Method and device for generating a digital image of a track of a rail vehicle

Abstract

The invention relates to a method and a device for generating a digital image of a route of a rail vehicle (1), wherein at least one land-side object (8) is detected by means of at least one passenger boarding sensor (4, 5) of the rail vehicle (1) and at least one distance of the detected land-side object (8) to the rail vehicle (1) is determined by means of an evaluation device and a digital image of the route of the rail vehicle (1) is generated on the basis of the at least one determined distance to the rail vehicle (1) by means of the evaluation device or a land-side evaluation unit.

Description

[0001] The invention relates to a method and a device for generating a digital image of a route of a rail vehicle, wherein at least one land-side object is detected by means of at least one passenger boarding sensor of the rail vehicle.

[0002] For comfortable boarding and alighting from a passenger rail vehicle, a step-free, gap-free, and as level as possible, horizontal transition between the passenger platform and the vehicle's entrance area is desirable. Various folding or sliding steps or similar solutions have been developed to bridge the gap between the platform and the vehicle, some of which are also height-adjustable. Height-adjustable step platforms are known, for example, from DE 199 09 700 A1 and DE 201 04 221 U1. For optimal adjustment of these adjustable step platforms, the height and distance of the platform from the vehicle entrance can be determined using sensors. The published patent application WO 98 / 58 148 A1 teaches a rail vehicle with corresponding sensors.

[0003] Raising or lowering the floor height of a rail vehicle has also become known. For example, the publications DE 103 15 000 A1, WO 2008 / 081 019 A1, and EP 3 608 195 A1 teach corresponding level control systems, with door sensors detecting any possible offset between the platform and the floor.

[0004] Now, the infrastructure facilities along a railway line are subject to change over time, for example due to wear and tear, other-related damage, or vegetation. For example, platforms can settle due to mining damage, and their position and / or dimensions can change over time. Vegetation along the line is also subject to change over time. For example, tree branches can grow into the clearance gauge of rail vehicles traveling on the line. The line must therefore be constantly monitored for changes, repaired, and maintained. For example, nearby vegetation must be cut back or damage to infrastructure facilities must be repaired. Special surveying vehicles can be used for this purpose. These survey tracks, platforms, or other infrastructure facilities at defined waypoints at predetermined distances from one another, for example using lasers.

[0005] Furthermore, sensor systems for monitoring the track of rail vehicles have become known. The acquired data can be used for obstacle detection and thus collision avoidance. German Patent Application DE 10 2014 219 691 A1 relates to a method for monitoring the surroundings of a rail vehicle using at least one sensor unit. The sensor unit can comprise an image sensor, a distance sensor, in particular a radar sensor, and / or a motion detector. WO 2006 / 008 292 A1 describes a method for monitoring the track of a rail vehicle. If a predetermined standard clearance profile is violated, a check is performed to determine whether the obstacle is known. WO 2004 / 028 881 A1 discloses a suitable sensor system for this purpose.

[0006] Today, camera, laser, radar, and lidar systems are used in particular to capture the surroundings of a rail vehicle. These systems also make it possible to create a digital image, particularly a three-dimensional one, of the track and thus the route including its surroundings – a so-called digital twin of the track. Digital twins are digital representations and thus virtual replicas of machines or systems that include all relevant data and simulation models. In addition to the models of the represented object, they also contain simulations that describe the properties or behavior of the represented object.

[0007] WO 2022 / 043 213 A1 describes a method for checking a clearance for a rail vehicle by means of a simulated journey of a digital twin of the rail vehicle on a digital twin of a track for the rail vehicle.

[0008] The regular creation of a digital twin of the route makes it possible to monitor the above-mentioned temporal changes to the route and to initiate countermeasures.

[0009] The invention is based on the object of simplifying the monitoring of a rail vehicle route.

[0010] The problem is solved by the subject matter of the independent patent claims. Further developments and refinements of the invention are found in the features of the dependent patent claims.

[0011] A method according to the invention for generating a digital image of a route of a rail vehicle, in particular a rail vehicle for passenger transport, with at least one passenger entry sensor at least for monitoring an entry area in front of an outer door of the rail vehicle comprises the following method steps: a. detecting at least one land-based object by means of the at least one passenger entry sensor; b. Determining at least one distance between the detected land-based object and the rail vehicle; c. Generating a digital image of the route of the rail vehicle based on at least one distance to the rail vehicle.

[0012] A device according to the invention is designed to carry out the method according to the invention; for this purpose, it comprises the means suitable for carrying out the respective method step, in particular: - at least one passenger entry sensor for detecting at least one measured value of a distance to a land-side object; - at least one evaluation device for determining at least one distance to the land-based object; - at least one, in particular land-side, evaluation unit for generating a digital image of a route of a rail vehicle based on the at least one determined distance to the rail vehicle and / or the at least one vehicle-side evaluation device is additionally configured to generate a digital image of a route of a rail vehicle based on the at least one determined distance to the rail vehicle.

[0013] The at least one passenger boarding sensor is suitably designed and arranged, in particular in or on a rail vehicle, for detecting at least one measured value relating to a distance of a land-based object from the rail vehicle. The at least one evaluation device can be part of the at least one passenger boarding sensor or separate from this part of the rail vehicle. It is configured to determine at least one distance of the detected land-based object from the rail vehicle. Furthermore, the vehicle-side evaluation device and / or an evaluation unit, in particular a land-based one, can be configured to generate the digital image of the rail vehicle's route based on the at least one determined distance of the at least one detected object from the rail vehicle.

[0014] A rail vehicle according to the invention, in particular a rail vehicle for passenger transport, comprises at least the at least one passenger entry sensor and the at least one evaluation device.

[0015] The at least one passenger entry sensor is, in particular, a conventional passenger entry sensor known from the prior art, in particular a contactless sensor. It is typically designed as an optical sensor, for example, a camera-based sensor, and / or as an ultrasonic, laser, radar, and / or lidar sensor. It can therefore be part of an ultrasonic, laser, radar, and / or lidar system and / or an optical sensor system, for example, a camera system.

[0016] The at least one passenger entry sensor is located in particular in the area of ​​an exterior door of the rail vehicle. It is also less commonly referred to as a door sensor. The exterior door can also be referred to as an entry or exit door.

[0017] The at least one passenger boarding sensor is configured at least to monitor the boarding area and is suitably arranged in or on the rail vehicle. The boarding area, which can also serve as an alighting area and be referred to as such, comprises at least the area surrounding the rail vehicle, particularly immediately in front of the outer door of the rail vehicle. This includes, in particular, a gap between the rail vehicle and a platform for the rail vehicle, as well as at least a part of the platform of the rail vehicle that is close to the rail vehicle or track. Furthermore, at least part of the floor in an interior of the rail vehicle behind the outer door, briefly referred to as the entrance or passenger entrance of the rail vehicle, can be included.The at least one passenger boarding sensor is thus designed to detect at least the platform, in particular at least one platform edge, and is arranged in or on the rail vehicle.

[0018] Advantageously, the at least one passenger entry sensor is configured as a suitable measuring device for detecting at least one measured value relating to a horizontal and / or vertical distance of a land-based object, for example the platform, from the rail vehicle, in particular relating to a predetermined reference point of the rail vehicle, for example a point on the front edge of the entrance of the rail vehicle. A horizontal and / or vertical distance of the object from the rail vehicle can be detected directly by means of the at least one passenger entry sensor, and / or at least one measured value, in particular relating to a measured variable deviating from a length or distance, such as a travel time, is detected by means of the at least one passenger entry sensor, from which a horizontal and / or vertical distance of the object from the rail vehicle can be determined.For example, the distance of the object from the rail vehicle can be determined from one or more photos of the object captured by one or more camera systems. A land-based object is defined as an object, particularly one close to the track, located in the area of ​​the rail vehicle's route, such as trackside infrastructure facilities, structures, or vegetation. A land-based object is typically stationary.

[0019] Analogous to the detection of at least one measured value for a distance between the platform and the rail vehicle, i.e. for example the distance between the platform edge and a front edge of the entrance of the rail vehicle in the area of ​​the outer door, other objects close to the vehicle in a sensor field of the at least one passenger entry sensor or horizontal and / or vertical distances of the objects located in the sensor field to the rail vehicle can also be detected by means of the at least one passenger entry sensor.

[0020] The expression of at least one measured value shall also be considered to include multiple measured values ​​for horizontal and / or vertical distances of an object, in particular a point cloud. Using these multiple recorded and / or determined distances, in particular the point cloud, an object can be recognized using appropriate evaluation algorithms.

[0021] The determination of the at least one distance of the rail vehicle from the at least one object in the vehicle's surroundings can be carried out by the at least one passenger entry sensor itself, or the at least one passenger entry sensor detects the at least one measured value for a horizontal and / or vertical distance of the object from the rail vehicle and makes it available for evaluation, in particular to an evaluation device which is designed to determine the at least one distance of the detected land-side object from the rail vehicle on the basis of the at least one measured value for a horizontal and / or vertical distance of the object from the rail vehicle detected and provided by the at least one passenger entry sensor.In particular, the at least one distance of the detected object from the rail vehicle is determined based on the at least one measured value provided by the at least one passenger entry sensor by a vehicle-side door control as a correspondingly configured evaluation device. The evaluation device, in particular the door control, and / or the at least one passenger entry sensor are configured to determine and provide multiple, in particular horizontal and / or vertical, distances of the at least one land-side object of the track detected by the at least one passenger entry sensor from the rail vehicle.

[0022] From the determined distance of the detected object to the rail vehicle, the distance of the detected object to the track of the rail vehicle, in particular to a predefined reference point of the track, for example, a rail of the track, can be determined. This is easily possible if the position of the reference point of the rail vehicle, to which the distance of the object is determined, is known relative to the position of the reference point of the track.

[0023] This is particularly the case if the position of the rail vehicle is known, at least along the route, in particular in the track along the route. From the known position of the rail vehicle, in particular the reference point of the rail vehicle, as well as from the at least one determined distance of the at least one detected object from the rail vehicle, in particular from the reference point of the rail vehicle, the location of the at least one detected object can be determined.

[0024] According to a further development of the invention, method step a. comprises, or occurs simultaneously with, method step a. determining a position of the rail vehicle at least along the track. A position is understood to be the location of a predetermined point on the earth's surface or in a predetermined space. Here, the location of at least one point of the rail vehicle, in particular of the at least one reference point of the rail vehicle, for example, of the at least one passenger boarding sensor, on the earth's surface or in particular on the track of the track is to be detected or determined.

[0025] The position of the rail vehicle can be determined using positioning systems such as GNSS, such as GPS, GLONASS, Galileo, or Baidu. In addition, track beacons, for example, are suitable for determining the position of the rail vehicle on the track. The position of the rail vehicle can also be determined by determining the distance from predefined, known starting points, or by detecting objects such as prominent structures and subsequently determining the path, particularly by comparing them with a digital map on which the detected objects are recorded.

[0026] Based on the at least one determined distance of the detected land-based object from the rail vehicle, a digital image of the rail vehicle's route is generated. The digital image of an object comprises, in particular, several determined distance values, in particular a point cloud. It is therefore not a pure digital photograph. Advantageously, the position of the object relative to the rail vehicle, as well as the size and shape of a side of the object facing the rail vehicle, can be derived from the digital image. Thus, the digital image can also be used for object recognition.

[0027] Preferably, the method steps are carried out repeatedly, in particular also while the rail vehicle is traveling on a track of the route, in particular on at least a section of the route, advantageously along the entire route.

[0028] Furthermore, the at least one passenger entry sensor can be configured to detect multiple landside objects simultaneously. This allows distances to multiple trackside objects to be determined from a single measurement.

[0029] In a further development, method step a. comprises the detection of several landside objects by means of the at least one passenger entry sensor and method step b. then comprises the determination of at least one distance of the detected landside objects to the rail vehicle or to a reference point of the rail vehicle or to a reference point of the track of the rail vehicle and method step c. comprises the generation of a digital image of the route of the rail vehicle based on the determined distances of the detected objects to the rail vehicle.

[0030] According to a further development, at least method step a. is repeatedly executed at predetermined time intervals or at predetermined distances from one another along the route. In particular, this occurs continuously while the rail vehicle is traveling on the route. As already explained above, method steps b. and c. can also be repeatedly executed accordingly. In particular, the execution of method step b. follows immediately after the execution of method step a. However, the repetition of method step b. does not necessarily have to be repeated at the same predetermined spatial or temporal intervals, since deviations may occur due to latencies.

[0031] Furthermore, method step b. can be followed in a further development by transmitting at least the at least one distance to a land-based evaluation unit, wherein method step c. can be carried out by the land-based evaluation unit. In this respect, the transmission and generation of the digital image can also be carried out repeatedly, in particular cyclically, but possibly differently from the detection of the objects, for example due to the availability of a transmission network, such as a mobile communications network, which can be used for the transmission. When transmitting the at least one distance, other data can also be transmitted, for example image data, in particular of the at least one passenger entry sensor, from which the distances are determined and which can then be used for land-based object detection. Furthermore, the position information linked to the at least one distance can be transmitted.In addition to the position information, for example by means of a so-called location stamp, time information, for example by means of a so-called time stamp, can also be linked to the determined distances in order to be able to detect a change over time, for example after several passes, and to derive measures from this if necessary.

[0032] Based on several determined distances, for example, point clouds, several recorded land-based objects from the rail vehicle, and together with their position along the rail vehicle's route, a digital map of the rail vehicle's route can be generated. A digital image of the rail vehicle's route is specifically understood to mean a digital map. With additional technical characteristics of the objects on the route, such as their physical properties and behavior, a fully-fledged digital twin of the rail vehicle's route could also be generated. A digital map can be described as a simple digital twin, in which only the position of the objects on the rail vehicle's route is recorded.

[0033] While the rail vehicle is traveling on a track of the route and / or when the rail vehicle is stopped, for example at a stop, in particular a platform, the distance values ​​to the objects in the vicinity of the rail vehicle and the respective associated position of the rail vehicle are determined. The determined distance values ​​are, for example, provided with a so-called location and time stamp. These values ​​are transmitted in particular to a land-based database and stored there. From the data entered in the database, i.e. from the distance and position data of the, in particular several, detected objects on the route, the digital image - the digital map - of the route can then be generated by means of a further, land-based evaluation unit. The land-based evaluation unit can be suitably designed for object recognition, in particular from the determined distance values ​​to the detected objects.

[0034] The invention thus simplifies the creation of a digital map of the track using a passenger entry sensor to monitor a space in front of an external door of the rail vehicle. As already explained, the regular creation of a digital map or a digital twin of the track enables the monitoring of the aforementioned temporal changes to the track and thus the detection and implementation of necessary maintenance or repair measures, such as repairs to trackside infrastructure facilities or their structural modifications, trimming of vegetation, and the like. This is possible easily and cost-effectively with the at least one existing passenger entry sensor. Separate surveying work, for example, using specially trained vehicles, can be reduced or even avoided.Instead, vehicles in regular operation can be used for this purpose, allowing the process to be carried out regularly. The frequency of measurements could increase the availability of the line. Vegetation could be treated specifically with pesticides or mechanical treatment. The line could be monitored for foreign objects near the track. Platform settlements or deformations could be recorded.

[0035] Construction site areas could be recorded and thus precisely stored in the route plan.

[0036] At least one measured value relating to the distance of a land-based object from the rail vehicle, recorded by a passenger entry sensor of a rail vehicle for monitoring a passenger entry of the rail vehicle, is used to generate a digital image of the rail vehicle's route. Similarly, the device according to the invention, in particular comprising at least the at least one passenger entry sensor of the rail vehicle, is used to generate the digital image of the rail vehicle's route.

[0037] The at least one measured value recorded by the at least one passenger entry sensor serves to determine the at least one horizontal and / or vertical distance between the detected land-based object and the rail vehicle. The measured value is recorded at the stated distance and represents this distance. The measured variable "distance", i.e. the shortest connection between at least one reference point of the rail vehicle and at least one reference point of the detected land-based object, does not have to be the direct object of the measurement. The distance can be determined using physically known or defined mathematical relationships from variables to which the measurement directly applies. The measured value can, for example, also be a travel time, a travel time difference, a frequency shift or one or more photographs from which the distance is determined.

[0038] According to a further development of the invention, at least the method step a. is followed by: - Detecting at least one detected object using a suitable evaluation algorithm.

[0039] Object detection is carried out using the suitable evaluation algorithm, in particular based on the measured values ​​recorded by the at least one passenger entry sensor and / or based on the distance values ​​determined in method step b., in particular based on the point cloud to the at least one detected object. In particular, multiple detected objects can be detected in this way. Object detection can be carried out using the vehicle-side evaluation device on which the suitable evaluation algorithm runs, or object detection can be carried out using the land-side evaluation unit on which the suitable evaluation algorithm is implemented, wherein method step c. then reads: determining at least one distance of the detected land-side object from the rail vehicle, in particular from a reference point of the rail vehicle or from a reference point of the track of the rail vehicle.

[0040] As already explained, the at least one passenger boarding sensor is designed in particular to detect a gap between the entrance of the rail vehicle and the platform, which gap is arranged in front of the outer door of the rail vehicle when the rail vehicle is stopped at a stop or in a station. In a further development, the at least one passenger boarding sensor can be suitably designed and suitably arranged in or on the rail vehicle for detecting persons on a track who have fallen in an entrance area between a rail vehicle and a platform. According to a further development, the device according to the invention can be designed from the at least one passenger boarding sensor and the at least one vehicle-side evaluation device to detect persons on a track who have fallen in an entrance area between a rail vehicle and a platform.

[0041] The on-board evaluation unit can thus be configured for object recognition to distinguish relevant from irrelevant objects. This allows mobile objects to be distinguished from stationary objects, or small and / or light objects from large and / or heavy objects. For example, insects, small birds, or leaves can be identified as harmless, while larger tree branches extending into the track can be recognized as potentially hazardous. In particular, changes to trackside infrastructure facilities and structures must be identified. The land-based evaluation unit can be suitably configured for this purpose, either additionally or alternatively.

[0042] This is made possible in particular by a corresponding algorithm which is implemented and executed on the evaluation device of the rail vehicle and / or on the land-based evaluation unit.

[0043] A corresponding computer program product comprises instructions that, when the program is executed by a suitable vehicle-based evaluation device and / or a land-based evaluation unit, cause them to execute method step c and / or subsequent method steps. A provision device for the computer program product stores and / or provides the computer program product. In particular, the provision device is a data storage medium on which the computer program product is stored.

[0044] According to a further development of the invention, the device comprising the at least one passenger entry sensor and the at least one evaluation device, in particular a door control, is designed to control or regulate an extension and / or retraction movement of an adjustable step platform of the rail vehicle. Accordingly, method step b. can be further developed when the rail vehicle stops at a platform: controlling a movable step platform of the rail vehicle in the area of ​​the outer door depending on the determined distances.

[0045] The invention permits numerous embodiments. It is explained in more detail with reference to the following figures, each of which illustrates an exemplary embodiment. Identical elements in the figures are provided with the same reference numerals. Fig. 1 shows schematically a flow diagram of an embodiment of the method according to the invention, Fig. 2 shows schematically an embodiment of a rail vehicle according to the invention.

[0046] In Fig. 1 shows a sequence or flow diagram of an embodiment of the method according to the invention.

[0047] In a first method step a., at least one measured value for a distance between at least one trackside object and a reference point of the rail vehicle is recorded using at least one passenger boarding sensor of a rail vehicle for passenger transport. Several measured values ​​for distances can be recorded for several trackside objects, for example, so-called point clouds can be recorded for each object. This makes it possible to determine the shape or form and / or size of the respectively detected objects and thus also to recognize the objects using a suitable object recognition algorithm. In the subsequent method step b., at least one distance of the at least one object to the rail vehicle is determined from the at least one recorded measured value. Likewise, at least one distance, in particular several distances to the rail vehicle, can be determined for several detected objects.This is done primarily by means of an on-board evaluation device. Object detection is also performed by the on-board evaluation device.

[0048] In addition, at the same time as process step a, the absolute or relative position of the rail vehicle within the rail vehicle's route is recorded, for example, using a positioning unit by receiving a position signal, such as a GNSS signal, and the recorded position is linked to the recorded distance values. The time at which the respective distance values ​​were recorded can also be recorded and linked to them.

[0049] These process steps can be carried out repeatedly, in particular continuously while the rail vehicle is traveling on a track of the route, i.e. at predetermined time or location intervals along the route of the rail vehicle.

[0050] From these determined distances and, if applicable, based on the corresponding recorded positions of the rail vehicle, a digital image of the rail vehicle's route is then generated in process step c. Process step c. can either be carried out by the vehicle-side evaluation device, which is then configured accordingly, or process step c. can be carried out by a stationary, land-based evaluation unit. Accordingly, the determined distances of the detected objects between process steps b. and c. would be transmitted from the rail vehicle to the land-based evaluation unit. Additionally or alternatively, the land-based evaluation unit is configured for object recognition.

[0051] Using the digital image of the track created for the detected and / or recognized objects on the track and repeatedly updated, for example, by several appropriately equipped vehicles, the objects along the track and their changes can be monitored over time. In addition to purely surveying or mapping the surrounding area, the process can also be used to create a digital twin of the track.

[0052] This is particularly easy to do by using the passenger entry sensors and their measurement data.

[0053] Fig.2 illustrates a car body 1 of a rail vehicle for passenger transport with one passenger entry sensor 4, 5, also called door sensors, arranged in the area of ​​two external doors 2, 3 of the rail vehicle, for detecting a respective environment of the external doors 2, 3. The rail vehicle 1 is depicted on a track of a route of the rail vehicle 1 during a stop at a platform as a landside object 8.

[0054] The passenger entry sensors 4, 5 are arranged differently. One passenger entry sensor 4 is arranged above the outer door 2, the other passenger entry sensor 5 is arranged below the door 4. Their sensor fields 6, 7 differ accordingly. The reference numerals 6 and 7 identify the respective sensor fields of the passenger entry sensors 3 and 4. However, the passenger entry sensors 4, 5 are equally configured to record measured values ​​for at least one distance from landside objects to the respective passenger entrance. This makes it possible, for example, to detect whether the outer door 2, 3 is located on a platform, so that the outer door 2, 3 opens of its own accord, or to detect people who have fallen in the area of ​​the entrance between the train and the platform.

[0055] Such passenger boarding sensors 4, 5 have a very high measurement resolution, which makes it possible to continuously and dynamically measure the nearby infrastructure. They can thus measure not only the platform as a landside object 8, but also the track and / or the surroundings of the rail vehicle 1, generating valuable track data that is always very up-to-date, since rail vehicles continuously measure and can thus continuously record the dynamic environment.

[0056] In addition, the passenger entry sensors 4, 5, optionally together with an evaluation device not shown, are designed to control or regulate a step platform of the rail vehicle for bridging a gap between the entry area of ​​the rail vehicle 1 and the platform.

Claims

[1] Method for generating a digital image of a route of a rail vehicle (1) with at least one passenger entry sensor (4, 5) at least for monitoring an entry area in front of an outer door (2, 3) of the rail vehicle (1), comprising the following method steps: a. detecting at least one land-side object (8) by means of the at least one passenger entry sensor; b. determining at least one distance of the detected land-based object (8) to the rail vehicle (1); c. Generating a digital image of the route of the rail vehicle (1) based on at least one distance to the rail vehicle (1). [2] Method according to claim 1, characterized by that in method step b. several distances to the at least one detected land-side object (8) to the rail vehicle (1) are determined. [3] Method according to one of claims 1 or 2, characterized bythat at least process step a. is carried out repeatedly at predetermined time intervals or at predetermined distances from one another. [4] Method according to one of claims 1 to 3, characterized by that follows process step b. and precedes process step c.: - transmitting at least the at least one distance to a land-based evaluation unit, wherein method step c. is carried out by the land-based evaluation unit. [5] Method according to one of claims 1 to 4, characterized by that follows the procedural step a.: - Detecting the at least one detected object (8) by means of a suitable evaluation algorithm. [6] Method according to one of claims 1 to 5, characterized by that process step a. includes: Detecting a plurality of landside objects (8) by means of the at least one passenger boarding sensor (4, 5), wherein method step b comprises: determining at least one distance of the detected landside objects (8) from the rail vehicle (1), and wherein method step c comprises: generating a digital image of the route of the rail vehicle (1) based on the determined distances of the detected objects (8) from the rail vehicle (1). [7] Method according to one of claims 1 to 6, characterized by that method step a. comprises or occurs simultaneously with method step a.: determining a position of the rail vehicle (1). [8] Method according to claim 7, characterized by that method step c. comprises or takes place simultaneously with method step c.: generating the digital image of the route of the rail vehicle (1) on the basis of the determined position of the rail vehicle (1). [9] Method according to one of claims 1 to 8, characterized bythat follows method step b.: controlling a movable step platform of the rail vehicle (1) in the area of the outer door (2, 3) depending on the determined distances. [10] Use of at least one measured value, recorded by means of a passenger boarding sensor (4, 5) for monitoring a passenger boarding, for a distance of a land-based object (8) to a rail vehicle (1) for generating a digital image of a route of the rail vehicle (1). [11] Apparatus for carrying out the method according to any one of claims 1 to 9, comprising: - at least one passenger entry sensor (4, 5) for detecting at least one measured value relating to a distance to a land-side object (8); - at least one evaluation device for determining at least one distance to the land-side object (8); - at least one evaluation unit for generating a digital image of a route of a rail vehicle (1) based on the at least one determined distance and / or the at least one evaluation device configured to generate a digital image of a route of a rail vehicle (1) based on the at least one determined distance. [12] Device according to claim 11, characterized by that it is designed to detect persons on a track who have fallen in an area of an entrance between a rail vehicle (1) and a platform. [13] Device according to one of claims 11 or 12, characterized by in that it comprises a plurality of passenger entry sensors (4, 5) for respectively detecting at least one measured value relating to a distance to a land-side object (8). [14] Use of the at least one device according to one of claims 11 to 13 for generating a digital image of a route of a rail vehicle (1).

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