058314W WO 2020224862 A1 WO2020224862 A1 WO 2020224862A1
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WO
WIPO (PCT)
Prior art keywords
marking
vehicle
image
route
fzp
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.)
Ceased
Application number
PCT/EP2020/058314
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German (de)
English (en)
Inventor
Andreas Schönberger
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 Mobility GmbH
Original Assignee
Siemens Mobility GmbH
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 Mobility GmbH filed Critical Siemens Mobility GmbH
Priority to EP20718181.9A priority Critical patent/EP3947101A1/fr
Publication of WO2020224862A1 publication Critical patent/WO2020224862A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or 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
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
    • B61L23/041—Obstacle detection

Definitions

  • the invention relates to a method for determining the position of track-bound vehicles according to the preamble of claim 1, a computer program product for positioning track-bound vehicles according to the preamble of claim 5, a position determination system according to the preamble of claim 8 and a track-bound vehicle, in particular rail vehicle, according to the preamble of claim 16.
  • Global position data e.g. by means of satellite-based position determination systems such as GPS, GALILEO or
  • GLONASS recorded and in the form of GPS, GALILEO or
  • GLONASS coordinates are available, play an important role in the information age with the central importance of information as raw material and commodity. So it is e.g. for current and future automatic driving systems with which "automatic driving" is implemented, driver assistance systems such as Navigation systems or exclusive information systems are of essential importance that the position data or coordinates should be as precise or exact as possible.
  • driver assistance systems such as Navigation systems or exclusive information systems are of essential importance that the position data or coordinates should be as precise or exact as possible.
  • current satellite-based receivers e.g. GPS receivers
  • DGPS Differential Global Positioning System
  • GNSS navigation Global Navigation Satellite System
  • the specified accuracy can usually only be set to 1-3 Improve meters.
  • a correction of the determined position is achieved through the transmission of the correction data, but due to Due to the small number of stationary correction transmitters, no highly accurate, sufficiently comprehensive correction data can be generated.
  • the object of the invention is to provide a method and a computer program product for determining the position of track-bound vehicles as well as a position-determining system and a track-bound vehicle, in particular a rail vehicle, with which the position of a vehicle is relative to a fixed position obtained by pre-positioning tion and locally can be determined more precisely.
  • the object is achieved on the basis of the in the Oberbe handle of claim 5 defined computer program product for position determination by the features specified in the characterizing part of claim 5.
  • a route image is recorded from the perspective of the vehicle at a fixed vehicle position at a distance from the marking position
  • the vehicle position is therefore determined as a result of a consistent comparison of markings in the course of image detail evaluation from the image detail position resulting therefrom.
  • FIGS. 1 and 2 show:
  • FIG. 1 position determination of a track-bound vehicle, in particular a rail vehicle, in ferry operation
  • FIG. 2 shows a basic structure of a position determination system for the position determination based on the vehicle and driving operation according to FIG.
  • FIG. 1 shows the position determination of a rail vehicle SFZ as a track-bound vehicle FZ in ferry operation, in which a vehicle position FZP of the vehicle FZ, SFZ relative to a fixed position obtained by pre-localization and locally can be determined more precisely.
  • the rail vehicle SFZ, FZ - shown in FIGURE 1 is a motor vehicle TRW which is automated on a route FST according to a range of driver assistance support, via partial automation, further via conditional automation and high automation up to full automation with a vehicle speed "[v] "Moved - contains a position determination system PBS for position determination, which is located in a driver TFS with an integrated display device AZE for a vehicle driver FZF.
  • vehicle fixed position FZFP is with an image acquisition unit BAE for capturing images of the position determination system PBS from the vehicle perspective, which are essentially the Perspective of the vehicle driver FZF ent speaks of a marking expected route area - ie a region of the route FST in which a marking MK spaced apart from the vehicle fixed position FZFP is at a marking position MKP, e.g. a signal sign SZ can be at a signal sign position SZP, is expected - a route image SB is acquired.
  • satellite-based position determination methods such as GPS, GALILEO or GLONASS
  • the image acquisition unit BAE of the position determination system PBS can be any device for acquiring and / or recording single or multiple images (videos), e.g. an image or video camera, a laser sensor, a thermal imaging camera, an infrared camera or a radar device.
  • videos e.g. an image or video camera, a laser sensor, a thermal imaging camera, an infrared camera or a radar device.
  • FIG. 2 shows a basic structure of the position determination system PBS for the vehicle and according to FIG Driving-based position determination of the vehicle position FZP.
  • the position determination system PBS contains, in addition to the image acquisition unit BAE already mentioned in connection with the description of FIG. 1 for capturing images, a position acquisition unit PAE for acquiring fixed vehicle positions and a control unit STE.
  • the position acquisition unit PAE is the unit of the position determination system PBS, which uses the GPS, GALILEO and GLONASS coordinates to determine the fixed vehicle position FZFP.
  • the control unit STE in turn contains a computer program product CPP for position determination, which one does not
  • volatile, readable memory SP in which processor-readable control program commands of a program module PGM performing the position determination are stored, and a processor PZ connected to the memory SP, which executes the control program commands of the program module PGM for position determination.
  • the image acquisition unit BAE contains a correction component KOK, which includes weather and brightness data in the evaluation of the captured image material, a focal length change component BVK which, depending on the distance to the marking MK, SZ, is the correct one Selects the recording angle so as to optimally support the multiple evaluation of the marking MK, SZ, and a lighting component BLK, which is preferably designed as a headlight and which works inside or outside the human-visible area.
  • KOK which includes weather and brightness data in the evaluation of the captured image material
  • BVK focal length change component
  • BVK which, depending on the distance to the marking MK, SZ, is the correct one Selects the recording angle so as to optimally support the multiple evaluation of the marking MK, SZ
  • a lighting component BLK which is preferably designed as a headlight and which works inside or outside the human-visible area.
  • the image acquisition unit BAE is also designed to be pivotable in an advantageous manner in order to be able to compensate for the angle of the image acquisition unit BAE to the marking MK, SZ.
  • two or more of these image acquisition units BAE work in parallel in order to increase the confidence of the data obtained.
  • the position acquisition unit PAE, the image acquisition unit BAE and the computer program product CPP Positionsbe ⁇ humor containing control unit STE form a common functional unit to the relative local position determination of the driving generating FZP.
  • This functional unit is det such as who in the image acquisition unit BAE according to the depicting ⁇ lung in FIGURE 1, and as in the description of he already imagines to the to the mark position MKP, SZP the Markie tion MK, SZ spaced vehicle-fixed position FZFP, from the vehicle perspective, the route image SB is acquired from the marking ⁇ expected route area.
  • the functional unit is designed such that in the control unit STE or in the processor PZ of the computer program product CPP
  • the route image metadata SBMD preferably have for the comparison between the reference route images and the route image or the image calculated therefrom of the combination of image calculation and image analysis carried out by an expert for the combination of image calculation and image analysis, with possibly further metadata and Calibration images in order to recognize the marking MK, SZ.
  • the expert-marked image material is used to determine the relevant image section as precisely as possible and to be able to differentiate between relevant and irrelevant markings (e.g. a secondary route).
  • expert markings can also be replaced by standard information, e.g. Standard information on a so-called pre-marking.
  • any distortions of the route image SB if the stored reference route images RSB were not recorded at exactly the same point as the route image SB recorded during ferry operation, are detected by positions immediately considered.
  • the control unit STE or the processor PZ accesses the first database DB1 and / or the second database DB2.
  • the first database DB1 and / or the second database DB2 are Either part of the position determination system PBS (option "A” for DB1 or option “C” for DB2) or assigned to the position determination system PBS for these accesses (option "B” for DB1 or option “D” for DB2).
  • the first database DB1 contains the reference route images RSB including any calibration images, the route image metadata SBMD, such as With regard to the route images, the exact position of their recording including information about the route or the track, possibly the angle of the recording and the MKD marking data including metadata such as the type of marking or signal character. These data can preferably be recorded as follows:
  • the second database DB2 contains the route and vehicle data SFZD, which e.g. the exact data about the route FST, e.g. the exact position of the track, the position of the marking MK, MK 'or the signal sign SZ, SZ' the Monta geposition of the position acquisition unit PAE or des
  • route and vehicle data SFZD which e.g. the exact data about the route FST, e.g. the exact position of the track, the position of the marking MK, MK 'or the signal sign SZ, SZ' the Monta geposition of the position acquisition unit PAE or des
  • GPS / GALILEO / GLONASS receivers the mounting positions and resolutions of the image acquisition unit BAE, etc. in the vehicle FZ, SFZ.
  • the functional unit is designed in such a way that in the control unit STE or in the processor PZ of the computer program product CPP
  • the vehicle position is therefore determined as a result of a consistent comparison of markings in the course of the image detail evaluation from the image detail position resulting here.
  • the vehicle position FZP determined in the course of the combination of image calculation and image analysis is passed on to an autonomous / automated driving system AFS to support or implement autonomous / automated driving.
  • the control unit STE or the processor PZ is also designed in such a way that the vehicle position FZP determined in the course of the combination of image calculation and image analysis is checked in the event of an inconsistent marking comparison in order to make a reliable, consistent decision regarding the vehicle position FZP to be determined to be transferred to the Autonomous / Automated Driving System AFS.
  • the autonomous / automated driving system AFS is when, as shown in FIG. 1, the railcar TRW of the track-bound vehicle FZ, SFZ moves automatically on the route FST, as the position determination system PBS in FIG the driver's cab TFS of the track-bound vehicle FZ, SFZ.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

Afin de pouvoir déterminer plus précisément la position (FZP) d'un véhicule sur rails (FZ, SFZ) par rapport à une position fixe obtenue par pré-localisation et localement, il est proposé de déterminer la position du véhicule à l'aide d'un marqueur (MK, SZ) placé le long d'une trajectoire (FST) du véhicule sur rails et la position de son marqueur (MKP, SZP), en ce que - une image de trajectoire (SB) d'une zone de trajectoire dans laquelle le marquage est prévu est enregistrée du point de vue du véhicule à une position fixe du véhicule (FZFP) à une certaine distance de la position de marquage, - sur la base de l'image de trajectoire, à intervalles de temps réguliers à une vitesse donnée du véhicule une évaluation est effectuée de manière itérative, à partir de la position fixe du véhicule pour des distances différentes, correspondantes à celle-ci et décroissantes par rapport à la position du marqueur, dans quelle mesure, respectivement au cours d'une combinaison de calcul d'image et d'analyse d'image pour la détection du marqueur effectuée sur la base de l'image de trajectoire, de la position fixe du véhicule et des images de trajectoire de référence (RSB) stockées et d'autres données, une partie de l'image à observer, qui change en fonction de la position du marquage par rapport à la vitesse du véhicule, s'écarte d'un marquage à détecter connu d'après les images de trajectoire de référence (MK', SZ'), - une évaluation est effectuée pour savoir quelles parties de l'image présentent les plus faibles écarts, et selon cette évaluation de la partie de l'image, le marquage est détecté par une comparaison de marquage cohérente et la position du véhicule est ainsi déterminée.
PCT/EP2020/058314 2019-05-03 2020-03-25 Procédé et produit programme informatique pour déterminer la position de véhicules sur rails, ainsi que système de détermination de la position et véhicule sur rails, notamment un véhicule ferroviaire Ceased WO2020224862A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP20718181.9A EP3947101A1 (fr) 2019-05-03 2020-03-25 Procédé et produit programme informatique pour déterminer la position de véhicules sur rails, ainsi que système de détermination de la position et véhicule sur rails, notamment un véhicule ferroviaire

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019206347.0A DE102019206347A1 (de) 2019-05-03 2019-05-03 Verfahren und Computer-Programm-Produkt zur Positionsbestimmung spurgebundener Fahrzeuge sowie Positionsbestimmungssystem und Spurgebundenes Fahrzeug, insbesondere Schienenfahrzeug
DE102019206347.0 2019-05-03

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WO2020224862A1 true WO2020224862A1 (fr) 2020-11-12

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DE (1) DE102019206347A1 (fr)
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US12371081B2 (en) * 2021-09-23 2025-07-29 Cattron North America, Inc. Vision-based systems and methods for locomotive control and/or location determination

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007091072A1 (fr) * 2006-02-07 2007-08-16 Richard Shenton Systeme pour mesurer la vitesse et/ou la position d'un train
DE102006007788A1 (de) * 2006-02-20 2007-08-30 Siemens Ag Verfahren zur rechnergestützten Überwachung des Betriebs eines einen vorgegebenen Streckenverlauf fahrenden Fahrzeugs, insbesondere eines spurgebundenen Schienenfahrzeugs
DE102007028325A1 (de) * 2007-06-15 2008-12-18 Deutsches Zentrum für Luft- und Raumfahrt e.V. Ortungsvorrichtung zur Ermittlung der Position von fahrweggebundenen Fahrzeugen
WO2018104427A1 (fr) * 2016-12-07 2018-06-14 Siemens Aktiengesellschaft Procédé, dispositif et véhicule ferroviaire pour la détermination de position dans le trafic ferroviaire
EP3415400A1 (fr) * 2017-06-12 2018-12-19 Siemens Aktiengesellschaft Système et procédé de mesure de la position d'un véhicule guidé

Family Cites Families (3)

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Publication number Priority date Publication date Assignee Title
DE19538022C1 (de) * 1995-10-12 1997-01-09 Schaltbau Ag Vorrichtung zur Steuerung eines Schienenfahrzeugs
DE102012107918A1 (de) * 2012-08-22 2014-05-15 Deutsches Zentrum für Luft- und Raumfahrt e.V. Schienenfahrzeug-Ortungssystem und Schienenfahrzeug mit einem solchen Ortungssystem
DE102012215533A1 (de) * 2012-08-31 2014-03-06 Siemens Aktiengesellschaft Positionsbestimmung eines Schienenfahrzeugs

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007091072A1 (fr) * 2006-02-07 2007-08-16 Richard Shenton Systeme pour mesurer la vitesse et/ou la position d'un train
DE102006007788A1 (de) * 2006-02-20 2007-08-30 Siemens Ag Verfahren zur rechnergestützten Überwachung des Betriebs eines einen vorgegebenen Streckenverlauf fahrenden Fahrzeugs, insbesondere eines spurgebundenen Schienenfahrzeugs
DE102007028325A1 (de) * 2007-06-15 2008-12-18 Deutsches Zentrum für Luft- und Raumfahrt e.V. Ortungsvorrichtung zur Ermittlung der Position von fahrweggebundenen Fahrzeugen
WO2018104427A1 (fr) * 2016-12-07 2018-06-14 Siemens Aktiengesellschaft Procédé, dispositif et véhicule ferroviaire pour la détermination de position dans le trafic ferroviaire
EP3415400A1 (fr) * 2017-06-12 2018-12-19 Siemens Aktiengesellschaft Système et procédé de mesure de la position d'un véhicule guidé

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DE102019206347A1 (de) 2020-11-05
EP3947101A1 (fr) 2022-02-09

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