Method for updating a rail map

Abstract

The invention relates to a method (100) for updating a rail map, having the steps of: - providing (S1) at least one first track section (102) which has at least one first magnetic field-monitoring sensor value, - detecting and / or receiving (S2) a first curve (104) of magnetic field-monitoring sensor values, and - ascertaining (S3) a comparison section (106) on the basis of the first track section (102) and the detected and / or received first curve (104) in order to update the rail map.

Description

[0001] Description

[0002] title

[0003] Procedure for updating a rail map

[0004] State of the art

[0005] The present invention relates to a method for updating a rail map, a sensor unit, a rail vehicle, a computer program, and a computer network structure.

[0006] Currently, there are a variety of different solutions for updating map data, especially in the rail sector. Due to the increasing number of rail vehicles on various tracks and increasing automation, the need for innovative and robust map management methods is growing.

[0007] The constant weight reduction in the rail vehicle sector to reduce fuel consumption and increasing competition are creating cost pressure, resulting in greater demand for cheaper and more efficient components for rail vehicles.

[0008] Disclosure of the invention

[0009] The inventive method for updating a rail map has the advantage over the known method that, by merging or similarly combining the existing map with new measured values, an updated or adapted map can be created that can exhibit increased accuracy for the recorded rail section or can take into account changing environmental parameters of the rail section. Map signatures, in particular, can be subject to constant change, e.g., due to wear and tear, so that this change can be taken into account with the aid of the inventive method in order to improve the quality of a recorded map.

[0010] This is achieved according to the invention in that the method, in particular a computer-implemented method, for updating a rail map comprises the steps:

[0011] Providing at least one first route section which has at least one first magnetic field monitoring sensor value, detecting and / or receiving a first course of magnetic field monitoring sensor values,

[0012] Determining a comparison section based on the first track section and the captured and / or received first course to update the rail map.

[0013] Receiving the first set of magnetic field-monitoring sensor values ​​can be a reception from a sensor unit that detects the sensor values. The receiving step can be preceded by a step of detecting the first set of magnetic field-monitoring sensor values ​​by the sensor unit.

[0014] In other words, based on a map comprising at least a first route section having at least one magnetic field-monitoring sensor value of the route section, the first route section is expanded or modified with a first course of magnetic field-monitoring sensor values ​​in such a way that a comparison section is created, which can be created or generated based on a relationship between the first course and the first route section. The first route section can preferably comprise a location-specific course of sensor values ​​that is assigned to a route section. More preferably, the first route section can comprise a fusion of a plurality of measurements. Thus, a comparison section or a new route section can be formed, in particular, by comparing a newly recorded signature or a course of magnetic field-monitoring sensor values ​​with the route section.In particular, a method such as cross-correlation, a least squares method and / or dynamic time normalization or similar can be used for the comparison or for determining the comparison section. More preferably, a Sakoe Chiba window can be used for the dynamic time normalization. By creating the comparison section with ever new measurements, the described route section can be recorded more and more robustly by combining the large number of measurements, so that possible measurement inaccuracies or variations are eliminated. Preferably, the first route section is a first signature and the first course is a second signature. The signature can in particular describe a course of magnetic field monitoring sensor values.

[0015] In the context of the present invention, a profile of magnetic field-monitoring sensor values ​​can be understood as a preferably spatial profile of magnetic field data recorded by a magnetic field-monitoring sensor unit arranged on the rail vehicle when traveling along the track section. The profile of sensor values ​​here preferably represents a spatial profile of the earth's magnetic field along a track of the track section traveled by the rail vehicle, wherein the earth's magnetic field is characteristically modified by the track and (ferro-)magnetic elements arranged in the region of the track. For this purpose, the magnetic field-monitoring sensor unit can be designed, for example, as a magnetometer, in particular as a flux-gate magnetometer. The magnetic field-monitoring sensor unit is preferably arranged on an underside of the rail vehicle facing a track traveled by the rail vehicle.The profile of the sensor values ​​can represent, in particular, include, the spatial profile of the magnetic field. In other words, the sensor values ​​can include values ​​of a magnetic field strength and / or flux density and / or values ​​representing the magnetic field strength and / or flux density, e.g., voltage, current, or phase shift values.

[0016] The subclaims show preferred developments of the invention.

[0017] Preferably, the method comprises the step of: - adapting, in particular replacing, the first route section on the basis of the determined comparison section.

[0018] An advantage of this embodiment is that a plurality of signatures / courses can be merged to form the first route section. This increases the stability of the first route section. Only a portion of the first route section can be adjusted using the determined comparison section. For example, only partial sections can be replaced. More preferably, the entire first route section can be replaced by the determined comparison section.

[0019] Preferably, the first route section and the first course are offset from one another, the method further comprising the step:

[0020] - Adjust the comparison section based on the offset.

[0021] An advantage of this embodiment is that if an offset in the amplitude occurs between the first route section and the first course and / or an offset in the assignment along a position between the first route section and the first course, this offset can be taken into account when determining the comparison section in order to increase the informative value of the route section or comparison section. The offset can be one-dimensional or two-dimensional. The one-dimensional offset can, for example, be an offset along an amplitude or an inaccuracy in the measuring method. More preferably, a one-dimensional offset can also be a variance in the assignment of the signature to a position due to inaccuracies in the position determination.More preferably, the offset may be a two-dimensional offset, which may be both a variance in the amplitude of the signature due to inaccuracies in the measurement method and a variance in the assignment of the signature to a position due to inaccuracies in the position determination.

[0022] Further preferably, the method comprises the step:

[0023] - Approximating the comparison section in the area of ​​the offset to the first route section and / or the first course depending on a first quality of the first route section and / or a second quality of the first course.

[0024] An advantage of this embodiment is that, depending on the first quality and the second quality, the comparison section can be approximated to the route section or the course, wherein the first quality and the second quality take into account a quality of the first route section or the first course. The range of the offset can, in particular, describe a line between a point in the course of the first route section and a point in the first course. For example, the first route section, based on a comparison between the first route section and the first course, can have a higher first quality, so that the comparison section tends to be approximated closer to the first route section than to the first course, in particular if the first course comprises only one measurement.

[0025] Further preferably, the method comprises the step:

[0026] - Bringing the comparison section closer to the first section if the first quality is higher than the second quality.

[0027] An advantage of this embodiment is that, based on the comparison between the first quality and the second quality, it can be determined whether the comparison section should be approximated to the first route section. In particular, the first route section can have a large number of measurements and a high measurement quality, so that the comparison section can be approximated to the first route section.

[0028] Preferably, the method comprises the step:

[0029] - Bring the comparison section closer to the first curve if the second quality is higher than the first quality.

[0030] An advantage of this embodiment is that, based on a comparison between the first and second quality, it can be determined that the comparison section should be approximated to the first section. For example, the first section may have a higher quality than the first section if the first section was recorded a long time ago or, for example, before a known reconstruction measure. The method further preferably comprises the step:

[0031] - Determining the first quality based on a confidence level of the first route section and / or the first course and / or a first number of measurements fused in the first route section.

[0032] An advantage of this embodiment is that, when determining the first quality, a confidence level of the first route section or a number of measurements that were processed in the first route section can be taken into account in order to thus increase the reliability of the first quality. The confidence level of the first route section can in particular be a type of measurement method or something similar. A further factor for determining the first quality can be the number of measurements that were fused in the first route section to form the first route section. Thus, for example, a high first quality can be present if, for example, a large number of measurements were carried out using a measurement method that has a low variance.

[0033] Further preferably, the method comprises the step:

[0034] Determining the second quality based on a quality index of the first trace and / or a second number of measurements in the first trace.

[0035] An advantage of this embodiment is that, when determining the second quality, a quality index as well as the number of measurements in the first profile can be taken into account. For example, the first profile can include measured values ​​from two sensors, which can increase the second quality. Further preferably, a quality index of the first profile can be determined, which takes into account factors such as the quality of the measuring system, the quality of the measurement recording, and especially when considering environmental factors. This can include, for example, the sensor sensitivity.

[0036] The method further preferably comprises the step of creating the first track section and / or the first course if the first track section and / or the first course are free of measured values. An advantage of this embodiment is that, in the event that no measurement is available for a track section and / or the recorded sensor values ​​are the first measurement of a track, these can be generated. This allows resources to be saved, in particular, if, for example, two sensor units travel directly one after the other over a track section in order to form a comparison section.

[0037] Further preferably, the method comprises the step:

[0038] Setting the first grade and / or the second grade to a predetermined value when the first route section and / or the first course are created.

[0039] An advantage of this embodiment is that when the first route section and / or the first course are created for the first time, the values ​​for the first quality and / or the second quality can be set to a predetermined value in order to thus stabilize the determination of the comparison section.

[0040] A further aspect of the invention relates to a sensor unit which is configured to carry out steps of the method as described above and below.

[0041] Further preferably, the sensor unit comprises a sensor element which is configured to monitor a magnetic field which at least partially exhibits a change through a rail in order to provide at least one measured value for a first section of track and / or a first course.

[0042] A further aspect relates to a rail vehicle which has a sensor unit as described above and below and / or has a control unit which is configured to carry out steps of the method as described above and below.

[0043] A further aspect of the invention relates to a computer program configured to perform steps of the method as described above and below. In other words, the computer program comprises instructions that cause the computer network structure to execute the proposed method. A further aspect of the invention relates to a computer network structure configured to perform steps of the method as described above and below and / or having a storage medium configured to store the computer program as described above and below.

[0044] Short description of the drawings

[0045] Embodiments of the invention are described in detail below with reference to the accompanying drawings. In the drawing:

[0046] Figure 1 is a diagram illustrating the process according to a

[0047] embodiment,

[0048] Figure 2 is a diagram illustrating the process according to a

[0049] embodiment,

[0050] Figure 3 is a diagram illustrating the process according to a

[0051] embodiment,

[0052] Figure 4 is a diagram illustrating the process according to a

[0053] embodiment,

[0054] Figure 5 is a flowchart illustrating steps of the method according to an embodiment,

[0055] Figure 6 is a flowchart illustrating steps of the method according to an embodiment,

[0056] Figure 7 shows a sensor unit according to an embodiment,

[0057] Figure 8 shows a rail vehicle according to an embodiment,

[0058] Figure 9 shows a computer network structure according to an embodiment, and

[0059] Figure 10 shows a computer program according to an embodiment. Embodiments of the invention

[0060] Figure 1 shows a diagram 10 to illustrate the method 100 according to one embodiment. The diagram 10 has a first axis 12, which indicates a measured value. The diagram 10 has a second axis 14, which indicates the position along a rail. The first track section 102 can be plotted in the diagram 10. More preferably, a first profile 104 is plotted in the diagram. The first track section 102 can, in particular, comprise a second profile 108 of magnetic field-monitoring sensor values. As shown in Figure 1, the first track section 102 and the first profile 104 can have an offset 110. As shown in Figure 1, the offset 110 is oriented along the first axis 12, so that it can describe a variance in the amplitude of the signature due to inaccuracies in the measurement method.

[0061] Figure 2 shows a diagram 20 to illustrate the functioning of the method 100 according to one embodiment. The diagram 20 has a first axis 12, which indicates a measured value. Furthermore, the diagram 20 has a second axis 14, which plots a position along a rail or the like. A first track section 102 is plotted in the diagram 20. Furthermore, a first profile 104 of magnetic field-monitoring sensor values ​​is shown in the diagram 20. The first track section can, in particular, comprise a second profile 108 of magnetic field-monitoring sensor values, in particular to compare the first track section 102 with the first profile 104. Further preferably, an offset 110 between the first track section 102 and the first profile 104 is detectable. As shown in Figure 2, the offset 110 between the first track section 102 and the first profile 104 is along the second axis 14.Thus, the offset 110 in Figure 2 represents a variance in the assignment of the signature to a position due to inaccuracy in the position determination.

[0062] Figure 3 shows a diagram 30 for understanding the method 100 according to one embodiment. The diagram 30 comprises a first block 32, which is indicative of a measurement and / or a plurality of measurements. The first block 32 can in particular have a first measurement 34. More preferably, the first block 32 has a plurality of measurements, in particular a second measurement 36 and a third measurement 38. The measurements from the first block 32 can be introduced into a comparison section determination 46, in particular by means of the connection 40. More preferably, the diagram comprises the second block 48, which in particular comprises the first route section 102. The first route section 102 can also be introduced into the comparison section determination 46 with step 42.In the comparison section determination 46, in particular the first measurement 34 can be compared with the route section 102 in order to be able to determine the comparison section 106.

[0063] Figure 4 shows a diagram 50 illustrating the method 100 according to one embodiment. The diagram 50 has a first axis 52 onto which a measured value is plotted. The diagram 50 also has a second axis 54 with at least one position along a rail or the like. A first route section 102 is plotted in the diagram 50. More preferably, a first profile 104 is plotted in the diagram 50. The first route section 102 preferably comprises a second profile 108. Thus, the magnetic field monitoring sensor values ​​of the first profile 104 can be compared with the magnetic field monitoring sensor values ​​of the second profile 108. Based on the first route section 102 and the first profile 104, the comparison section 106 can be determined. As shown in Figure 4, an offset 110 exists between the first route section 102 and the first profile 104.As shown in Figure 4, the offset 110 is two-dimensional, since there is an offset along both the first axis 52 and the second axis 54. Thus, the offset 110 represents, in particular, a variance in the amplitude of the signature due to inaccuracies in the measurement method, as well as a variance in the assignment of the signature to a position due to inaccuracies in the position determination. More preferably, the diagram 50 shows a first alternative line 56, which could represent a comparison section 106 if the first path section 102 has a very high first quality. Thus, the comparison section 106 can shift in the direction of the first path section 102. More preferably, Figure 4 shows a second alternative line 58 for the comparison section 106 if the first profile 104 has a particularly high second quality. In this case, the comparison section 106 can shift in the direction of the first profile 104.Figure 5 shows a flowchart illustrating steps of method 100 according to one embodiment. Method 100 includes, in particular, the steps of providing S1 at least a first route section 102, which has at least one first magnetic field-monitoring sensor. Furthermore, method 100 includes the step of detecting and / or receiving S2 a first profile 104 of magnetic field-monitoring sensor values. Furthermore, method 100 includes the step of determining S3 a comparison section 106 based on first route section 102 and the detected first profile 104.

[0064] Figure 6 shows a flowchart illustrating steps of method 100 according to one embodiment. In particular, method 100 comprises the same steps S1 to S3 as already explained with reference to Figure 5. Furthermore, method 100 comprises the step of adapting S4 the comparison section 106. Preferably, the method comprises the step of approximating S5 the comparison section 106. More preferably, method 100 comprises the step of approximating S6 the comparison section 106. Preferably, method 100 comprises the step of approximating S7 the comparison section 106. Furthermore, method 100 preferably comprises the step of determining S8 the first quality. Preferably, method 100 comprises the step of determining S9 the second quality. Furthermore, method 100 comprises the step of creating S10 the first route section 102.Preferably, the method 100 comprises the step S11 of determining the first quality and / or the second quality.

[0065] Figure 7 shows a sensor unit 200 according to one embodiment. In particular, the sensor unit 200 can be configured to perform steps of the method 100, as described above and below. Further preferably, the sensor unit 200 comprises a sensor element 202 configured to monitor a magnetic field that is at least partially altered by a rail, in order to provide at least one measured value for a first track section 102 and / or a first profile 104.

[0066] Figure 8 shows a rail vehicle 300 having a sensor unit 200, as described above and below. More preferably, the rail vehicle 300 has a control unit 302, which is configured to carry out the steps of the method 100, as described above and below. Figure 9 shows a computer network structure, which is configured to carry out steps of the method 100, as described above and below, and / or has a storage medium 402, which is configured to store the computer program, as described above and below. More preferably, the computer network structure 400 has a data interface 404, which is configured, in particular, to establish a connection to a rail vehicle 300 and / or a sensor unit 200.

[0067] Figure 10 shows a computer program 500 which is configured to carry out steps of the method 100 as described above and below.

Claims

Claims 1. A method (100) for updating a rail map, comprising the steps: Providing (S1) at least one first section (102) which has at least one first magnetic field monitoring sensor value, Detecting and / or receiving (S2) a first profile (104) of magnetic field monitoring sensor values, Determining (S3) a comparison section (106) based on the first route section (102) and the detected and / or received first course (104) in order to update the rail map.

2. The method (100) of claim 1, further comprising the step: - adapting, in particular replacing, (S4) the first route section (102) on the basis of the determined comparison section (106).

3. Method (100) according to one of the preceding claims, wherein the first route section (102) and the first course (104) have an offset (110) to each other, further comprising the step: - adjusting (S5) the comparison section (106) based on the offset (110).

4. The method (100) of claim 3, further comprising the step: - approaching (S6) the comparison section (16) in the region of the offset (110) to the first route section (102) and / or the first course (104) depending on a first quality of the first route section (102) and / or a second quality of the first course (104).

5. The method (100) of claim 4, further comprising the step: Approaching (S7) the comparison section (106) to the first section (102) if the first quality is higher than the second quality.

6. The method (100) according to claim 4 or 5, further comprising the step: - approaching (S8) the comparison section (106) to the first curve (104) if the second quality is higher than the first quality.

7. The method (100) according to any one of claims 4 to 6, further comprising the step: Determining (S9) the first quality based on a confidence level of the first route section (102) and / or the first course and / or a first number of measurements fused in the first route section (102).

8. The method (100) according to any one of claims 4 to 7, further comprising the step: Determining (S10) the second quality based on a quality index of the first course (104) and / or a second number of measurements in the first course (104).

9. The method (100) according to any one of claims 4 to 8, further comprising the step: - Creating (S11) the first route section (102) and / or the first course (104) when the first route section (102) and / or the first course (104) are free of measured values.

10. The method (100) according to any one of claims 4 to 9, further comprising the step: Setting (S12) the first quality and / or the second quality to a predetermined value when the first route section (102) and / or the first course (104) are created.

11. Sensor unit (200) which is configured to carry out steps of the method (100) according to one of the preceding claims.

12. Sensor unit (200) according to claim 11, comprising a sensor element (202) which is configured to monitor a magnetic field which at least partially exhibits a change through a rail in order to provide at least one measured value for a first track section (102) and / or a first course (104).

13. Rail vehicle (300) comprising a sensor unit (200) according to one of claims 11 to 12 and / or a control unit (302) which is configured to carry out steps of the method (100) according to one of claims 1 to 10.

14. Computer program (500) which is configured to carry out steps of the method (100) according to one of claims 1 to 10.

15. A computer network structure (400) which is configured to carry out steps of the method (100) according to any one of claims 1 to 10 and / or has a storage medium (402) which is configured to store the computer program according to claim 14.

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