Method and track-guided vehicle for determining the position of the track-guided vehicle

Abstract

The invention relates to a method and a device for determining the position of a track-guided vehicle (1) at least along a route of the track-guided vehicle (1), having at least one passenger entry sensor (4, 5) at least for monitoring an entry region (2, 3) in front of an outer door of the track-guided vehicle (1), wherein at least one measured value relating to at least one land-side object (8) is detected by means of the at least one passenger entry sensor (4, 5), wherein a digital image of the route of the track-guided vehicle (1) is read in by means of at least one evaluation unit and wherein a digital image of the at least one land-side object (8) in the read-in digital image of the route of the track-guided vehicle (1) is determined on the basis of the at least one detected measured value for the land-side object (8) by means of the at least one evaluation unit, and position information associated with the digital image of the at least one detected land-side object (8) is read out.

Description

[0001] Description

[0002] Method and track-guided vehicle for determining the position of the track-guided vehicle

[0003] The invention relates to a method and a track-guided vehicle for determining the position of the track-guided vehicle, wherein at least one land-side object is detected by means of at least one passenger entry sensor of the track-guided vehicle.

[0004] For comfortable boarding and alighting from a passenger rail vehicle, a step-free, gap-free, and as level as possible, horizontal transition between the passenger platform and the boarding area of ​​the rail vehicle is desirable. Various folding or sliding steps or similar solutions have been developed to bridge the gap between the platform and the vehicle, some of which can also be adjusted in height. Height-adjustable step platforms are known, for example, from DE 199 09 700 A1 and DE 201 04 221 U1. For optimal adjustment of these adjustable step platforms, the height and distance of the platform from the vehicle entrance can be determined using sensors. The published patent application WO 98 / 58148 A1 teaches a rail vehicle with corresponding sensors.

[0005] Raising or lowering the floor height of a rail vehicle has also become known. For example, the publications DE 103 15 000 A1, WO 2008 / 081019 A1, and EP 3 608 195 A1 teach corresponding level adjustments, with door sensors detecting any possible offset between the platform and the floor.

[0006] Furthermore, sensor systems for monitoring the track of rail vehicles have become known. The recorded data can be used to detect obstacles and thus avoid collisions. WO 2006 / 008292 A1 describes a method for monitoring the track of a rail vehicle. If a specified standard clearance profile is violated, a check is carried out to determine whether the obstacle is known. WO 2004 / 028881 A1 discloses a suitable sensor system for this purpose.

[0007] Today, camera, laser, radar, and lidar systems are used in particular to record the surroundings of a rail vehicle. These systems also make it possible, in principle, to create a digital image, particularly a three-dimensional one, of the track and thus of the route including its surroundings – a so-called digital twin of the track. Digital twins are digital representations and thus virtual replicas of machines or systems that include all relevant data and simulation models. In addition to the models of the represented object, they also contain simulations that describe the properties or behavior of the represented object.

[0008] WO 2022 / 043213 A1 describes a method for checking a clearance for a rail vehicle by means of a simulated journey of a digital twin of the rail vehicle on a digital twin of a route for the rail vehicle.

[0009] Both trackside and on-board systems are known for locating rail vehicles. On the trackside, for example, balises or axle counters are used. On the vehicle side, complementary balise readers or position encoders are used in the wheel sets, or the rail vehicles are equipped with GNSS positioning systems. The above-mentioned sensors for environmental perception located in the head area of ​​the vehicle, in particular optical sensors such as a camera, or laser, radar and lidar systems, can also be used to locate vehicles. Characteristic features of the environment are used to determine the position of the vehicle using a digital map in which these characteristic features of the environment are recorded.

[0010] The accuracy of rail vehicle localization therefore depends on the installed technical localization equipment. High-precision localization of a vehicle, e.g., accurate to the meter, often involves high additional costs for the technical implementation on both the vehicle and the land side.

[0011] The invention is based on the object of simplifying the position determination of a track-guided vehicle.

[0012] The problem is solved by the subject matter of the independent patent claims. Further developments and refinements of the invention are found in the features of the dependent patent claims.

[0013] A method according to the invention for determining the position of a track-guided vehicle, in particular a rail vehicle, with at least one passenger entry sensor which is set up at least to monitor an entry area in front of an outer door of the track-guided vehicle, in particular the rail vehicle, and is arranged accordingly on the track-guided vehicle, in particular on the rail vehicle, comprises the following method steps: a. Recording at least one measured value for at least one land-side object by means of the at least one passenger entry sensor; b. Reading in a digital image of the route of the track-guided vehicle, in particular the rail vehicle; c.Determining a digital image of the at least one land-side object in the read-in digital image of the route of the track-guided vehicle, in particular the rail vehicle, based on the at least one recorded measured value for the land-side object and reading out a value assigned to the digital image of the at least one recorded land-side object.

[0014] Pos it ions information .

[0015] From the read-out position information, the position of the track-guided vehicle in the route can be determined in process step c.

[0016] According to a first embodiment, the track-guided vehicle is a rail vehicle, in particular a rail vehicle for passenger transport. The invention is described in more detail below using examples relating to a rail vehicle, which, however, is not intended to exclude other track-guided vehicles.

[0017] The position information assigned to the land-based object includes the exact position of the track-guided vehicle on the route, or it includes the exact position of the land-based object, from which the position of the track-guided vehicle on the route can easily be deduced. The relative position of the track-guided vehicle on the route to the land-based object can be assumed to always be the same and known.

[0018] The position determination, also location or localization, of the track-guided vehicle takes place in particular at least along a route of the track-guided vehicle and thus differs from a determination of a mere distance of the track-guided vehicle, in particular a rail vehicle, to a platform.

[0019] For this purpose, at least one land-side object along the route of the rail-guided vehicle is first detected by the at least one passenger entry sensor, and at least one measured value for the at least one detected land-side object is detected by the at least one passenger entry sensor. The at least one detected measured value is transmitted in particular to a suitably configured evaluation unit. The evaluation unit is comprised in particular by the rail vehicle. The at least one measured value is recorded for a measured variable which characterizes at least one property of the land-side object absolutely or relative to the rail vehicle, wherein the at least one land-side object is identifiable on the basis of this property, in particular is unambiguously identifiable, in particular on the basis of a plurality of measured values ​​for the measured variable.

[0020] A landside object is understood to be an object, particularly one close to the track, that is located in the area of ​​the track-guided vehicle's route, for example, trackside infrastructure facilities such as buildings or technical installations. The landside object is, in particular, stationary.

[0021] In addition, a digital image of the track-guided vehicle's route is provided. The digital image of the track-guided vehicle's route is read in, in particular, by the appropriately configured evaluation device.

[0022] A digital image of the at least one detected land-based object is then determined in the digital image of the track of the track-guided vehicle, in particular by the evaluation unit of the track-guided vehicle. Thus, the at least one land-based object detected by the at least one passenger entry sensor is identified in the digital image of the track of the track of the track-guided vehicle. This is done using the at least one detected measured value for the detected land-based object.

[0023] The digital image of the route of the track-guided vehicle contains corresponding information on land-side objects, both regarding the measured variable of the at least one recorded measured value, which enables a determination, and regarding the position of the land-side objects of the route of the track-guided vehicle.

[0024] Accordingly, the position information associated with the determined digital image of the at least one detected land-based object in the digital image of the route of the track-guided vehicle is then read out, and the position of the track-guided vehicle along the route is determined. The read-out position information can comprise the position of the track-guided vehicle, in particular its position along the route, or it can represent a position of the corresponding land-based object from which the position of the track-guided vehicle can be easily derived. In the second case, the position of the track-guided vehicle can then be determined based on the determined position of the land-based object.

[0025] A device according to the invention is designed to carry out the method according to the invention, and for this purpose it comprises the means suitable for carrying out the respective method step, in particular:

[0026] - at least one passenger entry sensor for detecting at least one measured value for at least one land-side object;

[0027] - at least one evaluation unit which is suitably set up to read in a digital image of the route of the track-guided vehicle, in particular the rail vehicle, and to determine a digital image of the at least one land-side object in the read-in digital image of the route of the track-guided vehicle, in particular the rail vehicle, on the basis of the at least one recorded measured value for the land-side object and to read out position information assigned to the digital image of the at least one recorded land-side object.

[0028] The at least one evaluation unit can furthermore be configured to determine the position of the track-guided vehicle in the route from the read-out position information.

[0029] The position information read out in method step c . or the position of the track-guided vehicle in the route determined therefrom can be used to control the track-guided vehicle, for example to position the track-guided vehicle exactly at a stop , for example opposite a platform . If, for example, a platform is the same length as the distance between the first and last door of the track-guided vehicle , the track-guided vehicle can be positioned relative to the platform so that both the first and the last door are opposite the platform, for safe boarding or alighting from or to the platform . The measured values ​​recorded by the at least one passenger boarding sensor are thus used for vehicle control . In addition, the position information read out in method step c . or the position of the track-guided vehicle in the route determined therefrom can be used for door control .This means that only doors that allow safe boarding or alighting can be opened. For example, if a platform is shorter than the distance between the first and last doors of the track-guided vehicle, the track-guided vehicle can be positioned relative to the platform so that only the smallest possible number of doors are not facing the platform, and only the doors facing the platform are opened.

[0030] A track-guided vehicle according to the invention, in particular a rail vehicle, in particular a rail vehicle of public passenger transport, comprises at least one device according to the invention and thus at least the at least one passenger entry sensor and the at least one evaluation device.

[0031] The at least one passenger entry sensor is suitably designed and arranged, in particular in or on the track-guided vehicle, in particular a rail vehicle, for detecting at least one measured value for at least one land-based object. The at least one evaluation device can be part of the at least one passenger entry sensor or separate from this part of the track-guided vehicle.It is set up to read in a digital image of the route of the track-guided vehicle, in particular of the track-guided vehicle, and to determine a digital image of the at least one detected land-side object in the read-in digital image of the route of the track-guided vehicle, in particular of the rail vehicle, on the basis of the at least one detected measured value for the at least one detected land-side object and to read out position information assigned to the digital image of the at least one detected land-side object from the read-in digital image of the route.

[0032] The at least one passenger entry sensor is, in particular, a conventional passenger entry sensor known from the prior art, in particular a contactless sensor. It is typically designed as an optical sensor, for example, a camera-based sensor, and / or as an ultrasonic, laser, radar, and / or lidar sensor. It can therefore be part of an ultrasonic, laser, radar, and / or lidar system and / or an optical sensor system, for example, a camera system.

[0033] The at least one passenger entry sensor is arranged in particular in the area of ​​an exterior door of the track-guided vehicle. It is also less commonly referred to as a door sensor. The exterior door can also be referred to as an entry or exit door.

[0034] The at least one passenger boarding sensor is designed at least to monitor the boarding area and is suitably arranged in or on the rail vehicle. The boarding area, which can also serve as an alighting area and can be referred to as such, comprises at least the area surrounding the rail-guided vehicle, in particular directly in front of the outer door of the rail-guided vehicle. This includes in particular a gap between the rail-guided vehicle and a platform for the rail-guided vehicle, as well as at least a part of the platform of the rail-guided vehicle that is close to the vehicle or track. In addition, at least part of the floor in an interior of the rail-guided vehicle behind the outer door, briefly referred to as the entrance or passenger entrance of the rail-guided vehicle, can belong to this.The at least one passenger boarding sensor is thus designed to detect at least the platform, in particular at least one platform edge, and is arranged in or on the track-guided vehicle.

[0035] The expression of at least one measured value should also be considered to include a plurality of measured values, for example a point cloud for the at least one landside object, which are recorded by means of the at least one passenger entry sensor. In addition, at least one or more measured values ​​for a plurality of landside objects can be recorded by means of the at least one passenger entry sensor. Furthermore, a plurality of passenger entry sensors can also be provided in order to each record at least one or more measured values ​​for the at least one or more landside objects.

[0036] According to a further development, the at least one measured value relating to the at least one detected landside object detected by the at least one passenger entry sensor is a measured value relating to a distance of the at least one detected landside object from the rail vehicle. In a further development, a distance of the at least one landside object from the rail vehicle is subsequently determined from the at least one detected measured value.

[0037] The at least one passenger entry sensor is then suitably designed, for example set up as a suitable measuring device and arranged, in particular in or on a rail vehicle, to record at least one measured value for a horizontal and / or vertical distance of a land-side object, for example the platform, from the rail vehicle, in particular to a predetermined reference point of the track-guided vehicle, for example a point on the front edge of the entrance of the track-guided vehicle. A horizontal and / or vertical distance of the object from the rail vehicle can be recorded directly by means of the at least one passenger entry sensor and / or at least one measured value, in particular to a value determined by a length orA measured variable which deviates from a distance, such as a travel time, is detected by means of the at least one passenger entry sensor, from which a horizontal and / or vertical distance of the object to the rail vehicle can be determined. For example, the distance of the object to the rail vehicle can be determined from one or more photos of the object taken by means of one camera system or by means of several camera systems. The at least one evaluation device can be set up accordingly to determine at least one distance of the detected land-side object to the rail vehicle on the basis of the at least one measured value for a horizontal and / or vertical distance of the object to the rail vehicle which is detected and provided by the at least one passenger entry sensor.

[0038] Analogous to the detection of at least one measured value for a distance between the platform and the rail vehicle, for example the distance between the platform edge and a front edge of the entrance of the track-guided vehicle in the area of ​​the outer door, other objects close to the vehicle in a sensor field of the at least one passenger entry sensor or horizontal and / or vertical distances of the objects located in the sensor field to the rail vehicle can also be detected by means of the at least one passenger entry sensor.

[0039] The expression of at least one measured value for a distance between a land-based object and the rail vehicle shall also be deemed to include multiple measured values ​​for horizontal and / or vertical distances of an object, in particular a point cloud. Using these multiple recorded and / or determined distances, in particular the point cloud, an object can be recognized using appropriate evaluation algorithms.

[0040] The determination of the at least one distance of the track-guided vehicle from the at least one object in the vehicle's surroundings can be carried out by the at least one passenger entry sensor itself, or the at least one passenger entry sensor detects the at least one measured value for a horizontal and / or vertical distance of the object from the rail vehicle and makes it available for evaluation, in particular to an evaluation device which is designed to determine the at least one distance of the detected land-side object from the rail vehicle on the basis of the at least one measured value for a horizontal and / or vertical distance of the object from the rail vehicle detected and provided by the at least one passenger entry sensor.In particular, the at least one distance of the detected object from the rail vehicle is determined based on the at least one measured value provided by the at least one passenger entry sensor by a vehicle-side door control as a correspondingly configured evaluation device. The evaluation device, in particular the door control, and / or the at least one passenger entry sensor are configured to determine and provide a plurality of, in particular horizontal and / or vertical, distances of the at least one land-side object of the track detected by the at least one passenger entry sensor from the rail vehicle.

[0041] According to this development, method step a . thus comprises recording at least one measured value for a distance of the at least one land-side object to the track-guided vehicle and determining at least one distance of the detected land-side object to the track-guided vehicle based on the at least one detected measured value of the at least one passenger entry sensor, and method step c . comprises determining the digital image of the at least one land-side object in the read-in digital image of the route of the track-guided vehicle based on the at least one determined distance of the land-side object to the track-guided vehicle and reading out the position information assigned to the determined digital image of the at least one detected land-side object. Determining the digital image of the at least one land-side object in the read-in digital image of the route of the track-guided vehicle according to method step c .can be done by comparing the read-in digital image of the route with the at least one recorded measured value for the landside object. This is easily achieved, for example, by image recognition, which can represent a comparison of the (measured) values ​​attributed to the images with the recorded measured values. A digital image of the landside object is recorded by the at least one passenger boarding sensor, and the digital image of the landside object is determined in the digital image of the route using a corresponding image recognition algorithm.

[0042] The digital image of the route and thus also the digital image of the land-side object in the digital image of the route can, as already indicated above, however, include various values ​​for measured variables, such as distance values ​​for which measured values ​​can be recorded by at least one passenger entry sensor.

[0043] Although a unique identification of the digital image of the landside object in the digital image of the route is possible on the basis of a single recorded measured value, several measured values ​​for the at least one landside object are advantageously recorded by means of the at least one passenger entry sensor and then used to determine the digital image of the landside object in the digital image of the route.

[0044] As already explained above, for this purpose a plurality of measured values ​​for the at least one land-side object, in particular each representing a distance of the at least one detected land-side object from the rail-guided vehicle, can be detected by means of the at least one passenger entry sensor at the same time, which includes a plurality of measured values ​​for a plurality of land-side objects being detected by means of the at least one passenger entry sensor at the same time and / or a plurality of measured values ​​for the at least one land-side object being detected by a plurality of passenger entry sensors at the same time and / or a plurality of measured values ​​for a plurality of land-side objects being detected by a plurality of passenger entry sensors at the same time. Additionally or alternatively, at least method step a is repeated at predetermined time intervals, in particular while the rail-bound vehicle is traveling, or at predetermined distances from one another.This results in a series of measured values, for example a series of distances, which represent a clear course, in particular a contour course of the land-side environment along the route, which is also recorded in this way in the digital image of the route. In a corresponding further development, a signal, for example a distance or contour course of objects on the route, is determined from the plurality of measured values ​​recorded at predetermined distances from one another or repeatedly at predetermined time intervals from one another, relating to the at least one land-side object, in particular to distances between the at least one land-side object and the track-guided vehicle, the digital image of the route comprising an identical or at least similar signal, for example such a distance or contour course of objects on the route.

[0045] For example, a digital image of the recorded land-side object can be generated based on the multiple measured values, which is compared with the digital image of the route in order to determine the digital image of the land-side object in the digital image of the route.

[0046] If a plurality of passenger entry sensors are provided for each detecting at least one measured value, in particular at least one measured value relating to a distance of the track-guided vehicle from a land-based object, at least one passenger entry sensor can be assigned to a door. The track-guided vehicle thus has a plurality of doors, and in the area of ​​the doors at least one passenger entry sensor is arranged for detecting at least one measured value relating to a distance from a land-based object. The distances between the passenger entry sensors in the vehicle are known and can be taken into account accordingly.

[0047] According to a further development, the process step a is preceded by:

[0048] - detecting at least one measured value for at least one land-based object by means of at least one passenger entry sensor of a, in particular any, track-guided vehicle and detecting or determining a position of the track-guided vehicle, in particular at the same time,

[0049] - generating a digital image of the at least one detected land-based object based on the at least one measured value for the at least one land-based object and storing position information based on the simultaneously detected or determined position of the track-guided vehicle in the digital image of the at least one detected land-based object;

[0050] - Repeating these two process steps at several positions of the track-guided vehicle and

[0051] - Generating a digital image of the route of the rail-guided vehicle from a plurality of generated digital images of land-based objects. In a further development, it is provided that at the same time as method step a. a first location of the rail-guided vehicle, in particular of the rail vehicle, is determined, wherein in method step b. a section of the digital image of the route selected as a function of the determined first location is read in. To determine the first location, at least one measured value for the first location can be recorded. The recording of at least one measured value for the first location can shortly before method step a. or take place at the same time as method step a. The first location of the rail-guided vehicle can be determined by means of positioning systems, for example GNSS, such as GPS, GLONASS, Galileo or Baidu.In addition, track beacons, for example, are suitable for determining the position of a rail vehicle on the track. The initial location of the track-guided vehicle can also be determined by determining the path length from predefined, known starting points, or by detecting objects such as prominent structures and subsequently determining the path.

[0052] The first location may exhibit greater inaccuracies and thus be referred to as a rough position. The position of the track-guided vehicle in the route determined according to the invention can, in contrast, be understood as a fine positioning.

[0053] In process step b . it is therefore not the entire digital image of the route that needs to be read in for evaluation in process step c ., but only the part that is relevant for the determined first location of the rail-guided vehicle . This leads to a considerable simplification . Process steps b . and / or c . can also be carried out depending on the determined first location, for example process steps b . and / or c . are only carried out in predetermined situations or . at predetermined locations , for example in stop situations, i.e. when the rail-guided vehicle is in the vicinity of a stop and / or when the rail-guided vehicle is entering a stop , in particular one with a platform .

[0054] In particular, an algorithm suitable for carrying out method steps b and c is implemented on the evaluation device of the track-guided vehicle. A corresponding computer program product comprises instructions which, when the program is executed by a suitable evaluation device, cause the latter to carry out method steps b and c and, if applicable, subsequent method steps. A provision device for the computer program product stores and / or provides the computer program product. In particular, the provision device is a data carrier on which the computer program product is stored.

[0055] One advantage of the invention is that an existing passenger entry sensor system is used to locate the vehicle, meaning that no additional location systems need to be installed. This saves costs. A further advantage over existing location systems can be that track-guided vehicles, particularly rail vehicles, with a large number of passenger doors also have a large number of passenger entry sensors. This means that the position of the track-guided vehicle can be validated by multiple passenger entry sensors, which could increase accuracy. Furthermore, the passenger entry sensor system is much more redundant than sensors installed at the head of the vehicle.

[0056] The invention is susceptible of numerous embodiments. It is explained in more detail with reference to the following figures, each of which illustrates an exemplary embodiment. Identical elements in the figures are provided with the same reference numerals.

[0057] Fig. 1 shows schematically a flow diagram of an embodiment of the method according to the invention,

[0058] Fig. 2 shows schematically an embodiment of a rail vehicle according to the invention,

[0059] Fig. 3 shows a typical contour for land-based objects detected by passenger entry sensors,

[0060] Fig. 4 shows typical contours for land-based objects that are detected by passenger boarding sensors and stored in digital images of routes.

[0061] Fig. 1 shows a sequence or flow diagram of an embodiment of the method according to the invention.

[0062] In a first method step a ., at least one measured value for a land-side object on the route of the track-guided vehicle, in this case a rail vehicle for passenger transport, is recorded by means of at least one passenger boarding sensor of a track-guided vehicle, in this case at least one measured value for a distance of at least one track-side object to a reference point of the rail vehicle. Several measured values ​​for distances can be recorded for several track-side objects, for example so-called point clouds can be recorded for each object. This makes it possible to determine the shape or form and / or size of the respectively recorded objects and thus also to recognize the objects using a suitable algorithm for object recognition.

[0063] Subsequently, at least one distance of the at least one object from the rail vehicle can be determined from the at least one recorded measured value. Likewise, at least one distance, in particular multiple distances, from the rail vehicle can be determined for each of several recorded objects. This is done in particular by means of a vehicle-mounted evaluation device. Object recognition can also be performed by the vehicle-mounted evaluation device.

[0064] This method step can be carried out repeatedly at predetermined time intervals or at predetermined distances from one another, for example continuously during the journey, but at least during entry into a stop with a platform. From several recorded measured values, a contour of the surroundings of the track-guided vehicle along the route can be determined, as outlined in more detail in Fig. 3 and Fig. 4.

[0065] In the subsequent process step b, a predetermined digital image of the route is read in by a suitably designed evaluation unit. The digital image of the route is composed of several digital images of land-based objects. Each digital image of a land-based object stores position information that characterizes the position of the track-guided vehicle.

[0066] In method step c , the digital image of the at least one land-side object in the read-in digital image of the route of the rail-guided vehicle is then determined using the at least one recorded measured value for the land-side object by means of the vehicle-side evaluation unit, and the correspondingly assigned position information is read out and, if appropriate, the position of the rail-guided vehicle is determined from this. As indicated above, in particular a profile of several distance values ​​which follow one another in time or space during the journey, i.e. a distance or contour profile of one or more land-side objects which is determined over several distances and / or is determined from individual distances of several passenger entry sensors with known distances to one another, is used here.

[0067] The track-guided vehicle shown schematically in Fig. 2, here again a rail vehicle, comprises a car body 1 with two doors 2 and 3 and two different passenger boarding sensors 4 and 5 with their respective sensor fields 6 and 7, each set up to detect at least one land-side object on a route of the track-guided vehicle, here set up to detect at least one measured value for a distance to a land-side object, here by way of example an indicated platform 8. One passenger boarding sensor 4 is arranged above the door 2, the other passenger boarding sensor 5 is arranged below the door 3. Their sensor fields 6 and 7 differ accordingly.Not shown is a vehicle-side evaluation device for determining at least one distance of the rail vehicle to the landside object 8, for reading in a digital image of the route of the rail vehicle and for determining a digital image of the at least one detected landside object 8 in the read-in digital image of the route of the rail vehicle, and for reading out position information associated with the determined digital image of the at least one detected landside object in the read-in digital image of the route of the rail vehicle, for example a position of the rail vehicle. The evaluation device can be set up to determine the track-guided vehicle along the route based on the read-out position information.The digital image of the at least one detected land-side object 8 in the read-in digital image of the route can be determined by comparing contour profiles, as illustrated in Fig. 3 and Fig. 4. Fig. 3 shows a first signal profile 10 of a passenger boarding sensor 4 of a first rail-guided vehicle while traveling at a first speed, which first signal profile 10 represents a contour profile of the surroundings of the route of the rail-guided vehicle, i.e. of land-side objects in the sensor field 6 of the passenger boarding sensor 4. The sensor 4 and its sensor field 6 are shown schematically. In addition, a coordinate system is shown, wherein the x-coordinate points in the direction of travel of the rail-guided vehicle. This first signal profile 10 is specified as a digital image of a section of the route.The exact position of the first guided vehicle was known at the time of the first signal waveform 10 and is assigned to unique contour features that represent land-based objects.

[0068] In Fig. 4, a second signal curve 11 is superimposed, which was detected by a passenger boarding sensor 4 of a second rail-guided vehicle while traveling at a second speed different from the first speed and at a slightly different height. In addition, minor distortions compared to the first signal curve 10 are included. The evaluation unit now smooths out the distortions and compares unique contour features of the signal curves 10 and 11 with one another, whereby the exact position of the second rail vehicle can be determined from the previously stored position data of the first rail vehicle, which were assigned to the digital image.

Claims

Patent claims 1. Method for determining the position of a rail-guided vehicle (1) at least along a route of the rail-guided vehicle (1) with at least one passenger entry sensor (4, 5) at least for monitoring an entry area (2, 3) in front of an outer door of the rail-guided vehicle (1), characterized by the following method steps: a. detecting at least one measured value for at least one land-side object (8) by means of the at least one passenger entry sensor (4, 5); b. reading in a digital image of the route of the rail-guided vehicle (1); c. determining a digital image of the at least one land-side object (8) in the read-in digital image of the route of the rail-guided vehicle (1) on the basis of the at least one detected measured value for the land-side object (8) and reading out position information associated with the digital image of the at least one detected land-side object (8).

2. Method according to claim 1, characterized in that the method step a. is preceded by: - detecting at least one measured value for at least one land-based object (8) by means of at least one passenger entry sensor (4, 5) of a, in particular any, track-guided vehicle (1) and detecting or determining a position of the track-guided vehicle (1), in particular at the same time, - generating a digital image of the at least one detected land-based object (8) based on the at least one measured value for the at least one land-based object (8) and assigning position information based on the simultaneously detected or determined position of the track-guided vehicle (1) to the digital image of the at least one detected land-based object (8); - Repeating these two process steps at several positions of the track-guided vehicle and - generating a digital image of the route of the track-guided vehicle (1) from several generated digital images of land-based objects (8).

3. Method according to one of claims 1 or 2, characterized in that method step a. comprises: detecting at least one measured value for a distance of the at least one land-based object (8) to the track-guided vehicle (1), and that method step c. comprises: determining the digital image of the at least one land-based object (8) in the read-in digital image of the route of the track-guided vehicle (1) on the basis of the at least one measured value for a distance of the land-based object (8) to the track-guided vehicle (1) and reading out the data associated with the determined digital image of the at least one detected land-based object (8). Pos it ions information .

4. Method according to one of claims 1 to 3, characterized in that in method step a. several measured values ​​for the at least one land-based object (8) are detected by means of the at least one passenger entry sensor (4, 5).

5. Method according to one of claims 1 to 4, characterized in that method step a. comprises: Detecting a plurality of land-side objects (8) by means of the at least one passenger entry sensor (4, 5).

6. Method according to one of claims 1 to 5, characterized in that at least method step a. is carried out repeatedly at predetermined time intervals or at predetermined distances from one another.

7. Method according to one of claims 1 to 6, characterized in that in method step a. a first location of the track-guided vehicle (1) is determined, wherein in method step b. a section of the digital image of the route selected as a function of the determined location of the track-guided vehicle (1) is read in.

8. Method according to one of claims 1 to 7, characterized in that the position information read out in method step c. is used to control the track-guided vehicle (1).

9. Track-guided vehicle (1) comprising: - at least one passenger entry sensor (4, 5) for detecting at least one measured value for at least one land-side object (8); - at least one evaluation unit which is suitably configured to read in a digital image of the route of the track-guided vehicle (1) and to determine a digital image of the at least one land-based object (8) in the read-in digital image of the route of the track-guided vehicle (1) on the basis of the at least one recorded measured value for the land-based object (8) and to read out a digital image of the at least Pos it ionsinformation assigned to a detected land-based object.

10. Track-guided vehicle according to claim 9, characterized in that it comprises several Passenger entry sensors (4, 5) for respectively detecting at least one measured value for at least one land-side object (8).

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