Locating system for a vehicle with at least two locating modules, and method for operating same

Abstract

The invention relates, inter alia, to a locating system (100) for a vehicle (10) with at least two differently operating locating modules (111-114). According to the invention, the locating system (100) has a selection device (140) which, when the vehicle (10) is travelling in a route section (21), makes a selection from the locating modules (111-114) used for locating by taking account of a selection strategy predefined for the route section (21) before said route section is driven into.

Description

[0001] Description

[0002] Positioning system for a vehicle with at least two positioning modules and method for its operation

[0003] The invention relates to a positioning system for a vehicle with at least two differently operating positioning modules.

[0004] It is known to use two or more tracking modules based on different measurement principles for vehicle tracking. The measured values ​​from all available tracking modules are used to generate location information that indicates the current position of the vehicle during the journey.

[0005] The invention is based on the object of specifying a positioning system which is based on at least two differently operating positioning modules and can provide particularly precise and reliable location information.

[0006] This object is achieved according to the invention by a positioning system having the features according to claim 1. Advantageous embodiments of the positioning system according to the invention are specified in the subclaims.

[0007] According to the invention, the positioning system is provided with a selection device which, when the vehicle is traveling along a section of road, selects the positioning modules used for positioning, taking into account a selection strategy predetermined for the section of road before entering it.

[0008] A significant advantage of the tracking system according to the invention is that, depending on the route section, not all available tracking modules are always used to locate the vehicle, but only those tracking modules from which a particularly high measurement accuracy can be expected based on the available information; such tracking modules for which there are doubts about the measurement accuracy can be deselected in good time before entering the route section or excluded from the measured value evaluation.

[0009] It is advantageous if the selection strategy takes into account the respective time of travel through the route section. The selection strategy is preferably year-time-dependent and / or day-time-dependent.

[0010] It is also advantageous if the route-section-dependent selection strategy is also location-dependent within the respective route section if a particularly fine-grained selection of the location modules is to be ensured.

[0011] The positioning system preferably comprises an updating device.

[0012] It is advantageous if the updating device updates the selection strategy before entering the route section, specifically using current and / or forecast weather data that describe the current and / or forecast weather in the route section, and the selection device carries out the selection of the positioning modules used for positioning while taking into account the updated selection strategy when driving into the route section.

[0013] The positioning system preferably comprises a radar sensor as a positioning module.

[0014] If such a radar sensor is present, it is advantageous if the updated selection strategy provides for deactivating the radar sensor or ignoring its measured values ​​when determining location in the route section if the weather data for the route section predicts snowfall, snow on the route, hail or a risk of icing. Alternatively or additionally, it can advantageously be provided that the selection strategy provides for deactivating the radar sensor or ignoring its measured values ​​when determining location in the route section if grooved profile rails integrated into a level driving surface, in particular an asphalt surface or a concrete surface, are driven over in the route section.

[0015] Alternatively or additionally, it can be advantageously provided that the selection strategy provides for activating the radar sensor or taking its measured values ​​into account when locating the track section if a ballasted track is used in the track section.

[0016] Alternatively or additionally, it can be advantageously provided that the selection strategy provides for activating the radar sensor or taking its measured values ​​into account when locating in the section of track if a track provided with brackets is used in the section of track.

[0017] The positioning system preferably comprises a balise positioning device as a positioning module.

[0018] If such a balise location device is available, it is advantageous if the updated selection strategy provides for the balise location device to be deactivated or its measured values ​​to be disregarded when locating in the route section if weather data for the route section predict snowfall, snow on the route, hail or a risk of icing.

[0019] The positioning system preferably comprises a satellite-based positioning unit as a positioning module.

[0020] If such a satellite-based positioning unit is present, it is advantageous if the selection strategy provides for deactivating the satellite-based positioning unit or ignoring its measured values ​​when positioning in the route section if previously known shadowing areas, in particular tunnels, are passed through in the route section.

[0021] Alternatively or additionally, it can be advantageously provided that the selection strategy provides for the satellite-based positioning unit to be deactivated or for its measured values ​​to be disregarded when positioning in the route section if the speed in the route section is expected to exceed a predetermined maximum speed.

[0022] Alternatively or additionally, it can be advantageously provided that the selection strategy provides for the satellite-based positioning unit to be deactivated when driving on the route section or for its measured values ​​to be disregarded when positioning on the route section as soon as the actual speed of the vehicle measured during the journey exceeds a predetermined maximum speed.

[0023] The positioning system preferably comprises an odometer as a positioning module.

[0024] If such an odometer is present, it is advantageous if the selection strategy provides for the odometer to be deactivated or for its measured values ​​to be disregarded when locating the route section if the speed in the route section is expected to fall below a predetermined minimum speed.

[0025] Alternatively or additionally, it can advantageously be provided that the selection strategy provides for deactivating the odometer when traveling on the route section or for disregarding its measured values ​​for positioning as soon as the actual speed measured during the journey falls below a predetermined minimum speed. The invention further relates to a vehicle, in particular a rail vehicle. According to the invention, the vehicle is equipped with a positioning system as described above.

[0026] With regard to the advantages of the vehicle according to the invention and advantageous embodiments of the vehicle according to the invention, reference is made to the above statements in connection with the locating system according to the invention and its advantageous embodiments.

[0027] It is advantageous if a selection device and / or an updating device of the positioning system is integrated into a train protection system of the vehicle, in particular in the form of a computer program product.

[0028] The invention further relates to a method for operating a positioning system equipped with at least two differently operating positioning modules. According to the invention, such a method provides that, when driving along a route section, the positioning modules used for positioning are selected taking into account a selection strategy predefined for that route section before entering it.

[0029] With regard to the advantages of the method according to the invention and advantageous embodiments of the method according to the invention, reference is made to the above statements in connection with the locating system according to the invention and its advantageous embodiments.

[0030] The invention further relates to a computer program product for a rail vehicle. According to the invention, such a computer program product comprises program instructions which, when executed by a computing device, cause or enable the computing device, together with locating modules, to carry out a locating method as described above and / or to form a locating system as described above.

[0031] With regard to the advantages of the computer program product according to the invention and advantageous embodiments of the computer program product according to the invention, reference is made to the above statements in connection with the locating system according to the invention and its advantageous embodiments.

[0032] The computer program product preferably comprises a software module which, when executed by a computing unit, forms a selection device as described above.

[0033] The computer program product preferably comprises a software module which, when executed by the computing unit, forms an updating device as described above.

[0034] The computer program product preferably comprises a strategy data set that defines route-section-related selection strategies.

[0035] The strategy data set is preferably location-dependent within the respective route section in order to ensure a particularly fine-grained selection of the location modules.

[0036] It is particularly advantageous if a vehicle control unit (train control unit) or a vehicle safety system (train safety system) of the vehicle is programmed with a computer program product as described above in order to carry out the described locating method with on-board locating modules.

[0037] The invention is explained in more detail below using exemplary embodiments, which show, by way of example:

[0038] Figure 1 shows an embodiment of a rail vehicle according to the invention during a journey towards a section of track ahead,

[0039] Figure 2 shows a first exemplary embodiment of a locating system according to the invention which can be used in the rail vehicle according to Figure 1, wherein the exemplary embodiment according to Figure

[0040] 2 works on a section-by-section basis,

[0041] Figure 3 shows a second exemplary embodiment of a locating system according to the invention which can be used in the rail vehicle according to Figure 1, wherein the exemplary embodiment according to Figure

[0042] 3 works on a section-by-section and time-dependent basis,

[0043] Figure 4 shows a third exemplary embodiment of a locating system according to the invention which can be used in the rail vehicle according to Figure 1, wherein the exemplary embodiment according to Figure

[0044] 4 works on a section-by-section and weather-dependent basis,

[0045] Figure 5 shows a fourth exemplary embodiment of a locating system according to the invention which can be used in the rail vehicle according to Figure 1, wherein the exemplary embodiment according to Figure

[0046] 5 works on a section-by-section basis and is weather and time dependent,

[0047] Figure 6 shows a variant of the positioning system according to Figure 5, in which components of the positioning system are implemented by software or integrated into a computer system as a computer program product, and

[0048] Figure 7 shows an embodiment variant of the locating system according to Figure 5, in which components of the locating system are integrated in the form of a computer program product into a train protection system of a rail vehicle, for example the rail vehicle according to Figure 1.

[0049] For the sake of clarity, the same reference symbols are always used in the figures for identical or comparable components.

[0050] Figure 1 shows a multi-unit rail vehicle 10 on a railway track system 20 during a journey toward a track section 21 ahead, which may be delimited, for example, by two axle counters 30 and 31. The rail vehicle 10 comprises a tracking system 100 equipped with a plurality of differently operating tracking modules.

[0051] Before entering the upcoming route section 21, a selection device of the positioning system 100 defines a selection strategy that is at least specific to the route section and that specifies which of the positioning modules should be used to locate the rail vehicle 10 in the route section 21 and which should not.

[0052] Figure 2 shows a first exemplary embodiment of a positioning system 100 that can be used in the rail vehicle 10 according to Figure 1. The positioning system 100 according to Figure 2 comprises a plurality of positioning modules, four of which are shown as an example in Figure 2 and are designated by the reference numerals 111, 112, 113 and 114. The positioning module 111 is a radar sensor, the positioning module 112 is a balise positioning device, the positioning module 113 is a satellite-based positioning unit and the positioning module 114 is an odometer. The number of positioning modules and the mode of operation of the positioning modules are to be understood here only as examples. The locating modules 111 to 114 are connected, for example, via a data bus 120 to an evaluation device 130 which processes the measured values ​​M of the four locating modules 111 to 114 and uses these to generate location information 01, for example by weighted averaging.The location information 01 describes the respective location X of the rail vehicle 10 on the railway track system 20 .

[0053] Since the positioning modules 111 to 114 are technically based on different measuring principles, their suitability for location determination varies depending on the route and other influencing factors.

[0054] For example, radar sensors are well suited for positioning when traveling on ballasted track or on track with clamps. However, radar sensors are less suitable or less accurate when the rail vehicle 10 travels on smooth surfaces, such as grooved rails integrated into a smooth asphalt surface or a smooth concrete surface.

[0055] In order to address the problem described, the positioning system 100 according to Figure 2 has a selection device 140 which determines a selection strategy for each individual route section 21 ahead, which determines which of the positioning modules are to be used for positioning within the ahead route section 21. Such a determination of the selection strategy takes place before entering the route section 21. In order to trigger a timely determination of the selection strategy, the selection device 140 can, for example, use the current location information 01 ' from the evaluation device 130.

[0056] In order to be able to carry out the described selection, the selection device 140 accesses a strategy data set SDS in which a suitable selection strategy is stored for each route section. For example, the strategy data set SDS can specify that the positioning module 111 or the radar sensor in route section 21 should be deactivated and / or at least its measured values ​​M should not be used to generate the location information 01 because, due to the route conditions there, for example, due to a road surface that is too smooth or too level, a high degree of measurement errors is to be expected.

[0057] Additionally or alternatively, it can be specified in the strategy data set SDS that the positioning module 113 or the satellite-based positioning unit is to be deactivated and / or its measured values ​​M are to be disregarded during positioning in the route section 21 because known shadow areas, for example tunnels, are passed through in the route section 21.

[0058] Additionally or alternatively, the strategy data set SDS can specify that the positioning module 113 or the satellite-based positioning unit should be deactivated and / or its measured values ​​M should be disregarded during positioning in the route section 21 because the speed in the route section 21 is expected to exceed a predetermined maximum speed.

[0059] Additionally or alternatively, the strategy data set SDS can specify that the positioning module 113 or the satellite-based positioning unit is to be deactivated and / or its measured values ​​M are to be disregarded when positioning in the route section 21 as soon as the actual speed of the vehicle measured during the journey exceeds a predetermined maximum speed.

[0060] Additionally or alternatively, it can be specified in the strategy data set SDS that the positioning module 114 or the odometer is to be deactivated and / or its measured values ​​M are to be disregarded during positioning in the route section 21 because the speed in the route section 21 is likely to fall below the specified minimum speed.

[0061] Additionally or alternatively, the strategy data set SDS can specify that the positioning module 114 or the odometer is to be deactivated and / or its measured values ​​are to be disregarded when locating in the route section 21, provided that the actual speed measured during the journey actually falls below the specified minimum speed.

[0062] In the manner described, the selection device 140 will read out a suitable selection strategy from the strategy data set SDS for each upcoming route section 21 in order to select suitable positioning modules for forming the location information 01 and to exclude less suitable positioning modules from forming the location information 01.

[0063] The selection device 140 can transmit its selection decision AWE directly to the evaluation device 130, for example via a direct connection, as shown by way of example in Figure 2. Alternatively or additionally, the transmission can take place via the data bus 120.

[0064] If the selection decision AWE is transmitted to the evaluation device 130, all locating modules 111 to 114 can continue to be actively operated; however, when forming the location information O1, the evaluation device 130 will disregard the measured values ​​M of those locating modules that were deselected by the selection device 140 as part of the selection decision AWE. In other words, in this case, the location information O1 is only formed with the measured values ​​M of those locating modules 111 to 114 that have been identified as suitable by the selection device 140. Alternatively or additionally, the selection device 140 can also transmit control signals ST to the locating modules 111 to 114 in accordance with its selection decision AWE and use them to activate locating modules classified as suitable and deactivate locating modules classified as unsuitable.

[0065] Figure 3 shows a second exemplary embodiment of a suitable positioning system 100 that can be used in the rail vehicle 10 according to Figure 1. In the positioning system 100, the strategy data set SDS takes into account the respective time ZP of traveling through the track section 21.

[0066] The SDS strategy data set can, for example, take into account that, depending on the season, some of the tracking modules will be less suitable than others. For example, the SDS strategy data set can provide for deactivating radar sensors and balise tracking devices, i.e., tracking modules 111 and 112, in winter or ignoring them because the upcoming route section 21 is expected to be covered in snow in winter and / or tracking modules 111 and 112 could be unusable due to icing.

[0067] Figure 4 shows a third exemplary embodiment of a positioning system 100 that can be used in the rail vehicle 10 according to Figure 1. The positioning system 100 according to Figure 4 includes an updating device 150 that operates in a weather-dependent manner based on current and / or forecast weather data WD and updates the selection strategy provided in the strategy data set SDS for the upcoming route section 21 in a weather-dependent manner.

[0068] The updating device 150 can, for example, update the selection strategy by specifying to deactivate the positioning module 111, i.e. the radar sensor, and / or to disregard its measured values ​​M during positioning in the route section 21 if the weather data WD for the route section 21 predict snowfall, snow on the route, hail or a risk of icing.

[0069] Alternatively or additionally, the updating device 150 can update the selection strategy by specifying to deactivate the locating module 112, i.e. the balise locating device, and / or to disregard its measured values ​​M when locating in the route section 21, if the weather data WD for the upcoming route section 21 predicts snowfall, snow on the route, hail or a risk of icing.

[0070] Figure 5 shows a fourth exemplary embodiment of a positioning system 100 that can be used in the rail vehicle 10 according to Figure 1. In the exemplary embodiment according to Figure 5, the route data set SDS is time-dependent, as described above in connection with Figure 3, and the updating device 150 updates this time-dependent route data set SDS taking into account weather data WD that describe the weather in the route section 21 or the forecast weather in the route section 21 at the time ZP when this route section 21 is traveled, as described above in connection with Figure 4.

[0071] Figure 6 shows an exemplary embodiment of a positioning system 10 in which components of the positioning system 100, namely the selection device 140, the strategy data set SDS, the updating device 150 and the evaluation device 130 are integrated in the form of a computer program product CPP in a computer system 300, which is stored in a memory 302 of the computer system 300.

[0072] The computer program product CPP comprises a software module SW140 which, when executed by a computing device 301 of the computer system 300, forms the selection device 140 according to Figure 5, a software module SW130 which, when executed by the computing device 301, forms the evaluation device 130 according to Figure 5, a software module SW150 which, when executed by the computing device 301, forms the updating device 150 according to Figure 5, and a memory section SA in which the strategy data set SDS is stored.

[0073] Figure 7 shows an exemplary embodiment of a train protection system 400 which can be provided in the rail vehicle 10 according to Figure 1.

[0074] The train protection system 400 according to Figure 7 comprises a computing device 401 and a memory 402. A train protection software module ZUS is stored in the memory 402, which, when executed by the computing device 401, ensures the usual train protection function of the train protection system 400.

[0075] In addition, the computer program product CRP is stored in the memory 402, which has already been described in connection with Figure 6 and, when executed by the computing device 401, enables the locating function described above in connection with Figures 1 to 5 or carries out the locating method described there.

[0076] Finally, it should be mentioned that the features of all the embodiments described above can be combined with one another in any desired manner in order to form further other embodiments of the invention.

[0077] All features of subclaims can also be combined individually with each of the subordinate claims, either individually or in any combination with one or more other subclaims, in order to obtain further embodiments.

[0078] Regardless of the grammatical gender of a particular term, persons with male, female, or other gender identities are included. List of reference symbols

[0079] 10 rail vehicles

[0080] 20 railway track system

[0081] 21 section

[0082] 30 axle counters

[0083] 31 axle counters

[0084] 100 tracking system

[0085] 111- 114 tracking modules:

[0086] 111 radar transmitters

[0087] 112 balise location device

[0088] 113 satellite-based tracking unit

[0089] 114 odometers

[0090] 120 data bus

[0091] 130 Evaluation device

[0092] 140 selection device

[0093] 115 Update setup

[0094] 300 computer systems

[0095] 301 computing device

[0096] 302 memory

[0097] 400 train protection system

[0098] 401 computing device

[0099] 402 Memory

[0100] AWE selection decision

[0101] CRP computer program product

[0102] M measured values

[0103] 01 Location information

[0104] 01 ' current location information

[0105] SA storage section

[0106] SDS strategy data set

[0107] ST control signals

[0108] SW130 software module

[0109] SW140 software module

[0110] SW150 software module

[0111] WD weather data

[0112] X Location

[0113] ZP time

[0114] ZUS train security software module

Claims

Patent claims 1. Positioning system (100) for a vehicle (10) with at least two differently operating positioning modules (111-114), characterized in that the positioning system (100) has a selection device (140) which, when the vehicle (10) is traveling in a section of road (21), carries out a selection of the positioning modules (111-114) used for positioning, taking into account a selection strategy predetermined for the section of road (21) before entering the latter.

2. Positioning system (100) according to claim 1, characterized in that the selection strategy takes into account the respective time (ZP) of traveling through the route section (21), in particular the selection strategy is time-dependent and / or time-dependent.

3. Location system (100) according to one of the preceding claims, characterized in that - the positioning system (100) has an updating device (150), - the updating device (150) updates the selection strategy before entering the route section (21), specifically using current and / or forecast weather data (WD) that describe the current and / or forecast weather in the route section (21), and - the selection device (140) carries out the selection of the positioning modules (111-114) used for positioning when driving into the route section (21), taking into account the updated selection strategy.

4. Location system (100) according to one of the preceding claims, characterized in that the positioning system (100) as a positioning module a radar sensor (111).

5. Positioning system (100) according to claim 4 with reference to claim 3, characterized in that the updated selection strategy provides for deactivating the radar sensor (111) or disregarding its measured values ​​(M) during positioning in the route section (21) if the weather data (WD) for the route section (21) predict snowfall, snow on the route, hail or risk of icing.

6. Location system (100) according to one of the preceding claims 4 to 5, characterized in that - the selection strategy provides for deactivating the radar sensor (111) or disregarding its measured values ​​(M) when locating in the section of road (21) if grooved profile rails integrated into a flat driving surface, in particular an asphalt surface or a concrete surface, are driven on in the section of road (21), and / or - the selection strategy provides for activating the radar sensor (111) or taking its measured values ​​(M) into account when locating in the track section (21) if a ballasted track is used in the track section (21), and / or - the selection strategy provides for activating the radar sensor (111) or taking its measured values ​​(M) into account when locating in the track section (21) if a track provided with brackets is travelled on in the track section (21).

7. Location system (100) according to one of the preceding claims, characterized in that the locating system (100) comprises a balise locating device (112) as a locating module.

8. Positioning system (100) according to claim 7, characterized in that the updated selection strategy provides for deactivating the balise locating device (112) or disregarding its measured values ​​(M) during locating in the route section (21) if weather data (WD) for the route section (21) predict snowfall, snow on the route, hail or risk of icing.

9. Positioning system (100) according to one of the preceding claims, characterized in that the positioning system (100) comprises a satellite-based positioning unit (113) as a positioning module.

10. Location system (100) according to claim 9, characterized in that - the selection strategy provides for deactivating the satellite-based positioning unit (113) or for its measured values (M) to disregard the location in the route section (21) if previously known shadow areas, in particular tunnels, are passed through in the route section (21), and / or - the selection strategy provides for deactivating the satellite-based positioning unit (113) or for its measured values (M) to disregard the location in the section (21) if the speed in the section (21) is likely to exceed a predetermined maximum speed, and / or - the selection strategy provides for deactivating the satellite-based positioning unit (113) when driving along the route section (21) or disregarding its measured values ​​(M) when locating in the route section (21) as soon as the actual value measured during the journey speed of the vehicle (10) exceeds a predetermined maximum speed.

11. Locating system (100) according to one of the preceding claims, characterized in that the locating system (100) comprises an odometer (114) as a locating module.

12. Location system (100) according to claim 11, characterized in that - the selection strategy provides for deactivating the odometer (114) or disregarding its measured values ​​(M) when determining location in the route section (21) if the speed in the route section (21) is expected to fall below a predetermined minimum speed, and / or - the selection strategy provides for deactivating the odometer (114) when driving along the section of road (21) or disregarding its measured values ​​(M) for locating as soon as the actual speed measured during the journey falls below a predetermined minimum speed.

13. Vehicle (10), in particular a rail vehicle, characterized in that the vehicle (10) is equipped with a positioning system (100) according to one of the preceding claims.

14. Method for operating a positioning system (100) which is equipped with at least two differently operating positioning modules (111-114), characterized in that when driving in a route section (21), a selection of the positioning modules (111-114) used for positioning is carried out taking into account a selection strategy predetermined for the route section (21) before entering it.

15. Computer program product (CPP) comprising instructions which, when executed by a computing device (301, 401), in particular a computing device (401) of a train protection system (400), cause it to carry out a method according to claim 14 or to form a selection device (140) and / or activation device of the locating system (100) according to one of the preceding claims 1 to 12.

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