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WO2002058984A1 - Procede et dispositif pour determiner la position presente d'un objet et d'en controler le parcours prevu - Google Patents

Procede et dispositif pour determiner la position presente d'un objet et d'en controler le parcours prevu Download PDF

Info

Publication number
WO2002058984A1
WO2002058984A1 PCT/EP2002/000887 EP0200887W WO02058984A1 WO 2002058984 A1 WO2002058984 A1 WO 2002058984A1 EP 0200887 W EP0200887 W EP 0200887W WO 02058984 A1 WO02058984 A1 WO 02058984A1
Authority
WO
WIPO (PCT)
Prior art keywords
recording
path
data
current
planned path
Prior art date
Application number
PCT/EP2002/000887
Other languages
German (de)
English (en)
Other versions
WO2002058984A8 (fr
Inventor
Peter Pohlmann
Original Assignee
Bombardier Transportation 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 Bombardier Transportation Gmbh filed Critical Bombardier Transportation Gmbh
Publication of WO2002058984A1 publication Critical patent/WO2002058984A1/fr
Publication of WO2002058984A8 publication Critical patent/WO2002058984A8/fr

Links

Classifications

    • 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
    • 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 and a device for determining the current position and for monitoring the planned path of an object according to the preamble of claim 1.
  • the invention is suitable for - but not limited to - use in rail vehicles, road vehicles, ships, aircraft, Etc..
  • DE 197 29 990 discloses methods for determining the distance traveled and the speed of a rail vehicle, which also appear to be suitable for determining the current position. In the method proposed there, however, it is assumed that there are special markings accompanying the regular route which, as a rule, are not present in real routes.
  • DE 195 32 104 Cl contains a method and a device for determining the position of at least one point of a track-guided vehicle.
  • at least a number n> 3 different types of position measurement data are obtained independently of one another by detecting objects present along the track, the distance traveled and the route traveled.
  • a position result is determined by correlating the measured data with an associated, stored target quantity, and the vehicle position is determined from the determined position results by an m-of-n decision-making process.
  • DE 195 29 986 AI discloses a method for locating track-guided vehicles and devices for carrying out the method.
  • the method uses a route representation on the track-guided vehicle with underlying route kilometers and a route scanning device on the vehicle for relative determination of the driving location in relation to the route representation. From the vehicle, the entire route is recorded as radar, infrared and / or video images and deposited together with the route kilometer. With each journey, the respective route traveled is scanned or recorded in the same way and compared with the stored image, so that the respective location can be determined as a result of the comparison.
  • the object of the invention is, based on the prior art shown above, to propose a method and a device which is not only suitable for track-guided vehicles and, in addition to determining the current position, also monitoring - and thus securing - the planned path of an object Enables without additional facilities on the object or route and in particular also recognizes dangerous or foreign objects in the planned route and the status of variable facilities on the route (signal, barrier, switch or the like).
  • position data of the relevant path are available to the object, which are recorded by a reference recording system (video, radar, IR, etc.) on a reference object along the path, processed with programs (compressed or the like) and to provide information on the object.
  • a reference recording system video, radar, IR, etc.
  • programs compressed or the like
  • the object knows the characteristics of the recording system, which are used to determine the data and the programs with which they were processed.
  • the relevant information is available on data carriers and / or is transmitted by radio from path sections
  • CCC Cell Control Center
  • the object records the path with its recording system, which is similar to the reference system, and compares the recorded and processed data with the stored position data.
  • the position data of the current position contain information on variable devices of the route, the status of this device is determined from the current recording. If foreign objects are recorded in the planned route in the current recording, in deviation from the corresponding position data, their characteristics are determined (type, position, speed, direction, etc.).
  • the determined position of the object, the status of the variable devices and the characteristics of the foreign objects can be used for further processing (monitoring, securing the object itself and, in the case of radio communication, also other objects).
  • the requirements for accuracy, reliability and safety of the process can be met by several and / or diverse components.
  • the speed of the update of the recordings and the transfer and processing of the data must be adapted to the maximum speed of the object.
  • Temporary changes of the recordings compared to the position data, e.g. through snow, are neutralized by suitable filter methods. If, in addition to the current recording, information on position determination (wheel pulse transmitter, double radar, GPS, GSM, etc.) is available, this can be used to check the plausibility and optimize the process.
  • Such a high level of accuracy, availability and security can be achieved that the known methods for determining position (balises, etc.) and path monitoring (stationary cameras, etc.) can generally be dispensed with.
  • the method does not require any additional device markings in the path, since the existing information of the path is used, and also works without satellite communication and radio.
  • the recording system with data communication must be on the object; all other devices can also be implemented centrally and for several objects if there is a radio link.
  • the method is particularly economical because the recording systems can be used to determine the position and at the same time to monitor the planned route.
  • the transition from existing to new security systems can be ideally supported (the conventional variable information of the route can also be evaluated without radio, example signal).
  • Diverse recording principles normal light, infrared, radar and / or ultrasound, etc. used in parallel increase availability and security.
  • the recording system should be optimally adapted to the intended routes (rail, road, water, air) and speeds of the object and their characteristics.
  • a preferred embodiment is shown in FIG. 1 using the example of a locomotive and is described below. All components are simple.
  • a locomotive (object) is shown on a track (route) with a signal in the direction of the planned route in front of the locomotive next to the track (variable device).
  • the signal is a light signal with 3 lamps, the status (on / off) of which encodes the status (free / occupied, or similar) of the path behind it.
  • In the track are sleepers and next to the track a typical varied landscape with masts, buildings, etc.
  • a Cellular Control Center, CCC is optionally provided for this track section, which can exchange information with the locomotive via radio (e.g. GSM-R) if the locomotive is equipped accordingly.
  • radio e.g. GSM-R
  • a computer system (PDA, notebook, or similar) equipped with a display and operating device, to which a camera (webcam, or similar) installed behind the windscreen is connected serially via a cable
  • the computer system is serially connected to a radio (e.g. GSM-R, if necessary with GPS) for exchanging information with the CCC and with a train interface unit for exchanging information with the train (wheel impulses, brakes, etc.).
  • a radio e.g. GSM-R, if necessary with GPS
  • train interface unit for exchanging information with the train (wheel impulses, brakes, etc.).
  • the stored position data and additional information of the relevant route section are loaded into the computer system from a data carrier (or optionally via radio from the CCC).
  • the camera picks up the path and the current data is determined in the computer.
  • the current data is compared with the stored position data to determine the current position.
  • the status of the variable devices in our example a signal with red, is determined for the current position from the recording data.
  • Step 1 is carried out after activation and before entering another cell and the
  • Steps 2-6 are repeated regularly as long as the computer system is active.

Landscapes

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

Abstract

L'invention concerne un procédé et un dispositif permettant de déterminer la position présente d'un objet et d'en contrôler le parcours prévu. L'invention vise à mettre au point un procédé et un dispositif permettant de déterminer la position présente d'un objet et à en contrôler le parcours prévu. Outre le fait de permettre de déterminer avec précision la position d'un objet, ledit dispositif permet de contrôler le parcours prévu dudit objet, en fonction du statut de dispositifs variables et d'objets extérieurs. A cet effet, il est nécessaire de disposer de données sur la position de l'objet, obtenues par prises de vue des parcours, complétées par des indications sur chacune des positions et par le statut de dispositifs variables dans la prise de vue individuelle à l'aide de procédés et de programmes connus. Selon l'invention, dans ce procédé, le parcours de l'objet est enregistré et comparé aux données de position. La position présente est donnée en cas de concordance maximale des caractéristiques significatives de la prise de vue présente avec les données de position mémorisées le statut de dispositifs variables et les indications significatives concernant les objets extérieurs sont déterminées à partir de la prise de vue présente, par comparaison avec ladite prise de vue présente avec les informations mémorisées dans les données de position correspondantes. Les dispositifs correspondants permettant de mettre ledit procédé en oeuvre peuvent être réalisés sur l'objet ou dans des unités centrales et sont adaptés aux exigences en matière de vitesse, de disponibilité et de sécurité.
PCT/EP2002/000887 2001-01-27 2002-01-28 Procede et dispositif pour determiner la position presente d'un objet et d'en controler le parcours prevu WO2002058984A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10104946.3 2001-01-27
DE2001104946 DE10104946B4 (de) 2001-01-27 2001-01-27 Verfahren und Vorrichtung zur Bestimmung der aktuellen Position und zur Überwachung des geplanten Weges eines Objektes

Publications (2)

Publication Number Publication Date
WO2002058984A1 true WO2002058984A1 (fr) 2002-08-01
WO2002058984A8 WO2002058984A8 (fr) 2002-10-03

Family

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PCT/EP2002/000887 WO2002058984A1 (fr) 2001-01-27 2002-01-28 Procede et dispositif pour determiner la position presente d'un objet et d'en controler le parcours prevu

Country Status (2)

Country Link
DE (1) DE10104946B4 (fr)
WO (1) WO2002058984A1 (fr)

Cited By (18)

* 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
WO2007096273A1 (fr) * 2006-02-20 2007-08-30 Siemens Aktiengesellschaft Procédé de surveillance assistée par ordinateur du fonctionnement d'un véhicule se déplaçant sur un parcours prédéterminé, en particulier d'un véhicule ferroviaire guidé sur rails
WO2008005620A2 (fr) * 2006-06-30 2008-01-10 General Electric Company Système et procédé de navigation avec des images saisies
WO2009017884A1 (fr) * 2007-08-01 2009-02-05 General Electric Company Procédé de navigation de locomotive et d'identification de voie par vidéo
WO2010084035A1 (fr) * 2009-01-23 2010-07-29 Siemens Aktiengesellschaft Procédé et dispositif destinés à déterminer la position de véhicules ferroviaires
WO2012117070A1 (fr) * 2011-03-03 2012-09-07 Knorr-Bremse Systeme für Schienenfahrzeuge GmbH Système d'aide à la conduite d'un véhicule sur rails et procédé permettant de déterminer une recommandation de conduite par un système d'aide à la conduite d'un véhicule sur rails
WO2013045315A1 (fr) * 2011-09-30 2013-04-04 Siemens S.A.S. Methode et systeme de determination d'une disponibilite de voie pour un vehicule guide
US9221481B2 (en) 2011-06-09 2015-12-29 J.M.R. Phi Device for measuring speed and position of a vehicle moving along a guidance track, method and computer program product corresponding thereto
US9875414B2 (en) 2014-04-15 2018-01-23 General Electric Company Route damage prediction system and method
US9873442B2 (en) 2002-06-04 2018-01-23 General Electric Company Aerial camera system and method for identifying route-related hazards
US9919723B2 (en) 2002-06-04 2018-03-20 General Electric Company Aerial camera system and method for determining size parameters of vehicle systems
US10049298B2 (en) 2014-02-17 2018-08-14 General Electric Company Vehicle image data management system and method
US10110795B2 (en) 2002-06-04 2018-10-23 General Electric Company Video system and method for data communication
CN109334711A (zh) * 2018-08-23 2019-02-15 浙江浙大列车智能化工程技术研究中心有限公司 一种列车精确定位系统
GB2577106A (en) * 2018-09-14 2020-03-18 Reliable Data Systems International Ltd Vehicle Position Identification
WO2020098049A1 (fr) * 2018-11-15 2020-05-22 中车株洲电力机车有限公司 Système et procédé de stationnement à alignement auxiliaire pour véhicule de transport ferroviaire
US11124207B2 (en) 2014-03-18 2021-09-21 Transportation Ip Holdings, Llc Optical route examination system and method
WO2023099292A1 (fr) 2021-12-01 2023-06-08 Track Machines Connected Gesellschaft M.B.H. Procédé de détermination d'une indication de position relative dans une piste

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DE10240376B4 (de) * 2002-08-23 2008-01-03 Deutsche Bahn Ag Sicheres Zugmeldebuch
DE102007003637A1 (de) * 2007-01-16 2008-07-17 Siemens Ag Verfahren, Weichensteuerung, mobiles Steuergerät und Anordnung zum Stellen einer elektrisch ortsgestellten Weiche
DE102007009771B4 (de) * 2007-02-27 2009-04-09 Deutsches Zentrum für Luft- und Raumfahrt e.V. Vorrichtung und Verfahren zur Erkennung einer Kollisionsgefahr von schienengebundenen Fahrzeugverbänden
DE102007038820A1 (de) * 2007-08-16 2009-02-26 Deutsches Zentrum für Luft- und Raumfahrt e.V. Rangierüberwachungsvorrichtung
DE102009040713A1 (de) 2009-09-10 2011-03-24 Deutsches Zentrum für Luft- und Raumfahrt e.V. Überwachungssystem
US9036865B2 (en) * 2012-09-12 2015-05-19 International Business Machines Corporation Location determination for an object using visual data
DE102013223565A1 (de) * 2013-11-19 2015-05-21 Siemens Aktiengesellschaft Schienenfahrzeug
DE102015205535A1 (de) 2015-03-26 2016-09-29 Siemens Aktiengesellschaft Bestimmen der Position eines Fahrzeugs
DE102016202346A1 (de) * 2016-02-16 2017-08-17 Siemens Aktiengesellschaft Verfahren sowie Vorrichtung zum Betreiben eines spurgebundenen Fahrzeugs in einem Schiebebetrieb
DE102016216528A1 (de) 2016-09-01 2018-03-01 Siemens Aktiengesellschaft Verfahren und Vorrichtung zum Ermitteln des Ortes eines Fahrzeugs, insbesondere eines Schienenfahrzeugs
DE102016216618A1 (de) 2016-09-02 2018-03-08 Siemens Aktiengesellschaft Konzept zum Lokalisieren eines Schienenfahrzeugs
DE102017104999A1 (de) 2017-03-09 2018-09-13 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren zur Bestimmung der momentanen Position eines Schienenfahrzeugs, Computerprogramm, Schienenfahrzeug und Schienenfahrzeug-Ortungssystem
DE102020203635A1 (de) 2020-03-20 2021-09-23 Siemens Mobility GmbH Verfahren zum Betreiben eines Schienenfahrzeuges

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DE19532104C1 (de) * 1995-08-30 1997-01-16 Daimler Benz Ag Verfahren und Vorrichtung zur Bestimmung der Position wenigstens einer Stelle eines spurgeführten Fahrzeugs
DE19538022C1 (de) * 1995-10-12 1997-01-09 Schaltbau Ag Vorrichtung zur Steuerung eines Schienenfahrzeugs
EP0893322A1 (fr) * 1997-07-22 1999-01-27 Westinghouse Air Brake Company Système de vision de voie ferrée

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10110795B2 (en) 2002-06-04 2018-10-23 General Electric Company Video system and method for data communication
US9919723B2 (en) 2002-06-04 2018-03-20 General Electric Company Aerial camera system and method for determining size parameters of vehicle systems
US9873442B2 (en) 2002-06-04 2018-01-23 General Electric Company Aerial camera system and method for identifying route-related hazards
WO2007091072A1 (fr) * 2006-02-07 2007-08-16 Richard Shenton Systeme pour mesurer la vitesse et/ou la position d'un train
WO2007096273A1 (fr) * 2006-02-20 2007-08-30 Siemens Aktiengesellschaft Procédé de surveillance assistée par ordinateur du fonctionnement d'un véhicule se déplaçant sur un parcours prédéterminé, en particulier d'un véhicule ferroviaire guidé sur rails
WO2008005620A2 (fr) * 2006-06-30 2008-01-10 General Electric Company Système et procédé de navigation avec des images saisies
WO2008005620A3 (fr) * 2006-06-30 2008-02-28 Gen Electric Système et procédé de navigation avec des images saisies
WO2009017884A1 (fr) * 2007-08-01 2009-02-05 General Electric Company Procédé de navigation de locomotive et d'identification de voie par vidéo
WO2010084035A1 (fr) * 2009-01-23 2010-07-29 Siemens Aktiengesellschaft Procédé et dispositif destinés à déterminer la position de véhicules ferroviaires
WO2012117070A1 (fr) * 2011-03-03 2012-09-07 Knorr-Bremse Systeme für Schienenfahrzeuge GmbH Système d'aide à la conduite d'un véhicule sur rails et procédé permettant de déterminer une recommandation de conduite par un système d'aide à la conduite d'un véhicule sur rails
US9221481B2 (en) 2011-06-09 2015-12-29 J.M.R. Phi Device for measuring speed and position of a vehicle moving along a guidance track, method and computer program product corresponding thereto
US9533626B2 (en) 2011-09-30 2017-01-03 Siemens S.A.S. Method and system for determining the availability of a lane for a guided vehicle
WO2013045315A1 (fr) * 2011-09-30 2013-04-04 Siemens S.A.S. Methode et systeme de determination d'une disponibilite de voie pour un vehicule guide
US10049298B2 (en) 2014-02-17 2018-08-14 General Electric Company Vehicle image data management system and method
US11124207B2 (en) 2014-03-18 2021-09-21 Transportation Ip Holdings, Llc Optical route examination system and method
US9875414B2 (en) 2014-04-15 2018-01-23 General Electric Company Route damage prediction system and method
CN109334711A (zh) * 2018-08-23 2019-02-15 浙江浙大列车智能化工程技术研究中心有限公司 一种列车精确定位系统
GB2577106A (en) * 2018-09-14 2020-03-18 Reliable Data Systems International Ltd Vehicle Position Identification
WO2020053598A3 (fr) * 2018-09-14 2020-05-07 Reliable Data Systems International Limited Identification de position de véhicule
WO2020098049A1 (fr) * 2018-11-15 2020-05-22 中车株洲电力机车有限公司 Système et procédé de stationnement à alignement auxiliaire pour véhicule de transport ferroviaire
WO2023099292A1 (fr) 2021-12-01 2023-06-08 Track Machines Connected Gesellschaft M.B.H. Procédé de détermination d'une indication de position relative dans une piste

Also Published As

Publication number Publication date
WO2002058984A8 (fr) 2002-10-03
DE10104946B4 (de) 2005-11-24
DE10104946A1 (de) 2002-08-22

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