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WO2007036811A2 - Procede et dispositif de localisation de vehicules associes a une voie - Google Patents

Procede et dispositif de localisation de vehicules associes a une voie Download PDF

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Publication number
WO2007036811A2
WO2007036811A2 PCT/IB2006/003834 IB2006003834W WO2007036811A2 WO 2007036811 A2 WO2007036811 A2 WO 2007036811A2 IB 2006003834 W IB2006003834 W IB 2006003834W WO 2007036811 A2 WO2007036811 A2 WO 2007036811A2
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
monitoring
vehicles
predetermined
rail
Prior art date
Application number
PCT/IB2006/003834
Other languages
German (de)
English (en)
Inventor
Bernard Douet
Original Assignee
Bernard Douet
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 Bernard Douet filed Critical Bernard Douet
Publication of WO2007036811A2 publication Critical patent/WO2007036811A2/fr

Links

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
    • 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
    • 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

Definitions

  • the present invention relates to a method and to an apparatus for automatically detecting the location of a lane-bound vehicle and for delivering notification and alarm signals in the detection of dangerous situations, wherein in the vehicle preferably continuously the location of the vehicle by means of methods and devices is detected and monitored for object recognition and compared with predetermined or predetermined data related to the path to be covered.
  • the object detection system which operates analogously to biometric methods and devices, preferably consists of two vehicle mounted devices for object detection, weather and light independent optical recording devices, such as infrared laser cameras.
  • a recording device scans the further ahead in front of the vehicle section, the second detects the lying directly in front of the locomotive area.
  • each device is equipped with two optical sensors to guarantee the availability and accuracy of the identification procedure.
  • the location is calculated, wherein the size of the area considered can be speed-dependent.
  • the data of the device for remote detection can be used for the early detection of dangerous situations by foreign objects and obstacles in the track area, such as vehicles, people, Muren et al.
  • the route section is traveled by a vehicle equipped with the system according to the invention. In a computer system on this vehicle, the image of the traveled section of the route is scanned and stored.
  • the reliability of the pictorial identification according to the invention can be greatly increased, since the functionality of the commercially available biometric methods and devices, which are used in the invention pelg in a corresponding manner, based on an average extraction of eight to fifteen characteristic points.
  • a particularly advantageous embodiment of this invention lies in the fact that the location of a vehicle, in particular a rail vehicle, is determined by a large number of existing route marks, such as structures, natural objects, license plates and the like. Is made. If there are too few road markers in the landscape, then artificial road markers can be erected in any form. The loss of individual Wegemarken does not lead to the failure of the inventive system.
  • each rail vehicle is connected to at least one control station via a corresponding control and message transmission system, in particular a radio system, with control and monitoring of a plurality of rail vehicles in a localized area via this control station.
  • a corresponding control and message transmission system in particular a radio system
  • control and monitoring of a plurality of rail vehicles in a localized area via this control station may be made, for example, to DD-B 292 880, US Pat. No. 5,129,605, US Pat. No. 4,711,418, WO 93/15946, DE-A 43 31 931 and DE-A 41 23 632 to get expelled.
  • connection reference may be made, for example, to DE-A 42 44 624.
  • a disadvantage of these known embodiments is in particular the fact that any monitoring or message transmission takes place via a control center or the like and that, therefore, in some circumstances Passing errors in the control center or in case of errors in the transmission between the control center and individual to be monitored rail vehicles or vehicles sufficient security of the corresponding monitoring or detection system can no longer be guaranteed.
  • a disadvantage of such known controls by means of satellites is further that a deviation of the satellite positioning, which is intentionally brought about by the operator of the satellite, must be eliminated by expensive additional equipment in order to achieve the required accuracy for the reliable location of a rail vehicle. Furthermore, the simultaneous reception of four satellites required for proper location can not always be guaranteed, whereby, for example, special terrain forms or especially tunnels can interfere with satellite reception.
  • a method according to WO 00/71402 A1 based on laser markings in the track area, which are used by a reading device for location determination, has the disadvantage that the infrastructure measures, such as production of the exclusively marked components, registration in a control center, installation in the track area, etc. very labor intensive. Furthermore, a possible falsification of the marking or removal is easily possible.
  • the present invention is directed to the provision of a method and system for detecting the position of at least one lane-bound vehicle, particularly a rail vehicle, and for delivering notification and alarm signals that can significantly increase reliability and reliability of operation.
  • errors in a control station or difficulties of a communication link between a vehicle and such a control station do not lead directly to an optionally complete failure of the system and, associated therewith, safety risks.
  • the method according to the invention is characterized in that, when dangerous situations occur, warning signals are emitted by the vehicle at least to other vehicles located in the local vicinity, in particular traveling differently from the directly traveled route.
  • the position of the vehicle is continuously detected and monitored and compared with predetermined data, without the intervention of a control or monitoring station directly in the vehicle, the correspondence of the determined or acquired data, such as position, speed, time and the like. be monitored with a predetermined route and thus recognized directly in the vehicle, whether deviations from a given route or the like.
  • warning signals can be given off at least to other vehicles located in the local vicinity, so that a preferred feature according to the invention is that direct communication between in a local Near-lying or running vehicles is possible without necessarily interconnect a higher-level control or monitoring station.
  • this possibility of direct communication between vehicles located in a local area not only results in a reduction in the transmission time of data indicating a danger situation or in the transmission of message and alarm signals, but rather If necessary, additional security risks arising from errors in a monitoring or control station can be avoided or greatly minimized.
  • a transmission of messages of dangerous situations or message and alarm signals can also be transmitted to corresponding monitoring or control stations in order to be able to provide, in particular for rail vehicles, if necessary, interregional communication possibilities.
  • Hazardous situations arise, for example, by the deviation of the setpoint and actual data of the safety system according to the invention, which is provided in the vehicle, in particular rail vehicle, and can be, for example:
  • warning signals are emitted by the vehicle in accordance with different dangerous situations, so that automatically adapted accordingly by other vehicles Reactions can be prompted, such as an emergency stop in the event of an immediate risk of collision or a reduction in speed, etc.
  • appropriate countermeasures can be derived and initiated.
  • a self-monitoring system coupled with a transmitter and / or acousto-optic signals transmits, for example, coded warning signals in the event of a failure in a part located in the vehicle, nearby local area vehicles, stationary relays and / or control and monitoring stations Identify and report the incident that has occurred.
  • the location is determined by means of many Wegemarke.
  • the loss of individual way mark therefore has no influence on the accuracy of the position determination.
  • the failure of all Wegemarke is not possible by nature.
  • the warning signals are transmitted to preferably international alarm or warning frequencies.
  • a system for automatically detecting or monitoring the position of at least one lane-bound vehicle is also provided for achieving the above-mentioned object.
  • rail vehicle and for the delivery of message and alarm signals, wherein for comparing with the path to be covered, predetermined or predetermined data, which is characterized essentially by the fact that further comprises means for dispensing and is provided for receiving notification and alarm signals at least at local near range, in particular on the way different from the directly traveled way driving, other vehicles in the occurrence of dangerous situations.
  • the device for dispensing and receiving message and alarm signals can be coupled with drive devices of the vehicle and at the occurrence of Hazard situations influencing the drive parameters of the vehicle, such as braking, is feasible, so that for example when detecting dangerous situations by influencing the driving parameters, for example by braking, automatically and automatically controlled without delays accident situations can be avoided, such delays, for example would inevitably result from non-automatic communication systems.
  • path displays which are already normally available. Can not find the end. If necessary, artificial way markers can be arranged. In principle, therefore, no infrastructure measures are necessary to determine the location.
  • FIG. 2 shows a schematic representation of the different signal or radio connection elements
  • FIG. 3 shows schematically the possibilities of connecting a vehicle with transmitting or receiving stations or a higher-level control or monitoring station
  • FIG. 4 shows a block diagram for a system according to the invention for detecting or monitoring the position of at least one vehicle and for outputting message and alarm signals for carrying out the method according to the invention with further deployable transmitting and receiving devices;
  • Fig. 5 is a schematic representation of a transmission of signals between vehicles, in particular rail vehicles.
  • the system for detecting or monitoring the position of at least one track-bound vehicle, in particular a rail vehicle, and for the delivery of message and alarm signals succeeds early delivery of notification and alarm signals and the prevention of accidents by direct communication between vehicles located in an immediate local area with the aid of direct connections using, in particular, international alarm or warning frequencies.
  • the vehicles can be formed, for example, by self-propelled or automatically operated vehicles which travel along predefined tracks or tracks, wherein, for example, guide tracks which emit electromagnetic beams for guiding and guiding such vehicles are formed in a floor surface.
  • guide tracks which emit electromagnetic beams for guiding and guiding such vehicles are formed in a floor surface.
  • Fig. 1 denotes a locomotive, which travels a designated schematically by 21 route, wherein 18 represents the device for imaging the track.
  • the imaging system consists of two vehicle-mounted optical recorders that are independent of the weather and lighting conditions - such as infrared laser cameras.
  • a recording device is used to record more distant objects, the second detects the near area in front of the locomotive, the area that is used for location determination may be dependent on the speed of the vehicle.
  • By comparing the data obtained in the detection system 18 in the locomotive 22 with stored image data concerning the path to be traveled succeeds in a simple verification of proper traffic.
  • the detection system for the more distant objects recognizes early hazardous situations by foreign objects in the track area, the detection system for the near field determined by the comparison of the location. If dangerous situations or deviations from the given data occur, a signal output is made possible, as will be discussed in greater detail with reference to the following figures.
  • Fig. 1 the delivery of message and alarm signals is schematically indicated in Fig. 1 at 30, while 24 indicates a receiving antenna.
  • 24 again denotes a receiving unit on a rail vehicle, again designated 22, which moves along the route 21, for example, in the direction of the arrow 32.
  • a monitoring or control station 27 and an additional Transmission unit 26 indicated.
  • FIG. 4 In the block diagrams according to FIG. 4, in particular the processing and delivery of corresponding control signals when driving on a route is indicated in more detail.
  • Fig. 4 hiebei with 1 a computing or control unit is referred to, are transmitted via lines 10, 11 from the duplex units 3, 4 signals to the arithmetic unit 1.
  • the duplex units 3, 4 are in connection with the imaging system 18.
  • 5, 6 and 7 in FIG. 4 schematically indicate predetermined data concerning the path to be covered, which are available to the arithmetic unit 1 via control lines 12, 13 and 14 be put.
  • FIG. 5 is a timer
  • FIG. 6 is an electronic map, for example, showing a rail network with corresponding geographic data and the position of the main landmark mark
  • FIG. 5 is a timer
  • FIG. 6 is an electronic map, for example, showing a rail network with corresponding geographic data and the position of the main landmark mark
  • the units 19 to be provided in the route can accordingly be protected against encroachment and optionally removed, for example in the form of a black box.
  • the transmitter 19 in Fig. 4 checks whether the passing rail vehicle has an inventive safety system and whether it works.
  • a "problem vehicle” is either a vehicle without a safety system or a vehicle whose safety system is inoperative.
  • a "registration system” (FIG. 4, transmitters 19 and 20), and, if necessary, issue warning signals if the transmitter 19 does not receive a response from the passing rail vehicle to its coded transmitted signals.
  • the transmitter 20 which transmits coded warning signals via radio and / or communication cable, for example, to nearby trains, stationary relays and main and / or secondary control and monitoring points.
  • the transmitter 19 can also transmit the Vibration of optical and acoustic signals.
  • the transmitter 19 can be activated by a passing rail vehicle, for example by means of the magnetic rail contacts known per se, wheel sensors and the like. Through this activation, the transmitter 19 sends a signal via the antenna 23 to the passing rail vehicle, and if it does not get a response from the passing rail vehicle to these encoded transmitted signals, it recognizes this as a "problem train” having either no or no operational capability Security system features. Furthermore, 2 in FIG.
  • the unit 4 indicates a duplex receiving unit via which corresponding information is received from other rail vehicles located in a local vicinity or transmitted via which data of the rail vehicle from the arithmetic unit 1 to further rail vehicles located in a local vicinity can be, with signal lines are indicated at 15 and 16. From a comparison of the data provided on the duplex units 3 and 4 with the given data 5, 6 and 7 as well as the data received from other rail vehicles on the unit 2 thus immediate statements about possibly dangerous situations can be determined, wherein upon occurrence corresponding hazard situations corresponding warning signals, as indicated by 31, are delivered. Furthermore, the unit 1 can be used to directly influence, for example, operating devices of the rail vehicle upon receipt of signals indicating a dangerous situation, so that braking can be performed automatically.
  • the system according to the invention can hiebei readily integrated into existing rail networks and rail vehicles at low cost and simple using known transmission and reception units, in particular by using international alarm or warning frequencies and a simple vote between optionally originating from different countries train systems possible becomes.
  • FIG. 5 schematically illustrates an intersection situation on a plurality of tracks 34, 35 and 36, wherein the tracks 34 and 35 run parallel to one another and intersect a track 36.
  • a crossing represents a stationary danger point to be monitored or detected, on which, for example, at least two rail vehicles can meet.
  • Other stationary danger points are, for example, railroad intersections with roads or other, rail-like transitions.
  • variable danger points represent situations where, for example, a rail vehicle stops under circumstances due to an error or failure or overruns a breakpoint or a signal, so that a collision with subsequent or advancing rail vehicles is possible.
  • the individual rail vehicles must be able to detect whether an incoming warning signal from a nearby rail vehicle is relevant for the continuation of the journey or whether, for example, for the reason that the rail vehicle has already passed a danger point, no reaction is necessary is.
  • monitoring of rail-like transitions can take place, for example, by room monitoring or monitoring of such a transition with light barriers, inductive loops or weighing devices, so that, for example, a stuck, not completely leaving a track vehicle detected can be such and by issuing signals corresponding countermeasure for approaching rail vehicles similar to a known, automated monitoring in an approach to an automatically closing barrier system is made possible.
  • a road vehicle stops at a railway intersection it is possible to send a warning signal to nearby rolling stock vehicles, for example, by deploying for speed-dependent engagement of railway intersection backup systems.
  • the speed-dependent self-adjusting operation wherein the vehicle automatically causes the setting of the Switzerlandfahrs Beauthe interlocking, resulting in a large discharge of the operator of the security system of routine work, possible.
  • the rail vehicle indicated schematically at 37 which moves in the direction of the arrow 38, outputs warning signals, as indicated by the arrows 39.
  • the received warning signals are no longer relevant, since the rail vehicle 40 has already passed the intersection point between the rails 34 and 36.
  • the issued warning signals of the rail vehicle 37 for another rail vehicle 42 which also moves in the direction of the arrow 41, are of interest in order to avoid a collision in the region of the intersection between the rails 34 and 36.
  • another rail vehicle 43 on the track 35 can also receive the warning signals, these warning signals are no longer relevant for this rail vehicle.
  • a later setting or change of timetables or setpoints, especially in rail vehicles, is simple and easy, for example, from main and / or Mauleit- and -Überwachungsstellen, by means of the known per se radio methods on the transmission of coded signals to the in the rail vehicle integrated system part according to the invention carried out to perform the desired setting or change automatically, the main and / or Mauleit- and monitoring points must receive a reconfirmed response from the system (automatic transmission of a change).
  • An additional possibility is that the engine driver, for example, receives a change command by radio, whereby precautions must be taken to eliminate any misunderstandings.
  • the approval of such a change can only by means of a one-time password to be used, which he by radio, Internet and / or the like.
  • the train driver must confirm the information obtained, by means of immediate feedback to the main and / or secondary control center, preferably in writing, e.g. over the Internet, or even orally, to eliminate any kind of misunderstanding and thus ensure safety.
  • warning signals are emitted again to inform any upcoming rail vehicles of the unchanged stop.
  • Another advantage of the system is that on a dashboard in the dispatching service or on screens ' the current one Point of residence of a rail vehicle can be determined during its route and not only, as currently customary, for example by means of radio between rail vehicle, stations and monitoring stations. Such a location can be performed without any contact by radio or without the use of a communication element and thus without distraction of the train driver, ie if no warning message is received from the rail vehicle, this means that a train has passed its route on schedule and without incident. Similar to the above-described embodiment for rail vehicles, corresponding risk situations are also generally possible for track-bound vehicles, since intersection areas with similar constructions also result in such track-bound vehicles, where an approach of simultaneously moving vehicles or a collision between them is reliably prevented must become.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Train Traffic Observation, Control, And Security (AREA)

Abstract

L'objet de la présente invention est la détection ou plus précisément la surveillance automatique du lieu où se trouve un véhicule (22) associé à une voie, et la production de signaux de notification et d'alarme lors de la détection de situations de danger. A cet effet, le lieu où se trouve le véhicule (22) est détecté, surveillé et comparé avec des données prédéterminées ou prédéfinies, relatives au trajet à parcourir, dans ledit véhicule (22), de préférence en continu, à l'aide d'un dispositif de reconnaissance d'objets (18).
PCT/IB2006/003834 2005-09-29 2006-09-28 Procede et dispositif de localisation de vehicules associes a une voie WO2007036811A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATA1596/2005 2005-09-29
AT15962005 2005-09-29

Publications (1)

Publication Number Publication Date
WO2007036811A2 true WO2007036811A2 (fr) 2007-04-05

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Application Number Title Priority Date Filing Date
PCT/IB2006/003834 WO2007036811A2 (fr) 2005-09-29 2006-09-28 Procede et dispositif de localisation de vehicules associes a une voie

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WO (1) WO2007036811A2 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011042321A1 (fr) * 2009-10-06 2011-04-14 Siemens Aktiengesellschaft Procédé et dispositif pour l'exploitation d'une ligne ferroviaire
CN114269625A (zh) * 2019-08-13 2022-04-01 索尤若驱动有限及两合公司 具有能沿着编码区域移动的移动装置的系统、特别是设施和用于运行这种系统的方法

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007028325B4 (de) * 2007-06-15 2012-09-06 Deutsches Zentrum für Luft- und Raumfahrt e.V. Ortungsvorrichtung zur Ermittlung der Position von fahrweggebundenen Fahrzeugen
CN112793586B (zh) * 2021-02-24 2022-05-03 奇瑞汽车股份有限公司 汽车的自动驾驶控制方法、装置及计算机存储介质

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011042321A1 (fr) * 2009-10-06 2011-04-14 Siemens Aktiengesellschaft Procédé et dispositif pour l'exploitation d'une ligne ferroviaire
CN114269625A (zh) * 2019-08-13 2022-04-01 索尤若驱动有限及两合公司 具有能沿着编码区域移动的移动装置的系统、特别是设施和用于运行这种系统的方法
CN114269625B (zh) * 2019-08-13 2024-05-24 索尤若驱动有限及两合公司 具有能沿着编码区域移动的移动装置的系统、特别是设施和用于运行这种系统的方法

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Publication number Publication date
AT8832U1 (de) 2007-01-15

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