Self-adjusting environment detecting device for railway vehicles and corresponding method

Abstract

An environment detection device (3) for a rail vehicle (2) is described. The environment detection device (3) includes a track detection unit (5) configured to detect the position (P) and course (VL) of a track (1) in the vicinity of the rail vehicle (2). The environment detection device (3) also includes an environment detection unit (6) arranged in a fixed orientation relative to the track detection unit (5) and configured to detect the area around the rail vehicle (2). Furthermore, the environment detection device (3) includes a mounting unit (4) for jointly mounting the track detection unit (5) and the environment detection unit (6), and a control unit (7). The track detection unit (5) and the environment detection unit (6) are mounted in a way that ensures orientation stability by the mounting unit (4).The control unit (7) is configured to align the orientation (0) of the environment detection unit (6) with the detected position (P) and the detected path (VL) of the track (1), so that the area of ​​the track (1) and the surroundings of the track (1) can be detected by the environment detection unit (6). An environment detection method is also described. Furthermore, a rail vehicle (2) is described.

Description

[0001] The invention relates to an environment detection device. The invention also relates to an environment detection method. Furthermore, the invention relates to a rail vehicle. Due to the long braking distances in rail transport, assisted driving or even autonomous driving of rail vehicles requires sensor devices with which an area located far away from the rail vehicle, in particular in the vicinity of the track traveled by the rail vehicle, can be monitored. However, the sensors used to date generally have only a low resolution, so that the classification or detection of different objects over long distances has not been possible.

[0002] Traditionally, a train driver surveys the track ahead and reacts appropriately to obstacles, hazards, and signals that they can visually detect. It would be desirable to automate such functions to increase rail safety and potentially even save personnel. However, automation of these functions is not yet possible for longer distances.

[0003] Patent specification DE 197 46 970 B4 discloses a method for detecting obstacles in front of rail vehicles traveling along a specific route, with an on-board computer storing the route data. The route data stores coordinates of points located centrally between the rails at specific intervals. A vehicle sensor targets the stored points and points interpolated between them by pivoting the sensor signal by an angle relative to the current direction of travel, depending on the track curvature and distance. The aperture angle of the signals received by the vehicle sensor, centered on the targeted point, is varied depending on the distance and pivot angle in such a way that only the track area of ​​interest is detected. The points between the stored points are determined by interpolation on straight lines or parabolas.

[0004] EP 3 521 132 A1 discloses a method for detecting a travel path of rail-bound vehicles. A route network on which the vehicle moves is provided in a digital route network. The current position of the vehicle is determined, and current position data of the vehicle is generated. The current movement of the vehicle is detected, and current movement data of the vehicle is generated. The travel path is determined based on the detected data.

[0005] WO 2004 / 028881 A1 relates to monitoring a route of an autonomous mobile unit, such as a driverless rail-bound vehicle, using a multi-sensor system in which three different sensor types, a laser sensor, a radar sensor and a video sensor, are fused and the route is monitored using the fusion result.

[0006] The task is therefore to enable object detection and object identification even over long distances.

[0007] This object is achieved by an environment detection device for a rail vehicle according to patent claim 1, an environment detection method according to patent claim 11 and a rail vehicle according to patent claim 12.

[0008] The surroundings detection device according to the invention for a rail vehicle has a rail route detection unit which is designed to detect a position and a course of a rail route in the surroundings of the rail vehicle, preferably in the front area in front of the rail vehicle. Part of the surroundings detection device according to the invention is also an surroundings detection unit which is arranged or aligned in a fixed orientation relationship to the rail route detection unit and is designed to detect the surroundings of the rail vehicle, which are also preferably in the front area in front of the rail vehicle, and the course of the rail or the rail route, which may be part of the surroundings. A fixed orientation relationship should be understood to mean that the relative orientation of the rail route detection unit and the surroundings detection unit are always constant. For example, they can be the same orbe aligned parallel or be aligned such that their field of view overlaps in a predetermined area at a predetermined distance. Furthermore, the environment detection device according to the invention comprises a bearing or bearing unit common to the rail line detection unit and the environment detection unit. Furthermore, the environment detection device according to the invention comprises a control unit. According to the invention, the rail line detection unit uses passive infrared image capture or an active sensor technology such as lidar sensor technology as the recording technology.

[0009] It can also include an optical detection unit. A passive infrared sensor unit has a high degree of target detection accuracy. However, the infrared sensor unit requires temperature differences. Lidar enables three-dimensional scanning of objects, but due to the pixel-by-pixel scanning of the environment, it is less accurate than passive sensors, especially infrared sensors.

[0010] The mounting unit is configured to mount the rail track detection unit and the environment detection unit in a stable orientation. In this context, stable orientation mounting means that a preferably common orientation of the rail track detection unit and the environment detection unit, set by the control unit, is maintained by the mounting, even if the rail vehicle changes its orientation. The mounting must therefore enable a rotational or pivoting movement of the rail vehicle relative to the rail track detection unit and the environment detection unit without this movement of the rail vehicle being transmitted to the rail track detection unit and the environment detection unit.The control unit is designed to align the orientation of the environment detection unit with the detected position and the course of the rail line detected by the rail line detection unit, so that the area of ​​the rail line and the area surrounding the rail line can be detected by the environment detection unit. In other words, self-adjusting monitoring of a rail line, preferably located in front of a rail vehicle, takes place by detecting and locating the rail line by the rail line detection unit, which, together with the environment detection unit, is aligned with a section of the rail line to be monitored. The actual monitoring and identification of objects in the observation area is then carried out based on data from the environment detection unit.If the course of the rail line changes, this change is detected by the rail line detection unit, and the control unit, together with the rail line detection unit, precisely aligns the surroundings detection unit to the observation area around the rail line or adjusts it accordingly. Automated tracking allows the field of view of the surroundings detection unit to be reduced by one to two orders of magnitude compared to a sensor unit without such tracking. This reduction is associated with an improvement in the directional sharpness, resolution, and range of the surroundings detection unit.

[0011] In the environment detection method according to the invention, a position and a course of a rail line in the environment of a rail vehicle are detected by a rail line detection unit which is designed to use one of the following detection techniques: passive infrared imaging, active sensor technology, preferably Lidar.

[0012] The surroundings of the rail vehicle are recorded by an environment detection unit, which is arranged in a fixed orientation relationship to the rail line detection unit.

[0013] The rail line detection unit and the environment detection unit are mounted in a common bearing unit to ensure stable orientation.

[0014] The orientation of the environment detection unit is aligned by a control unit to the detected course of the rail line, so that the area of ​​the rail line and the surroundings of the rail line can be detected by the environment detection unit. The environment detection method according to the invention shares the advantages of the environment detection device according to the invention.

[0015] The rail vehicle according to the invention has the environment detection device according to the invention. The rail vehicle according to the invention shares the advantages of the environment detection device according to the invention.

[0016] Some components of the environment detection device according to the invention can, optionally after supplementing with hardware systems, such as a sensor unit and mechanical components of a mounting unit, be predominantly implemented as software components. This particularly applies to parts of the control unit and the mounting unit.

[0017] In principle, these components can also be partially implemented in the form of software-supported hardware, such as FPGAs or similar, especially when particularly fast calculations are required. Likewise, the required interfaces, for example, when only data is transferred from other software components, can be implemented as software interfaces. However, they can also be implemented as hardware interfaces controlled by suitable software.

[0018] A largely software-based implementation has the advantage that even computer systems already present in a rail vehicle, after possibly being supplemented with additional hardware elements, such as additional sensor units, can be easily retrofitted with a software update to operate in the manner according to the invention. In this respect, the object is also achieved by a corresponding computer program product with a computer program that can be loaded directly into a memory device of such a computer system, with program sections for executing the steps of the method according to the invention that can be implemented by software when the computer program is executed in the computer system.

[0019] Such a computer program product may, in addition to the computer program, include additional components such as documentation and / or additional components, including hardware components such as hardware keys (dongles, etc.) for using the software.

[0020] A computer-readable medium, such as a memory stick, a hard disk, or another portable or permanently installed data storage device, can be used for transport to the storage device of the computer system and / or for storage on the computer system. The computer unit can store the program sections of the computer program that can be read and executed by a computer unit. For this purpose, the computer unit can, for example, have one or more cooperating microprocessors or the like.

[0021] The dependent claims and the following description each contain particularly advantageous embodiments and developments of the invention. In particular, the claims of one claim category can also be developed analogously to the dependent claims of another claim category and their description sections. Furthermore, within the scope of the invention, the various features of different embodiments and claims can also be combined to form new embodiments.

[0022] In one variant of the environment detection device according to the invention, the mounting unit comprises a gimbal. A gimbal is a motorized mounting unit that can smooth the movements of a sensor unit or stabilize an observation or recording area. The rail line detection unit and the environment detection unit are then arranged on the gimbal in a fixed orientation relationship. Advantageously, the two sensor units only need to be calibrated to each other once in advance regarding their orientation, since they both have a fixed orientation relationship that cannot change during operation.

[0023] Such a gimbal can include command data as input variables for controlling an orientation generated, determined, or set based on the sensor data of the rail track detection unit. Input variables can also include movements of the rail vehicle, a so-called sinusoidal motion, and height deviations due to unevenness in the track, as well as the current gradient.

[0024] Advantageously, the sensors of the environment detection device can be tracked more precisely and without interference.

[0025] Such a mounting unit can, in particular, comprise a gimbal mount, which prevents unwanted changes in the direction of the sensors due to external mechanical influences. This advantageously increases the measurement accuracy of both the rail track detection unit and the environment detection unit. Using a gimbal reduces the drift of the field of view of passive sensors, such as optical or infrared sensors. This allows for longer exposure times, thereby improving the sensitivity of the passive sensors.

[0026] In addition, inertial measuring units, acceleration sensor systems or magnetic field sensor systems can be used to measure the orientation and stabilize the orientation of the sensors of the environment detection device.

[0027] In one embodiment of the environment detection device according to the invention, the rail line detection unit comprises a passive detection unit. Such a passive detection unit, for example a passive sensor unit, can advantageously be designed with an extended field of view.

[0028] The environment detection unit is preferably designed to use one of the following detection techniques: Radar, an ultrasonic sensor system, a laser-based measuring system, preferably lidar, a camera-based, preferably stereo camera-based measuring system.

[0029] Radar is particularly well-suited for capturing a highly accurate radar map or high-resolution details to classify or identify a detected object. Furthermore, radar data can be used in conjunction with passively acquired data, such as optical or infrared data, to expand the data basis for object detection. Radar exhibits very good depth resolution, especially compared to passive sensor methods. Radar can complementarily improve the lateral resolution of a passive infrared camera.

[0030] Lidar has improved resolution compared to radar.

[0031] Stereo cameras also have the advantage of good depth resolution and combine this advantage with a generally increased resolution compared to active scanning systems.

[0032] Therefore, the rail route detection unit and the surroundings detection unit of the surroundings detection device according to the invention are particularly preferably configured to detect mutually complementary data which allow comprehensive information about objects in the surroundings of a rail vehicle to be determined.

[0033] Likewise preferably, the environment detection unit of the environment detection device according to the invention is configured to detect data of at least one of the following data types: the relative speed between a detected object and the rail vehicle, the distance of a detected object to the rail vehicle, the ego position of the rail vehicle.

[0034] The relative speed between a detected object and the rail vehicle can be determined, for example, by precisely measuring a radial and a lateral Doppler component of the sensor waves, preferably radar waves, reflected by a detected object. By using orientation-stable measuring equipment, even slow movements can be measured. The corresponding speed values ​​can be used to classify and identify a detected object. Furthermore, the orientation-stable measuring equipment can be used to determine an exact angle between the direction of movement of a detected object and the ego speed of the rail vehicle, thus more reliably determining the relevance of an object with regard to a collision event. Knowledge of highly accurate speed information can also be used to support orUse accuracy improvement when determining the ego position of a rail vehicle.

[0035] The rail line detection unit of the environment detection device according to the invention is preferably designed to detect data of at least one of the following data types: the lateral structure of the tracks of the detected rail line, the relative track height of the tracks of the detected rail line, the track course of the expected trajectory of the rail vehicle.

[0036] The above-mentioned variables can be used advantageously for an exact determination of the orientation of the rail vehicle's sensors and, if necessary, also for an improvement of digital map material with regard to the rail line being traveled or a rail line in the vicinity of the rail vehicle.

[0037] This data can be used for more precise alignment of the entire system, consisting of the environment detection unit and the track detection unit, in order to determine the position of detected objects with exceptional accuracy. The invention also allows for the generation of highly accurate relative track maps using active sensor technologies, such as radar. The data acquired by these sensors is related to the data of the complementary passive sensor system, for example, a track centerline acquired by the passive sensor system. Based on these relative track maps, absolute map data with geocoordinates can also be obtained.

[0038] The control unit of the environment detection device according to the invention is preferably designed to align the orientation of the environment detection unit in such a way that an active limitation of the detected environment is achieved. Advantageously, by limiting the detected environment, interference with people or technical equipment present in the periphery caused by active sensors, such as radar waves, can be prevented. Furthermore, by actively limiting the beam direction by controlling the detection range of the environment detection unit with active sensors, a higher radiation output can be achieved, particularly with regard to simplified radio approval or as a basis for argumentation to regulatory bodies in order to obtain approval for higher transmission power.

[0039] The control unit of the environment detection device according to the invention can be designed to align the orientation of the environment detection unit beyond a detection range of the rail line detection unit. In this case, the route is extrapolated beyond the detected rail line based on the detected rail line and map data. Thus, the environment detection unit can be aligned to a track position within the situational visibility range of the environment detection unit, beyond the situational visibility range of the track for the rail line detection unit. In this way, an increase in the range of the environment detection is achieved, which is associated with increased safety in the operation of the rail vehicle. In other words, the environment detection unit can advantageously also be aligned to an area that lies outside the range of the line detection unit.

[0040] The environment detection unit can also have an electronic beam steering function, especially if it includes a radar sensor unit. For this purpose, the environment detection unit has a plurality of individual channels. Beam steering can be achieved by selecting the phase relationships of the channels. In particular, a reception direction can be calculated using the phase relationships of the received signals.

[0041] The invention is explained in more detail below with reference to exemplary embodiments in the accompanying figures. They show: FIG 1 a schematic representation of a rail vehicle with an environment detection device according to an embodiment of the invention, FIG 2 a flowchart illustrating an environment detection method according to an embodiment of the invention, FIG 3 a schematic representation of a detection of complementary data by a radar and a passive infrared camera of an environment detection device according to an embodiment of the invention, FIG 4 a diagram illustrating an environment detection device according to an embodiment of the invention with SAR technology for extending the effective recording window, FIG 5 a diagram illustrating an environment detection device according to an embodiment of the invention with a radar subsystem with electronic beam sweep, FIG 6 a diagram illustrating an extension of the range of an environment detection device according to an embodiment of the invention beyond the range of a passive infrared camera used as a rail line detection unit.

[0042] In FIG 1 A schematic representation 10 of a rail vehicle 2 with an environment detection device 3 according to an exemplary embodiment of the invention is illustrated. The rail vehicle 2 is located on a rail line 1 and, using the aforementioned environment detection device 3, detects an observation area B, which is arranged in front of the rail vehicle 2 on the rail line 1 and around the rail line 1.

[0043] To target this desired observation area B, the environment detection device 3 has a passive infrared sensor unit 6 as a rail line detection unit. The environment detection device 3 is designed to be pivotable about three axes relative to the rail vehicle 2 so that it can follow the curves of the rail line 1. To maintain a set direction of the sensors, the environment detection device 3 has a gimbal 4 on which the sensors 5, 6 are mounted. In addition to the aforementioned infrared sensor unit 6, a radar sensor unit 5 is also arranged on the gimbal 4 as an environment detection unit. The radar sensor unit 5 is pre-calibrated such that it targets the same observation area B as the passive infrared sensor unit 6. The passive infrared unit 6 has an extensive recording range and is therefore well suited for searching for a desired observation area B.The observation area B has been identified and suitably centered for the passive infrared sensor unit 6, as shown in . FIG 1 As illustrated, the radar sensor unit 5, which is designed as an environment detection unit, is automatically directed towards this observation area B. In this way, the wide field of view of the passive infrared unit 6 compensates for the limitation of the field of view of the radar sensor unit 5.

[0044] Advantageously, the radar sensor unit 5 has a high lateral resolution and a long range, so that objects O in the observation area B can be detected in detail. The rail vehicle 2 has a control unit 7 for controlling and aligning the environment detection device 3.

[0045] In FIG 2 A flowchart 200 is shown illustrating an environment detection method according to an embodiment of the invention. In step 2.I, infrared sensor data SD are detected from a frontal monitoring area in front of a rail vehicle 2 by an infrared sensor unit 5 used as a rail track detection unit. The infrared sensor unit 5 is mounted on a gimbal 4 in a stable orientation together with a radar sensor unit 6 designed as an environment detection unit.

[0046] In step 2.II, a position P and a profile VL of the rail section located in front of the rail vehicle 2 are detected based on the infrared sensor data SD. In this process, an observation area B in front of the rail vehicle 2 is also determined, which includes the rail section and, if applicable, a peripheral area around it.

[0047] In step 2.III, the gimbal 4 is aligned by a control unit 7 such that the field of view of the infrared sensor unit 5 is centered on the observation area B. This means that the radar sensor unit 6, which has been previously calibrated to the infrared sensor unit 5, is also directed to the observation area B.

[0048] Thus, in step 2.IV, radar sensor data from observation area B can be acquired with increased lateral resolution and depth resolution as well as a long range.

[0049] In FIG 3 1 shows a schematic representation 30 of a detection of complementary data by a radar 5 and a passive infrared camera 6 of an environment detection device 3 according to an exemplary embodiment of the invention. The left-hand section of the image shows a section of rail track 1 on which a rail vehicle 2 with the aforementioned environment detection device 3 is located. The environment detection device 3 then detects complementary data d, v, M, h 1 , h 2 via its two different sensor units 5, 6. The radar sensor unit 5 of the rail vehicle 2 detects, for example, an object O in the observation area B as well as its relative speed v and distance d to the radar sensor unit 5 of the rail vehicle 2. The infrared sensor unit 6 detects the lateral structure and the height of the track bed GB complementarily to the radar sensor unit 5.For example, the height h 1 , h 2 of the rails 1a and the dimensions of the sleepers 1b as well as the track layout or the layout of the center line M of the tracks are recorded. The right-hand section of the image shows three different views of a track body GB. An upper partial view shows a cross-section of the track body GB. Recorded dimensions can relate, for example, to the rail heights h 1 , h 2 of the rails 1a, but also to the dimensions and positions of the sleepers 1b. A middle partial view in the right-hand section of the image shows a plan view of the track body GB. The plan view particularly illustrates the center line M of the track layout, which can also be recorded by the infrared sensor unit 6. A lower partial view in the right-hand section of the image shows . FIG 3 A side view of a track GB is shown. This illustration shows the path-dependent height profile h 1 (s) of a rail 1a, which can also be detected by the infrared sensor unit 6.

[0050] In FIG 4 4 shows a schematic plan view 40 of a rail track section 1, on which a rail vehicle 2 with an environment detection device 3 according to an exemplary embodiment of the invention is illustrated. The rail vehicle 2 has a relative speed v with a radial component vr and a lateral component vl relative to a detected object O. In other words, the gimbal of the environment detection device 3 is not aligned in the direction of travel, but at an angle α thereto. As the rail vehicle 2 travels towards the detected object O, the angle α changes due to the lateral and radial movement of the rail vehicle 2. The images of the object O taken from different directions by the radar sensor unit 5 can be combined with one another by applying a SAR algorithm in order to achieve improved resolution and an enlarged effective field of view of the radar 5.

[0051] In FIG 5 A top view 50 of a rail vehicle 2 with an environment detection device 3 according to an embodiment of the invention is shown, including a radar sensor unit 5a with electronic beam sweeping. The radar sensor unit 5a sweeps its radar beam in different directions, allowing an enlarged field of view with increased resolution. The radar beam can be swept in both the elevation and azimuth directions.

[0052] In FIG 6 is a plan view illustrating an extension of the range of an environment detection device 3 of a rail vehicle 1 according to an embodiment of the invention beyond the range of a passive infrared sensor unit 6 used as a rail track detection unit. As in FIG 6 can be seen, the range of the infrared sensor unit 6 is not sufficient to detect the desired observation area B around the object O. In order to be able to align the radar sensor unit 5 to this distant area B, the detected course of the rail line 1 is compared with map data K, which is stored in FIG 6 shown in a partial illustration on the right. Since the route can be recognized in the map data K even beyond the range of the infrared sensor unit 6, the position of the observation area B can be determined on the basis of the infrared measurement and the map data K, and the gimbal 4 of the environment detection device 3 can now be aligned such that the desired observation area B lies in the field of view of the radar beam of the radar sensor unit 5.

[0053] Finally, it is emphasized once again that the methods and devices described above are merely preferred embodiments of the invention and that the invention may be varied by those skilled in the art without departing from the scope of the invention, as defined by the claims. For the sake of completeness, it is also emphasized that the use of the indefinite articles "a" or "an" does not exclude the possibility that the respective features may be present in multiple instances. Likewise, the term "unit" does not exclude the possibility that it may consist of multiple components, which may also be spatially distributed.

Claims

1. Environment recording facility (3) for a rail vehicle (2), having: - a rail route recording unit (5), which is configured to detect a position (P) and a course (VL) of a rail route (1) in the environment of the rail vehicle (2), - an environment recording unit (6), which is arranged in a fixed alignment relationship with the rail route recording unit (5) and is configured to record the environment of the rail vehicle (2), - a mounting unit (4) for a shared mounting of the rail route recording unit (5) and the environment recording unit (6), - a control unit (7), wherein - the mounting unit (4) is configured to mount the rail route recording unit (5) and the environment recording unit (6) with a stable orientation and - the control unit (7) is embodied to align the orientation (O) of the environment recording unit (6) to the detected position (P) and the detected course (VL) of the rail route (1), so that an observation region (B), which comprises the rail route (1) and the environment of the rail route (1), can be recorded by the environment recording unit (6), characterised in that - the rail route recording unit (5), for detecting the position and the course, is embodied to use one of the following recording techniques: - a passive infrared image recording, - an active sensor technology, preferably lidar.

2. Environment recording facility according to claim 1, wherein the mounting unit (4) comprises a gimbal.

3. Environment recording facility according to claim 1 or 2, wherein the mounting unit (4) comprises a Cardan suspension.

4. Environment recording facility according to one of the preceding claims, wherein the rail route recording unit (5) comprises a passive recording unit.

5. Environment recording facility according to one of the preceding claims, wherein the environment recording unit (6) is embodied to use an active sensor recording technique, preferably one of the following recording techniques: - radar, - lidar.

6. Environment recording facility according to one of the preceding claims, wherein the rail route recording unit (5) and the environment recording unit (6) are configured to record or to ascertain data that is complementary to each other.

7. Environment recording facility according to one of the preceding claims, wherein the environment recording unit (6) is configured to record or to ascertain data of at least one of the following data types: - the relative speed between a recorded object (O) and the rail vehicle (2), - the distance between a recorded object (O) and the rail vehicle (2), - the ego position of the rail vehicle (2).

8. Environment recording facility according to one of the preceding claims, wherein the rail route recording unit (5) is configured to record or to ascertain data of at least one of the following data types: - the lateral structure of the tracks of the detected rail route (1), - the relative track height of the tracks of the detected rail route (1), - the track course of the anticipated trajectory of the rail vehicle (2).

9. Environment recording facility according to one of the preceding claims, wherein the control unit (4) is embodied to align the orientation of the environment recording unit (6) so that an active restriction of the recorded environment is achieved.

10. Environment recording facility according to one of the preceding claims, wherein the control unit (7) is embodied to align the environment recording unit (6) beyond a recording region of the rail route recording unit (5), wherein the route course is extrapolated on the basis of the recorded rail route (1) and map data (KD) beyond the recorded rail route (1).

11. Environment recording method, wherein - a position (P) and a course (VL) of a rail route (1) in the environment of a rail vehicle (2) are detected by a rail route recording unit (5), wherein the rail route recording unit (5) is embodied to use one of the following recording techniques: - a passive infrared image recording, - an active sensor technology, preferably lidar, - the environment of the rail vehicle (2) is recorded by the environment recording unit (6), which is arranged in a fixed alignment relationship with the rail route recording unit (5), - the rail route recording unit (5) and the environment recording unit (6) are mounted in a shared manner and with stable orientation by a mounting unit (4), - the orientation of the environment recording unit (6) is aligned by a control unit (7) to the detected position (P) and the detected course (VL) of the rail route (1), so that an observation region (B), which comprises the rail route (1) and the environment of the rail route (1), can be recorded by the environment recording unit (6).

12. Rail vehicle (2), having - an environment recording facility (3) according to one of claims 1 to 10.

13. Computer program product with a computer program, which can be loaded directly into a storage unit of a control unit (7) of a rail vehicle (2), with program sections, in order to carry out all steps of the method according to claim 11 when the computer program is executed in the control unit (7).

14. Computer-readable medium, on which program sections that can be executed by a computer unit are stored, in order to carry out all steps of the method according to claim 11 when the program sections are executed by the computer unit.

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