Object detection at the ends and coupling points of a vehicle

Abstract

The invention relates to a method and an apparatus for operating a vehicle (11, 111, 1011) which is designed to move in two directions (14, 15) along a route (6). In the method, a front region (18), which is a region lying ahead in the direction of travel (14) of the vehicle (11, 111, 1011), is sensed by means of a first sensing device (20). At least one object (30, 34, 734) that is located within the front region (18) is detected by means of a first detection device (24) on the basis of the sensed front region (18). Object properties of the detected object (30, 34, 734) are taken into consideration by a vehicle device (26) during operation of the vehicle (11, 111, 1011). A rear region (19), which is a region lying behind in the direction of travel (14) of the vehicle (11, 111, 1011), is sensed by means of a second sensing device (22). In order to increase the reliability of operation of the vehicle, at least one object (32, 36, 736) which is located within the rear region (19) is detected by means of a second detection device (28) on the basis of the sensed rear region (19). Object properties of the detected object (30, 32, 34, 734, 36, 736) are taken into consideration during operation of the vehicle (11, 111, 1011), of a vehicle (112) coupled to the vehicle (111) and / or of a further vehicle (1012).

Description

[0001] Description

[0002] Object detection at the ends and coupling points of a vehicle

[0003] The invention relates to a method and a device for operating a vehicle configured to move in two directions along a route. The invention further relates to a vehicle, a computer program, and a provision device.

[0004] In the method, a front area, which is an area ahead of the vehicle in the direction of travel, is detected by means of a first detection device. At least one object located within the front area is detected on the basis of the detected front area by means of a first detection device. Object properties of the detected object are taken into account by a vehicle device during operation of the vehicle. A rear area, which is an area behind the vehicle in the direction of travel, is detected by means of a second detection device.

[0005] The device comprises a first detection device which is set up to detect a front area which is an area ahead in the direction of travel of the vehicle. A first recognition device is set up to recognize at least one object which is located within the front area on the basis of the detected front area. A vehicle device is set up to take object properties of the recognized object into account when operating the vehicle. A second detection device is set up to detect a rear area which is an area behind the vehicle in the direction of travel, by means of a second detection device. The use of detection devices on vehicles, for example for object recognition, is generally known. The detection devices serve, for example, to detect objects which are ahead in the direction of travel.

[0006] DE 10 2016 216 528 A1 describes a method for determining the location of a rail vehicle. In the method, a spatial area in the surroundings of the vehicle is recorded by means of an image recording unit. Image information that is representative of a sub-area of ​​the spatial area is generated by means of the image recording unit on the basis of the recording. Reference image information that is representative of at least one reference sub-area of ​​a spatial reference area in the surroundings of the vehicle is provided by means of a reference unit. The location of the vehicle is determined by means of a location determination unit on the basis of the image information and the reference information.

[0007] US 2014 / 0183303 A1 describes a system for capturing current visual information (as images or video) of the area surrounding the end of a train and for transmitting this visual information to a locomotive of the system. One or more imaging devices are positioned in the area surrounding the end of the train to capture image data from there. A transmitting device is used to transmit the image data to a locomotive. A receiving device, which is located in the locomotive, is used to receive the image data transmitted by the one or more imaging devices. In addition, the system has a device installed at the end of the train on which the imaging device is present. A display, which is communicatively coupled to the receiving device, is used to display the transmitted image data on the locomotive.

[0008] US 2010 / 0148013 A1 describes a device for indicating whether a first coupling of a locomotive is in a coupled or uncoupled state. The device comprises a visual sensor positioned on a part of the coupling, the sensor providing a real-time signal indicating either a coupled or uncoupled state. The coupled or uncoupled state indicates that a part of a second coupling is in the vicinity of or at a receiving area of ​​the first coupling. The signal is transmitted wirelessly, for example, by means of a transmission device that communicates with the sensor.

[0009] Against this background, the object of the invention is to increase the reliability of vehicle operation.

[0010] This object is achieved by a method of the type mentioned at the outset, in which at least one object which is located within the rear area is detected on the basis of the detected rear area by means of a second detection device and object properties of the detected object are taken into account in the operation of the vehicle, a vehicle coupled to the vehicle and / or another vehicle.

[0011] The invention recognizes that the detection of objects located in the vicinity of a vehicle is generally carried out by means of a detection device in the vehicle, usually located ahead in the direction of travel or to the side (for example, using door cameras). While the transmission of image data from a rear-facing detection device is generally known, the objects detected by the second rear detection device are in no way intended for object detection in previous solutions.

[0012] The inventive solution eliminates these problems by detecting an object located within the rear area using a second detection device. During operation of the vehicle, a vehicle coupled to the vehicle, and / or another vehicle, the object properties of the detected object are taken into account.

[0013] This solution opens up a wide range of application possibilities for increasing the reliability and safety of vehicle operation. In particular, the safety and reliability of partially or fully automated vehicle operation are increased by the solution according to the invention.

[0014] The vehicle is, for example, a land vehicle (e.g., an automobile or a bus), an aircraft (e.g., an airplane), or a watercraft (e.g., a ship). The vehicle is preferably a track-bound vehicle, more preferably a rail vehicle. The rail vehicle is, for example, a high-speed train in long-distance public transport, or a regional train, or a light rail system, a tram, or an underground train in local public transport. The rail vehicle is, for example, a multiple unit train. Alternatively, the rail vehicle is, for example, a freight train. The route along which the rail vehicle can move in two directions is the track. The rail vehicle can be a locomotive, a single carriage, a consist (consisting of several carriages permanently connected to one another), and / or a vehicle convoy (consisting of mechanically and / or virtually / data-technically coupled vehicles).

[0015] For example, the vehicle is a consist and the "vehicle coupled to the vehicle" is another consist. The "other vehicle" is, for example, a vehicle that is operated independently of the vehicle and independently of the vehicle coupled to the vehicle.

[0016] The front area ahead preferably comprises a displacement area which is displaced by the vehicle as it travels along the route. In other words: objects located ahead in the displacement area in the direction of travel will collide with the vehicle as it continues to travel along the route. Objects in this displacement area include, for example, vehicles, people, animals, objects, etc. In addition, the front area ahead preferably further comprises areas outside the displacement area, in particular next to the route. The objects in these areas include, for example, landmarks, signals, buildings, plants, etc.

[0017] Analogous to the front area, the rear area preferably comprises a displacement area that was displaced by the vehicle while traveling along the route and / or is displaced by another following vehicle. Furthermore, the rear area preferably further comprises an area outside the displacement area, in particular adjacent to the route.

[0018] The first and / or second detection device is preferably an optical detection device that optically detects the front and / or rear areas and generates image data based on the detection. For example, the first and second detection devices are each configured as a camera device. The generated image data is transmitted to the first and / or second detection device, preferably wirelessly or via a wired train bus or an Ethernet-based control network of the vehicle.

[0019] The second detection device is preferably arranged at one end of the vehicle and / or at one end of the vehicle coupled to the vehicle. The end of the vehicle is preferably the rear end of the vehicle in the direction of travel. In a vehicle convoy, each inseparable partial vehicle (e.g. Consist) preferably has the first detection device at the front (i.e. at the front in the direction of travel) and the second detection device at the end. The first and second detection devices can be separate devices or at least partially designed as a common detection device. The first and / or second detection device is preferably installed on the vehicle. For example, the first and second detection devices are designed as a central detection device.In this case, the central detection device is preferably also the central contact point for the vehicle device, which serves, for example, as a train protection device (e.g., onboard unit). Alternatively or additionally, the first or second detection device can be part of the first or second detection device, respectively. Alternatively or additionally, the first and / or second detection device can be installed on a land-based device and designed as a central detection device.

[0020] The detection of the object by means of the first and / or second detection device is preferably carried out by executing a computer program which represents a model which assigns object properties (e.g. an object class) to data generated by the detection device. The model is further preferably formed with the aid of an artificial neural network. The object detection is, for example, obstacle detection in which the object is classified as an obstacle because it is located on the route ahead and is relevant as an obstacle (a non-relevant obstacle is, for example, a tree stick; a relevant obstacle is, for example, a tree branch).

[0021] The vehicle equipment is, for example, a central control unit and / or a so-called onboard unit.

[0022] The object properties of the second

[0023] The properties of the object detected by the detection device are taken into account, for example, by the vehicle's vehicle equipment during vehicle operation. Alternatively or additionally, these object properties are taken into account by the vehicle equipment of the vehicle and / or by a vehicle equipment of the vehicle coupled to the vehicle. Alternatively or additionally, the object properties are taken into account by a vehicle equipment of the additional vehicle. The additional vehicle is, for example, a vehicle that follows the vehicle on the same route.

[0024] According to a preferred embodiment of the method according to the invention, object properties of the recognized object and an object library, which includes object identification information and object type information, are taken into account in the operation of the vehicle.

[0025] Preferably, a location of the vehicle is determined based on the object properties of the detected object. In a preferred embodiment, a location of at least a portion of the vehicle is determined based on the object properties and the object library.

[0026] For example, the location of the vehicle's end is determined as the vehicle's location. The "vehicle end" is preferably understood to be the rear end of the vehicle in the direction of travel.

[0027] The object library preferably assigns location information representing the location of the vehicle to the object identification information and the object type information. This assignment is often referred to in technical terms as a digital map. In other words, a comparison of the detected objects with a digital map can be used to locate the vehicle. The objects used to determine the location are, for example, landmarks. Landmarks include signs, signals, buildings, natural objects, etc.

[0028] In addition to determining the location, the speed of the vehicle is preferably determined based on a temporal change in the object property (e.g. size).

[0029] The location is also preferably used to locate a parked vehicle that has been moved (so-called cold movement detection).

[0030] According to a further preferred embodiment of the method according to the invention, the object located within the rear area is detected at a time after it has been detected as an object within the front area. Object properties of the object detected within the front area and object properties of the same object detected within the rear area are combined to determine combination properties of the object.

[0031] This improves the quality of object detection, as the object is captured from two viewing directions and a single detection is performed. Furthermore, additional information about an object can be obtained, as it is viewed from both the front and rear view.

[0032] The object properties preferably include a two-dimensional outline of the detected object. The combination properties further preferably include a 3D contour of the object.

[0033] The combination properties can be transmitted to a following vehicle, which adapts its operation according to the acquired knowledge of the combination properties. According to a preferred embodiment of the method according to the invention, the second detection device uses the detected rear area to detect whether a section of road behind in the direction of travel is clear.

[0034] In this way, the solution according to the invention can be used particularly effectively for track vacancy detection, since the rearward detection can determine whether the track behind a track-bound vehicle is clear. If, for example, an object located on the previous route is detected, the track vacancy detection is inhibited.

[0035] It should be noted that the track that the vehicle has exclusively claimed is considered, and this claimed track is then released for another vehicle.

[0036] According to a preferred embodiment of the method according to the invention, a safety risk for the operation of another vehicle is determined on the basis of the detection of the object which is located within the rear area.

[0037] An example case is an object falling from a rail vehicle and remaining on the track. Another example case is a wagon or component of a track-bound vehicle becoming detached.

[0038] The fallen object or the detached trolley / consist may represent an obstacle for a following vehicle.

[0039] Another example is a fire on the previous route, which poses a danger to another following vehicle. In particular, the safety risk for a

[0040] Traffic system, which includes the vehicle and several other vehicles, is determined.

[0041] According to a preferred embodiment, the vehicle is a rail vehicle. Moving-block train protection is implemented based on whether the previous route is clear and / or based on the detection of the object.

[0042] This development is based on the finding that the method according to the invention is particularly suitable for train protection in a moving block, where a changing spatial distance to other vehicles is provided. This is because, for this type of operation, the track must be continuously reported as clear, and existing train protection systems are not adequately equipped for this. In contrast, continuous track clearance detection in a moving block is only possible with the second detection device, which detects objects within the rear area.

[0043] According to a further preferred embodiment of the method according to the invention, the vehicle is a sub-vehicle of a plurality of sub-vehicles that can be mechanically and / or data-technically coupled to one another and that together can form a vehicle convoy. A further sub-vehicle of the vehicle convoy is recognized as an object, and based on the recognition, the further sub-vehicle is identified and / or it is determined whether the further sub-vehicle is coupled to the vehicle.

[0044] The additional sub-vehicle is identified, for example, based on its external shape and / or labeling on the front (e.g., with a vehicle number) and / or based on a signal emitted by the additional vehicle, which can be detected by the detection device. In a preferred development, a train integrity check is performed based on determining whether the additional sub-vehicle is coupled to the vehicle.

[0045] This creates a particularly clever solution for determining the integrity of a train by detecting another vehicle as an object. This detection can be compared with a coupling signal to determine, for example, whether the vehicle is coupled to the correct other vehicle. Alternatively or additionally, the distance between the vehicle and the other vehicle can be determined based on the detection of the object in order to confirm or rule out coupling.

[0046] Furthermore, the vehicle type (e.g., model) can preferably be determined as an object property based on the recognition. This is desirable, for example, for operation in a mixed multiple traction system in order to establish correct communication between vehicles of different types.

[0047] According to a further preferred embodiment of the method according to the invention, the second detection device is designed as an installable detection device with a communication unit for communication with the second recognition device.

[0048] In this way, vehicles can be particularly easily equipped with a second detection device, for example by installing it temporarily.

[0049] Preferably, the second detection device is detachably installable so that it can be reused and installed at another location on the vehicle or in another vehicle. For example, a communication interface for communication with the second detection device is created via the communication unit. This serves, for example, to transmit captured image data to the second detection device. The transmission takes place, for example, wirelessly or via a train bus or via an Ethernet-based control network of the vehicle.

[0050] According to a preferred development, the second detection device comprises an energy recovery device which recovers energy for supplying the detection device from the movement of the vehicle during operation of the vehicle.

[0051] The energy generation device preferably generates energy through at least one wheel, which converts the kinetic energy of the vehicle into electrical energy.

[0052] Preferably, the detection device comprises an energy storage device which stores the energy obtained by means of the energy generation device and makes it available as needed to supply energy to the second detection device.

[0053] The described method according to the invention is particularly useful and desirable for operating a vehicle fleet. For example, an evaluation device is provided on a land-based facility to evaluate information provided by a number of vehicles in the fleet. The evaluation can be used to gain knowledge that is then made available to one or more vehicles in the fleet. Alternatively or additionally, the vehicles in the fleet make their information available to other vehicles via direct communication. In other words, the vehicles share the information gained with one another. The object stated at the outset is further achieved by the computer program mentioned. The computer program comprises instructions that, when the program is executed by a computing device, cause the computing device to carry out the method of the type described above.The invention further relates to a computer program product comprising a computer program of this type. The computing device is preferably, at least in part, a computing device of the vehicle and / or the land-based facility.

[0054] The object mentioned at the outset is further achieved by the provision device for the computer program of the type described above, wherein the provision device stores and / or provides the computer program. The provision device is, for example, a storage unit that stores and / or provides the computer program. Alternatively and / or additionally, the provision device is, for example, a network service, a computer system, a server system, in particular a distributed, for example cloud-based computer system and / or virtual computer system, which stores and / or provides the computer program product preferably in the form of a data stream.

[0055] The provision takes place in the form of a program data block as a file, in particular as a download file, or as a data stream, in particular as a download data stream, of the computer program. This provision can also take place, for example, as a partial download consisting of several parts. Such a computer program is, for example, read into a system using the provision device, so that the method according to the invention is executed on a computer.

[0056] The above-mentioned object is further achieved by a device of the type mentioned at the outset. The device comprises a second detection device configured to detect at least one object located within the rear area based on the detected rear area. A vehicle device is configured to take object properties of the detected object into account during operation of the vehicle, a vehicle coupled to the vehicle, and / or another vehicle.

[0057] The vehicle device may be the vehicle device mentioned above. Alternatively or additionally, the vehicle device may be a vehicle device of the vehicle coupled to the vehicle and / or a vehicle device of the other vehicle.

[0058] The invention further relates to a vehicle, preferably a track-bound vehicle, with a device of the type described above.

[0059] For advantages, embodiments and design details of the computer program according to the invention, the provision device according to the invention, the device according to the invention and the vehicle according to the invention, reference can be made to the above description of the corresponding method features of the method according to the invention.

[0060] Examples of the invention are explained with reference to the drawings. They show:

[0061] Figure 1 shows a track-bound vehicle moving on a track,

[0062] Figure 2 shows an embodiment of a vehicle according to the invention,

[0063] Figure 3 shows a first application example for the method according to the invention,

[0064] Figure 4 shows a first embodiment of the method according to the invention,

[0065] Figure 5 shows a second application example for the method according to the invention, Figure 6 shows a third application example for the method according to the invention,

[0066] Figure 7 shows two further embodiments of the vehicle according to the invention,

[0067] Figure 8 shows a further embodiment of the method according to the invention,

[0068] Figure 9 shows a further embodiment of the method according to the invention and

[0069] Figure 10 shows a further embodiment of the method according to the invention.

[0070] Figure 1 shows a track-bound vehicle 2 moving in the direction of travel 4 on a route 6. A front area 8, which is an area ahead in the direction of travel 4, is detected by means of a detection device 10.

[0071] Figure 2 shows an embodiment of a vehicle 11 according to the invention, in particular a track-bound vehicle 12. The vehicle 11 can move in two directions 14, 15, namely in a direction of travel 14 and in a return direction 15 opposite the direction of travel 14, along a travel route 6. The vehicle 11 has a first detection device 20, which is configured to detect a front area 18, which is an area lying ahead in the direction of travel 14 of the vehicle 11. Furthermore, the vehicle 11 has a second detection device 22, which is configured to detect a rear area 19, which is an area lying behind in the direction of travel 14. The first and second detection devices 20, 22 are each designed as a camera device, which generates image data based on the detection, which represent the respective detected area 18 or 19.

[0072] A first detection device 24 is configured to detect at least one object 30 located within the front region 18 based on the detected front region 18. The object 30 is detected based on the image data generated by the first detection device 20. Preferably, the detection device 24 executes a computer program that represents a model that assigns object properties, for example, an object class, to the image data. The model is formed using an artificial neural network.

[0073] A vehicle device 26 is used to control the vehicle 11. The vehicle device 26 takes into account object properties of the detected object 30 during operation of the vehicle 11.

[0074] A second recognition device 28 is configured to recognize at least one object 32 located within the rear area 19 based on the detected rear area 19. The recognition of the object 32 occurs analogously to the recognition of the object 30 (for example, by means of a model formed using an artificial neural network).

[0075] Figure 3 shows an application example for the method according to the invention, in which the vehicle 11 according to the invention can be used. Identical or functionally equivalent elements are provided with the same reference numerals as in relation to Figures 1 and 2. The vehicle 11 consists of several coupled carriages 13 and moves in the direction of travel 14 along the route 6. A moving spatial distance to other vehicles is provided as a moving block. For this purpose, it is desirable to continuously determine whether the previous route 7 traveled (or covered) is clear. For this purpose, knowledge of the location of the end of the vehicle 302, of the integrity of the vehicle convoy formed by the vehicle 11 and the detection of whether an object is located on the previous route 7 is desirable.

[0076] Figure 4 shows an exemplary embodiment of the method according to the invention, in which an exemplary embodiment of the vehicle 11 according to the invention is used. Identical or functionally equivalent elements are provided with the same reference numerals as in Figures 1-3.

[0077] The front area 18 is detected by means of the first detection device 20 and it is detected by means of the first detection device 24 that several objects 34 are located on the route 6. One of the objects 34 is, for example, a person. In this case, it is desirable to initiate a braking process immediately upon detection of the person located on the route 6. The braking process can be triggered and / or controlled by the vehicle device 26. In other words: during the operation of the vehicle 11 (namely during braking), the vehicle device 26 takes into account an object property according to which the object is a person.

[0078] The rear area 19 is detected by means of the second detection device 22 and it is detected by means of the second detection device 28 that one or more objects 36 are located on the route 7 traveled and next to this route 7. One of the objects 36 is, for example, a door flap that has fallen off the vehicle 11. In the case shown, the track clearance detection is omitted and a warning message is issued to an operations control center. Because the track clearance detection is omitted, another vehicle that is intended to travel on the route 7 will initially not travel there. In other words: the object property (door flap on the track) is taken into account when another vehicle is operated.

[0079] Figure 5 shows a further application example for the method according to the invention, in which the vehicle 11 according to the invention can be used. Identical or functionally equivalent elements are provided with the same reference numerals as in Figures 1-4. The vehicle 11 consists of several carriages 13 that are coupled to one another. The vehicle 11 therefore forms a vehicle convoy. It is desirable to determine the integrity of the vehicle convoy.Questions arise such as: What components does vehicle 11 consist of? Are all components of vehicle 11 known? Is an unknown component attached to vehicle 11? Are the properties of all components of vehicle 11 and the overall properties of the vehicle assembly known? How well does the vehicle assembly brake? How long is the vehicle assembly? Where does the vehicle assembly end? Is the vehicle complete? Are all parts of the vehicle assembly still connected? Has a part come loose from the vehicle assembly?

[0080] Figure 6 shows a further application example for the method according to the invention, in which the vehicle 11 according to the invention can be used. Identical or functionally equivalent elements are provided with the same reference numerals as in Figures 1-5. The vehicle 3 shown at the top of Figure 6 forms a vehicle convoy whose integrity is determined by means of a physical loop (integrity is present if the loop is uninterrupted).

[0081] Vehicle 5, shown in the middle of Figure 6, is, for example, a freight transport vehicle with a locomotive and several wagons. For vehicles of this type, cabling with a physical loop similar to vehicle 3 is not practical. Therefore, a radio unit 603 and 605, respectively, is installed at the end 602 of the vehicle and at the front 604 of the vehicle in order to determine a distance between these radio units by measuring radio propagation times. It is desirable to know whether the correct radio units 603, 605 are actually communicating with each other or, instead, radio units from different vehicles. This problem also exists with vehicle 9, shown below in Figure 6. Even if two radio units are present on each of the wagons 13 of vehicle 9 (one at the end of the vehicle and one at the front), it is not possible to determine whether the correct radio units are communicating with each other.

[0082] Figure 7 shows two exemplary embodiments of the vehicle according to the invention, which are configured to carry out an exemplary embodiment of the method according to the invention. The vehicle 711 forms a train consisting of several connectable units (consists). Each unit has the first detection device 20 at one end and the second detection device 22 at one end. The vehicle 712 forms a train consisting of a locomotive and several carriages.

[0083] A front area 18 is detected by the respective first detection device 20 at the vehicle nose 701 of the vehicle 711 or 712. Objects 734 located within the front area 18 are detected by the respective first detection device 24. In the application shown in Figure 7, the objects 734 are landmarks.

[0084] A rear area 19 is detected by the respective second detection device 22 at the vehicle end 702 of the vehicle 711 or 712. Objects 736 located within the rear area are detected by the respective second detection device 28. The objects 736 are landmarks (in the application shown in Figure 7).

[0085] Based on the landmarks, the location of the vehicle 711 or 712, in particular the location of the vehicle end 702, can be determined (locating). For example, the location of the vehicle end 702 is determined based on digital maps in which the locations of the recognized landmarks (objects 734, 736) are stored. Against this background, the problem described with reference to Figure 6 is solved according to the invention by eliminating the uncertainties in determining the train integrity by comparing it with the inventive location of the vehicle 711 or 712.

[0086] Figure 8 shows a further exemplary embodiment of a method according to the invention, in which an exemplary embodiment of the device according to the invention is used. Identical or functionally equivalent elements are provided with the same reference numerals as in relation to Figures 1-7. In a method step A, a vehicle 111 moves in the direction of travel 14 towards the stationary vehicle 112. The vehicles 111 and 112 are intended for future coupling. The vehicle 111 detects the front area 18 by means of the first detection device 20 and detects the vehicle 112 by means of the first detection device 24. Based on the detection, information about the vehicle 112 can be retrieved from a database. In a method step B, the vehicles 111 and 112 are coupled. The vehicle 111 detects the vehicle 112 by means of the first detection device 24. The vehicle 112 detects the vehicle 111 by means of the second detection device 28.

[0087] The two vehicles 111 and 112 can each retrieve information about the coupled vehicle from a database. In this way, information from a train inauguration of a vehicle convoy formed by vehicles 111 and 112 can be confirmed via the respective recognition of the coupling partner. For example, information from an electronic train inauguration can be compared with the information obtained by the recognition. In a method step C, the vehicle 112 moves away from the stationary vehicle 111 in the direction of travel 14. The vehicle 112 detects the rear area 19 by means of the second detection device 22 and detects the vehicle 111 and the increasing distance between the vehicles 111 and 112 by means of the second detection device 28. In this way, the separation of the vehicles, which has already been detected, for example, by an electronic coupling signal, is confirmed after uncoupling by the object recognition.In other words, the vehicle 111 shown in Figure 8 is one sub-vehicle of a plurality of interconnectable sub-vehicles 111, 112, which together can form a vehicle convoy. The additional sub-vehicle 112 of the vehicle convoy is recognized as the object. Based on the recognition, the additional sub-vehicle 112 is identified, and it is determined whether the additional sub-vehicle is coupled to the vehicle 111.

[0088] The described method steps show that the determination of train integrity is improved by the method according to the invention by combining information from different sources (electronic train inauguration, database content, object recognition).

[0089] Figure 9 shows a further embodiment of the method according to the invention, in which an embodiment of the device according to the invention is used. Identical or functionally equivalent elements are provided with the same reference numerals as in Figures 1-8.

[0090] Figure 9 shows several vehicles 911, 912, 913 according to the invention which are parked.

[0091] A first use case occurs when vehicles 911, 912, and 913 are parked at a large distance from each other, so that they cannot detect each other. In this case, each vehicle can determine its location and orientation based on the detection of the detected objects 930.

[0092] A second application case occurs when vehicles 911, 912, 913 are parked at a short distance from each other such that they can at least partially recognize each other. In this way, the respective vehicle can determine, based on the detection, next to and / or between which other vehicles it is parked. The operational management can use this knowledge to determine which vehicles are "blocked" and in which order the vehicles can be moved. A third application case is the location of a vehicle 911, 912 or 913 after it has been moved while switched off (so-called cold movement detection). By detecting objects 930 in the environment, the moved vehicle can determine its location alone or in addition to a GPS signal.

[0093] Figure 10 shows a further exemplary embodiment of the method according to the invention, in which an exemplary embodiment of the device according to the invention is used. Identical or functionally equivalent elements are provided with the same reference numerals as in Figures 1-9.

[0094] In a method step AA, the object 1030 is detected within the front area 18 by means of the first detection device 24 of the vehicle 1011. In a method step BB, after the vehicle has passed the object 1030, the object 1030 is detected within the rear area 19 by means of the second detection device 28 of the same vehicle 1011. In other words: the object 1030 is detected within the rear area 19 at a time after it has already been detected as an object within the front area 18. The object properties of the object 1030 detected within the front region 18 and the object properties of the object 1030 detected within the rear region 19 are combined in a method step CG in order to determine combination properties of the object 1030. This combination is illustrated in Figure 10 by a schematic representation of a magnification using a magnifying glass 1031.The respective object property is, for example, a two-dimensional silhouette of the object 1030 (from the front and from the rear). The combination property is, for example, a three-dimensional contour of the object 1030. This contour can be taken into account during the operation of a following vehicle 1012 in a method step DD and used for improved recognition of the object 1030 by the further vehicle 1012. This is helpful, for example, if the further vehicle 1012 detects the object 1030 in a changed orientation. Although the invention has been illustrated and described in detail by the preferred embodiment, the invention is not limited by the disclosed examples and other variations can be derived therefrom by a person skilled in the art without departing from the scope of the invention.

Claims

Patent claims 1. A method for operating a vehicle (11, 111, 711, 712, 1011) which is designed to move in two directions (14, 15) along a route (6), in which a front area (18), which is an area lying ahead in the direction of travel (14) of the vehicle (11, 111, 711, 712, 1011), is detected by means of a first detection device (20), at least one object (30, 34, 734) which is located within the front area (18) is detected on the basis of the detected front area (18) by means of a first detection device (24), object properties of the detected object (30, 34, 734) are detected by a vehicle device (26) during the operation of the vehicle (11, 111, 711, 712, 1011) are taken into account, and a rear area (19), which is an area lying back in the direction of travel (14) of the vehicle (11, 111, 711, 712, 1011), is detected by means of a second detection device (22), characterized in that at least one object (32, 36, 736),which is located within the rear area (19), is detected on the basis of the detected rear area (19) by means of a second detection device (28), and object properties of the detected object (30, 32, 34, 734, 36, 736) are taken into account during operation o of the vehicle (11, 111, 1011), o of a vehicle (112) coupled to the vehicle (111) and / or o of another vehicle (1012).

2. Method according to claim 1, in which - the object properties of the detected object (30, 32, 34, 36) and - an object library comprising object identification information and object type information which is taken into account during the operation of the vehicle (11).

3. The method according to claim 2, wherein a location of at least a part (702) of the vehicle (711, 712) is determined based on the object properties and the object library.

4. Method according to at least one of the preceding claims, in which - the object (1030) located within the rear area (19) is detected at a time after it is detected as an object (1030) within the front area (18), and - object properties of the object (1030) detected within the front area (18) and object properties of the same object (1030) detected within the rear area (19) are combined in order to determine combination properties of the object (1030).

5. Method according to at least one of the preceding claims, in which the detected rear area (19) is used by the second detection device (28) to detect whether a previous route (7) is clear.

6. Method according to at least one of the preceding claims, in which a safety risk for the operation of another vehicle is determined on the basis of the detection of the object (36) which is located within the rear area (19).

7. Method according to claim 5 and / or 6, wherein the vehicle is a rail vehicle and - based on the detection of whether the previous route (7) is clear, and / or - a moving block train protection is carried out based on the detection of the object (36).

8. Method according to at least one of the preceding claims, in which the vehicle (111) is a sub-vehicle of a plurality of sub-vehicles (111, 112) which can be coupled to one another mechanically and / or data-technically and which together can form a vehicle group, a further sub-vehicle (112) of the vehicle group is recognized as an object and based on the recognition - the further sub-vehicle (112) is identified and / or - it is determined whether the further sub-vehicle (112) is coupled to the vehicle (111).

9. The method according to claim 8, wherein a train integrity check is carried out based on the determination of whether the further sub-vehicle (112) is coupled to the vehicle (111).

10. Method according to at least one of the preceding claims, wherein the second detection device (22) is designed as an installable detection device with a communication unit for communication with the second recognition device (28).

11. The method according to claim 10, wherein the second detection device (22) comprises an energy recovery device which recovers energy for supplying energy to the detection device (22) from the movement of the vehicle (11, 111, 711, 712, 1011) during operation of the vehicle.

12. A computer program comprising instructions which, when the program is executed by a computing device (38), cause the computing device (38) to carry out the method according to at least one of claims 1 to 11.

13. A device for providing the computer program according to Claim 12, wherein the providing device stores and / or provides the computer program.

14. Device for operating a vehicle (11, 111, 711, 712, 1011) which is configured to move in two directions (14, 15) along a travel route (6), comprising: a first detection device (20) which is configured to detect a front area (18), which is a region lying ahead in the direction of travel (14) of the vehicle (11, 111, 711, 712, 1011), a first recognition device (24) which is configured to recognize at least one object (30, 34, 734) which is located within the front area (18) on the basis of the detected front area (18), a vehicle device (26) which is configured to determine object properties of the recognized object (30, 34, 734) during operation of the vehicle (11, 111, 711, 712, 1011), and a second detection device which is designed to detect a rear area, which is an area lying back in the direction of travel of the vehicle,characterized by a second detection device (28) which is configured to detect at least one object (32, 36, 736) located within the rear area (19) on the basis of the detected rear area (19), and a vehicle device (26) which is configured to take into account object properties of the detected object (30, 32, 34, 734, 36, 736) during operation o of the vehicle (11, 111, 1011), o of a vehicle (112) coupled to the vehicle (111) and / or o of another vehicle (1012).

15. Vehicle (11), in particular a track-bound vehicle (12), with a device according to claim 14.

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