Method and devices for operating a rail vehicle

Abstract

The invention relates, inter alia, to a method for operating a rail vehicle (10). According to the invention, during operation, objects located on, next to or in the vicinity of a track on which the rail vehicle (10) is travelling are detected by the rail vehicle and object recognition information (OI) is formed for each of the detected objects, the object recognition information (OI) is evaluated taking into account a route data set (SDS) in which known stationary objects which are uncritical for the journey of the rail vehicle (10) are defined, wherein as part of the evaluation only object recognition information (OI) that is not associated with any of the objects defined in the route data set (SDS) is forwarded in processed or unprocessed form as object-specific warning information (WI) to a receiving device (130) on the route and object recognition information (OI) that is associated with objects defined in the route data set (SDS) is excluded from being forwarded to the receiving device (130) on the route.

Description

[0001] 202409574

[0002] 1

[0003] Description

[0004] Procedures and equipment for operating a railway vehicle

[0005] The invention relates to a method for operating a rail vehicle, in particular a remotely controlled rail vehicle, a rail vehicle as such, and a remote control device for controlling a rail vehicle.

[0006] It is known that a rail vehicle, if appropriately designed, can be remotely controlled by an operator located on the trackside, i.e., not inside the vehicle. In known remote control systems, the operator is shown an image of the track section ahead of the rail vehicle on a display device located on the trackside, allowing the remote control of the rail vehicle to be carried out analogously or very similarly to vehicle control from the driver's cab. To enable such a display on the display device, the track section ahead in the direction of travel, also known as the "track tube," is captured by a camera in known remote control systems, and the images are transmitted as a real-time video sequence from the rail vehicle to the remote control device located on the trackside.

[0007] The invention is based on the objective of providing a method for operating a rail vehicle which is particularly advantageous with regard to the described possibility of remote control.

[0008] This problem is solved according to the invention by a method with the features according to claim 1. Advantageous embodiments of the method according to the invention are specified in the dependent claims.

[0009] According to the invention, objects located on, beside, or near a track traversed by a rail vehicle are detected by the rail vehicle, and object recognition information is generated for each detected object. This object recognition information is evaluated using a track data set in which known stationary objects that are not critical to the rail vehicle's operation are defined. During the evaluation, only those object recognition information pieces that cannot be assigned to any of the objects defined in the track data set are forwarded, in processed or unprocessed form, as object-related warning information to a trackside receiving device.

[0010] 2

[0011] Object recognition information that is to be assigned to objects defined in the track data set is excluded from being forwarded to the trackside receiving device.

[0012] A significant advantage of the method according to the invention is that the transmission of object-related data from the rail vehicle to the trackside receiving device can be limited to objects whose existence is unpredictable. The invention is based on the idea that data relating to stationary objects whose location and appearance are known, and for which object data already exists in the trackside atlas and thus also on the trackside, need not be transmitted to the trackside receiving device, since the corresponding object-related data only needs to be read from this very trackside atlas. By omitting objects when transmitting object-related data, the bandwidth requirement for transmitting the object-related data can be significantly reduced.For example, if all objects ahead in the direction of travel are registered in the route atlas, remote control is possible with knowledge of the location and speed of the rail vehicle alone, and object-related transmission of data such as video signals showing the ahead section of track can be completely dispensed with, since, for example, generating an image of the ahead section of track for remote control purposes can be done on the track side solely on the basis of the track data set by rendering.

[0013] It is therefore considered advantageous if, based on the track data set, the current location of the rail vehicle, and the warning information transmitted by the rail vehicle, virtual image data is generated by rendering. This data depicts a section of track ahead in the direction of travel of the rail vehicle, including the objects described by the warning information. Such rendered image data can enable remote control by the operator, as mentioned at the beginning.

[0014] The virtual image data preferably show a three-dimensional image of the virtual environment of the rail vehicle, in a view that would correspond to the view of a rail vehicle driver of the ahead section of track. 202409574

[0015] 3

[0016] When generating the virtual image data, the stationary objects defined in the route data set are preferably included by additionally integrating the objects located ahead in the direction of travel of the rail vehicle into the image data.

[0017] When generating the virtual image data, objects reported by detection devices of other vehicles or stationary detection devices are preferably also included, whether by transmitting unprocessed measurement data or processed measurement data, in particular object data derived therefrom.

[0018] The detection devices can, for example, each include a measuring device in the form of a camera that generates image data as measurement data, and / or an infrared camera that generates infrared image data as measurement data, and / or a laser device that generates laser scan data as measurement data, and / or a radar device that generates radar data as measurement data.

[0019] It is particularly advantageous if the virtual image data is generated trackside during the journey of the rail vehicle by real-time rendering, creating a virtual video stream.

[0020] The image data is preferably displayed on a trackside display device in such a way that remote control of the rail vehicle can be carried out by a trackside operator using a trackside control device.

[0021] The object-related warning information preferably includes a location indication of the detected object and / or the speed and direction of movement of the detected object and / or additional information that signals a risk of collision if the speed and direction of movement of the detected object indicate a possible collision, and / or an object type indication or a part of measurement data relating to the object.

[0022] On the vehicle side, measurement data from a measuring device or object detection device of the rail vehicle are preferably subjected to an identification procedure, and an object type identifier that identifies the respective object group is preferably assigned to those components of the measurement data to which an object from a predefined object group can be assigned. 202409574

[0023] 4

[0024] The object-related warning information preferably includes the associated object type information if the assignment to one of the predefined object groups was successful.

[0025] The object-related warning information preferably contains the portion of the measurement data belonging to the respective object (e.g., image pixels in the case of image data) if the assignment to the predefined object groups was unsuccessful. Alternatively, instead of the portion of the measurement data belonging to the respective object, an object type indication specifying an unknown object type can be transmitted, for example, if insufficient bandwidth is available to transmit the object-related measurement data.

[0026] The comparison of the object recognition information with the route data set is preferably carried out on the vehicle side, taking into account the object type information.

[0027] When transmitting object-related warning information, the available bandwidth is preferably taken into account by assigning a hazard potential rating to each object-related warning information piece and by either omitting the transmission of object-related warning information with a hazard potential rating below a bandwidth-dependent hazard threshold or transmitting it only in a reduced form. For example, instead of object-related measurement data, an object type rating indicating an unknown object type can be transmitted.

[0028] Preferably, a detected object is assigned a high hazard potential if it is located in the track area, i.e., on the preceding track section or within an immediately adjacent danger zone, and a low hazard potential otherwise. If the bandwidth falls below a predetermined minimum, preferably only object-related warning information for detected objects with a high hazard potential is transmitted in a reduced form.

[0029] The invention also relates to a rail vehicle. According to the invention, the rail vehicle, which is preferably configured to carry out a method as described above, comprises: at least one object detection device that detects objects located on, beside, or near the track during operation and generates object recognition information for each detected object; a track data set containing known stationary and 202409574

[0030] 5. Non-critical objects are defined for the journey of the rail vehicle, a filter device that compares the object recognition information with the track data set and outputs only such object recognition information that cannot be assigned to any of the objects defined in the track data set, in processed or unprocessed form, as object-related warning information, and a vehicle-side transmitting device that forwards the warning information to a track-side receiving device.

[0031] Regarding the advantages of the rail vehicle according to the invention and advantageous embodiments of the rail vehicle according to the invention, reference is made to the above statements in connection with the method according to the invention and its advantageous embodiments.

[0032] It is advantageous if a vehicle-side receiving device is designed to receive remote control commands from the trackside, and a vehicle control device of the rail vehicle is designed to control the rail vehicle according to the received remote control commands.

[0033] The object detection device preferably includes a measuring device that metrologically records the environment of the rail vehicle and generates measurement data. The measuring device preferably comprises a camera that generates image data as measurement data, and / or an infrared camera that generates infrared image data as measurement data, and / or a laser device that generates laser scan data as measurement data, and / or a radar device that generates radar data as measurement data.

[0034] The object detection device preferably includes an object identification device.

[0035] The object identification device subjects the measurement data of a measuring device to the object detection device, and thus preferably also the detected objects, to an identification procedure. Within the framework of this procedure, it assigns—where possible—an object type identifier that identifies the respective object group to those components of the measurement data to which an object from a predefined object group can be assigned. The object type identifier can be, for example, "car," "person," or "animal," provided that the detected object is a car, a person, or an animal. 202409574

[0036] 6

[0037] The object-related warning information preferably includes the corresponding object type specification if the assignment to one of the predefined object groups was successful.

[0038] The object-related warning information preferably contains the part of the measurement data belonging to the respective object if the assignment to the specified object groups was unsuccessful.

[0039] The filtering device performs the comparison of the object recognition information with the route data set, preferably including the object type information.

[0040] The invention also relates to a remote control device for controlling a rail vehicle, in particular a rail vehicle as described above, and for carrying out a method as described above.According to the invention, the remote control device comprises a trackside receiver for receiving object-related warning information from a vehicle-side transmitter of the rail vehicle to be controlled, a track data set in which known stationary objects that are not critical for the movement of the rail vehicle are defined, a visualization device that generates virtual image data on the basis of the track data set and the received object-related warning information, which visualizes the movement of the rail vehicle including the known stationary objects that are not critical for the movement of the rail vehicle as well as the object-related warning information, an operating device that enables operator input of remote control commands for remote control of the rail vehicle, and a trackside transmitter that forwards the remote control commands to a vehicle-side receiver.

[0041] Regarding the advantages of the remote control device according to the invention and advantageous embodiments of the remote control device according to the invention, reference is made to the above statements in connection with the method according to the invention and its advantageous embodiments.

[0042] The invention is explained in more detail below with reference to exemplary embodiments; the following are shown as examples: 202409574

[0043] 7

[0044] Figure 1 Components of a first embodiment for a device according to the invention

[0045] Rail vehicle

[0046] Figure 2 Components of a second embodiment of a device according to the invention

[0047] Rail vehicle

[0048] Figure 3 shows an embodiment of a remote control device according to the invention, and

[0049] Fig. 4-5 shows the operation of the rail vehicle and the remote control device using two images that can be displayed by the remote control device.

[0050] For the sake of clarity, the same reference symbols are always used in the figures for identical or comparable components.

[0051] Figure 1 shows components of an embodiment of a rail vehicle 10 according to the invention in the form of a schematic block diagram.

[0052] The rail vehicle 10 includes a measuring device 11, for example in the form of a camera, which generates image or video data (MD) as measurement data and transmits this data to a downstream object identification device 12. The camera is oriented forward in the direction of travel (FR) and thus captures the track ahead in the direction of travel (FR) as well as the adjacent part of the surroundings.

[0053] The measuring device and the object identification device 12 together form an object detection device of the rail vehicle.

[0054] The object identification device 12 is designed to subject the measurement data MD to an object recognition procedure and to generate object recognition information Ol for each detected object. For this purpose, the object identification device 12 can be equipped with artificial intelligence, for example, in the form of a neural network. Examples of neural networks suitable for object recognition include ImageNet, Clip network, DINO network, and SAM network.

[0055] The object identification device 12 preferably also determines an object type specification TYPE characterizing the respective object for each detected object and adds 202409574

[0056] 8. Add this information, if possible, to the respective object recognition information Ol. The object type specification TYP can be, for example, "car", "human" or "animal", if the detected object is a passenger car, a human or an animal.

[0057] The object recognition information Ol is transmitted to a filter unit 13 downstream of the object identification device 12, which is equipped with or connected to a track data set SDS. Known stationary objects that are not critical for the movement of the rail vehicle 10 are defined in the track data set SDS and are preferably stored in a location-dependent manner.

[0058] The filter unit 13 compares the object recognition information Ol received by the object identification unit 12 with the objects stored in the track data set SDS and filters out those object recognition information Ol that describe objects stored in the track data set SDS and are therefore classified as non-critical. Only those object recognition information Ol relating to objects that are not found in the track data set SDS and could therefore potentially be relevant for an operator remotely controlling the rail vehicle 10 are forwarded or output in the form of warning information Wl.

[0059] The warning information Wl issued by the filter device 13 or the corresponding object recognition information Ol are sent to a transmitter 14 of the rail vehicle 10 and are transmitted by this as part of a transmission signal SS to a trackside remote control device 100 (see Figure 3).

[0060] The object-related warning information Wl preferably includes a location indication of the detected object, the speed and direction of movement of the detected object, additional information that signals a collision hazard if the speed and direction of movement of the respective detected object indicate a possible collision, and the object type indication TYP characterizing the respective object or - if no object type indication TYP can be determined - that part of the measurement data MD that relates to and characterizes the respective object.

[0061] It is possible to transmit all warning information Wl issued by filter unit 13 to the trackside remote control unit 100. However, with a view to reducing the amount of data to be transmitted, it may be advantageous to use an intermediate device 202409574.

[0062] 9

[0063] Data reduction device 15 performs data reduction. The data reduction device 15, shown as an example in Figure 1, assigns a hazard potential value to each object-related warning information Wl and either refrains from transmitting object-related warning information Wl that has a hazard potential value below a bandwidth-dependent hazard threshold, or transmits it only in a reduced form. For example, instead of object-related measurement data MD for objects of unknown object type, an object type value indicating an unknown object type can be transmitted.

[0064] Preferably, a detected object is assigned a high hazard potential if it is located in the track area, i.e., on the preceding track section or within an immediately adjacent danger zone, and a low hazard potential otherwise. If the bandwidth available for data transmission falls below a predetermined minimum, preferably only object-specific warning information (Wl) for detected objects with a high hazard potential is transmitted, and this in a reduced form.

[0065] The rail vehicle 10 is also equipped with a vehicle-side receiver 16 for receiving trackside remote control commands FSB from the trackside remote control unit 100. The remote control commands FSB received by the receiver 16 are transmitted to a vehicle control unit 17 of the rail vehicle 10, which controls the rail vehicle 10 according to the received remote control commands FSB.

[0066] To prevent collisions in the event of an interrupted or disrupted data connection between the rail vehicle 10 and the remote control unit 100, the rail vehicle 10, as shown in Figure 1, is additionally equipped with a collision warning device 18. This device is connected between the filter unit 13 and the vehicle control unit 17 and evaluates the warning information Wl from the filter unit 13 with regard to an imminent collision or a high risk of collision. If the collision warning device 18 detects a risk of collision above a predetermined danger threshold, it generates a braking command BF and transmits it to the vehicle control unit 17. The collision warning device 18 preferably also transmits braking information indicating the output of the braking command BF to the trackside remote control unit 100.

[0067] To avoid unnecessary braking, it is advantageous if the vehicle control unit 17 is designed to receive the brake command BF of the 202409574

[0068] 10

[0069] to ignore collision warning device 18, and / or the collision warning device 18 is designed to cancel the braking command BF when an operator cancellation command RBB is received from the trackside remote control device 100.

[0070] As an alternative to or in addition to the warning information Wl, the measurement data MD can be transmitted as such or in compressed form with the transmission signal SS to the trackside remote control unit 100. The extent of the transmission of the measurement data MD is preferably determined by a compression device 19 depending on the available bandwidth of the data connection between the rail vehicle 10 and the trackside remote control unit 100. The compression device 19 encodes or compresses the measurement data MD, preferably using a codec optimized for rail vehicle operation.

[0071] The encoding of the measurement data MD, optimized for rail vehicle operation, can, for example, stipulate that the area within the track tube is transmitted with higher data quality or a higher measurement rate than the area outside the track tube. The measurement data MD, which is compressed by the compression unit 19, can, for example, be video data.

[0072] It may also be provided that the collision warning device 18 determines the risk of collision (additionally or alternatively) directly on the basis of the measurement data MD of the measuring device 11 or on the basis of the coded measurement data MD of the compression device 19.

[0073] Figure 2 shows an embodiment of the rail vehicle 10 shown in Figure 1. In this embodiment, the object identification device 12, the filter device 13, the data reduction device 15, the collision warning device 18, the vehicle control device 17, and the compression device 19 are formed by software modules SW12, SW13, SW15, SW17, SW18, and SW19, which are stored in a memory 21 of a vehicle computer 20 of the rail vehicle 10 and can be executed by a computing unit 22 of the vehicle computer 20. Otherwise, the above statements relating to Figure 1 apply accordingly to the embodiment according to Figure 2.

[0074] Figure 3 shows components of an embodiment of a remote control device 100 according to the invention. The remote control device 100 comprises a display device 110 for displaying trackside image data, which enables trackside remote control of a 202409574

[0075] 11

[0076] The remote control device 100 enables the operation of the rail vehicle 10, for example, the rail vehicle 10 shown in Figures 1 and 2. For remote control, the remote control device 100 has an operating device 120 with which a trackside operator can generate remote control commands (RCCs).

[0077] The remote control device 100 also includes a trackside receiving device 130 for receiving the transmission signals SS of the rail vehicle 10 and a trackside transmitting device 140, which can forward the remote control commands FSB to the vehicle-side receiving device 16.

[0078] The control of the display device 110, the evaluation of the transmission signals SS of the rail vehicle 10 and the output of the remote control commands FSB to the rail vehicle 10 is controlled or managed by a control unit 150 of the remote control device 100.

[0079] In the embodiment shown in Figure 3, the control unit 150 comprises a visualization device 151, which evaluates the transmission signal SS of the rail vehicle 10 and generates an image or video signal for display on the display device 110. The image or video signal shows the track section ahead in the direction of travel FR, in particular the guide tube, and thus enables the operator to remotely control the rail vehicle 10.

[0080] The visualization device 151 is equipped with the route data set SDS and can therefore also take its information into account when evaluating the transmitted signals SS.

[0081] If, for example, the rail vehicle 10 transmits only the object-related warning information Wl, the visualization device 151 can read the environmental information describing the environment traversed by the rail vehicle 10 from the track data set SDS and use this information and the object-related warning information Wl to generate virtual image or video data by rendering. This data represents the track section ahead of the rail vehicle 10 in its direction of travel FR, including the objects described by the warning information Wl. 202409574

[0082] 12

[0083] If the rail vehicle 10 also transmits other data, such as the measurement data MD as such in compressed or uncompressed form, the visualization device can also take this measurement data MD into account.

[0084] If the MD measurement data consists of image or video data, the visualization device can enhance this data before displaying it, for example by incorporating the environmental information of the SDS route data set, by increasing the resolution and / or the frame rate of the image or video data.

[0085] It may also be provided that the control unit 150 includes a testing device 152 for checking the operator's fatigue and / or attention level. The testing device 152 is preferably designed to terminate the remote control of the rail vehicle 10 if a predetermined minimum attention threshold is not met.

[0086] The visualization device 151 and the testing device 152 for fatigue and / or attention testing can be formed by software modules SW151 and SW152 respectively, which are stored in a memory 210 of a trackside computer system 200 and can be executed by a computer system 220 of the trackside computer system 200.

[0087] Figures 4 and 5 illustrate the operation of the rail vehicle 10 and the remote control unit 100 using two images B1 and B2, respectively, which the remote control unit 100 can display on its display unit 110. Figures 4 and 5 each show the same view of the travel tube ahead in the direction of travel FR.

[0088] Figure 4 shows a situation in which no objects relevant to a collision risk are present and all objects detected by the object identification device 12 are stored in the route data record SDS. The filter device 13 therefore does not generate any warning information Wl and does not output any object recognition information Ol, so no data needs to be transmitted with the transmit signal SS in this regard. The transmit signal SS can therefore be empty.

[0089] SS = {}.

[0090] Figure 5 shows a different situation where an object 300, not stored in the route data set SDS and potentially relevant with regard to a collision risk, is detected 202409574

[0091] The filter device 13 has been activated. The filter device 13 thus generates a corresponding warning information Wl with the object information Ol, which is transmitted to the remote control device 100 with the transmission signal SS: SS = {Wl (01(300))}.

[0092] Finally, it should be mentioned that the features of all the embodiments described above can be combined with each other in any way to form further embodiments of the invention.

[0093] Furthermore, all features of dependent claims can be combined individually with each of the subordinate claims, either individually or in any combination with one or more other dependent claims, to obtain further embodiments.

[0094] Regardless of the grammatical gender of a particular term, persons with male, female or other gender identities are included.

[0095] 202409574

[0096] 14

[0097] Reference symbol list

[0098] 10 Rail vehicle 11 Measuring device

[0099] 12 Object identification device 13 Filter device

[0100] 14 Transmitting device 15 Data reduction device

[0101] 16 Vehicle-side receiving device 17 Vehicle control device

[0102] 18 Collision warning device 19 Compression device

[0103] 20 vehicle computers 21 memory

[0104] 22 Computing unit 100 Trackside remote control unit 110 Display unit 120 Operating unit 130 Trackside receiving unit

[0105] 140 Trackside transmitting equipment 150 Control unit 151 Visualization equipment 152 Testing equipment 200 Trackside computer system

[0106] 210 Storage 220 Computing equipment 300 Object

[0107] B1 Image B2 Image

[0108] BF Brake command FR Direction of travel FSB Trackside remote control command MD Measurement data Ol Object detection information

[0109] RBB revocation order 202409574

[0110] 15

[0111] SDS route data set

[0112] SS Transmission signal

[0113] SW12 Software module

[0114] SW13 Software module SW15 Software module

[0115] SW17 Software module

[0116] SW18 Software module

[0117] SW19 Software module

[0118] SW151 Software module SW152 Software module

[0119] TYPE Object data

[0120] Wl Warning

Claims

202409574 16 Patent claims 1. Method for operating a rail vehicle (10), characterized in that - objects located on, beside or near a track traversed by the rail vehicle (10) are detected by the rail vehicle and object recognition information (Ol) is generated for each detected object, - the object recognition information (Ol) is evaluated using a route data set (SDS) in which known stationary objects that are not critical for the movement of the rail vehicle (10) are defined, - wherein, as part of the evaluation, only such object recognition information (Ol) that cannot be assigned to any of the objects defined in the track data set (SDS) is forwarded in processed or unprocessed form as object-related warning information (Wl) to a trackside receiving device (130), and object recognition information (Ol) that can be assigned to objects defined in the track data set (SDS) is excluded from forwarding to the trackside receiving device (130).

2. Method according to claim 1, characterized in that, on the route side, virtual image data are generated by rendering on the basis of the route data set (SDS), the respective location of the rail vehicle (10) and the object-related warning information (Wl), which represent a section of the route ahead in the direction of travel (FR) of the rail vehicle (10) including the objects described by the warning information (Wl).

3. Method according to claim 2, characterized in that the virtual image data show a three-dimensional image of the virtual environment of the rail vehicle (10), in a view that would correspond to the view of a driver of the rail vehicle (10) of the preceding track section.

4. Method according to claim 2 or 3, characterized in that 202409574 17 when generating the virtual image data, the stationary objects defined in the track data set (SDS) are included by additionally integrating the objects ahead in the direction of travel of the rail vehicle (10) into the image data.

5. Method according to one of the preceding claims 2 to 4, characterized in that objects reported by detection devices of other vehicles or stationary detection devices are included in the generation of the virtual image data.

6. Method according to any one of the preceding claims 2 to 5, characterized in that the virtual image data are generated during the journey of the rail vehicle (10) by real-time rendering by forming a virtual video stream.

7. Method according to one of the preceding claims, characterized in that the object-related warning information (Wl) each comprises: - a location indication specifying the location of the recorded object and / or - the speed and direction of movement of the detected object and / or - Additional information that signals a collision risk if the speed and direction of movement of the detected object indicate a possible collision and / or - an object type specification (TYPE) or a part of measurement data (MD) relating to the object.

8. Method according to one of the preceding claims, characterized in that the available bandwidth is taken into account when transmitting the object-related warning information (Wl), by - each object-related warning information (Wl) is assigned a hazard potential rating and - the transmission of object-related warning information (Wl) that indicates a hazard potential below a bandwidth-dependent hazard threshold is waived or is only transmitted in a reduced form.

9. Railway vehicle (10), characterized in that 202409574 18 the rail vehicle (10), which is preferably designed to carry out a method according to one of the preceding claims, comprises: - at least one object detection device that detects objects located on, beside or near the track in operation and generates object recognition information (Ol) for each detected object, - a route data set (SDS) in which known stationary objects that are not critical to the movement of the rail vehicle (10) are defined, - a filter device (13) that compares the object recognition information (Ol) with the route data set (SDS) and outputs, in processed or unprocessed form, only such object recognition information (Ol) that cannot be assigned to any of the objects defined in the route data set (SDS) as object-related warning information (Wl), and - a vehicle-side transmitting device (14) which forwards the warning information (Wl) to a trackside receiving device (130).

10. Rail vehicle (10) according to claim 9, characterized in that - a vehicle-side receiving device (130) is designed to receive trackside remote control commands (FSB), and - a vehicle control device (17) of the rail vehicle (10) is designed to control the rail vehicle (10) in accordance with the received remote control commands (RCC).

11. Rail vehicle (10) according to one of the preceding claims 9 to 10, characterized in that - the object detection device includes an object identification device (12) and - the object identification device (12) subjects measurement data (MD) of a measuring device (11) of the object detection device to an identification procedure and assigns to those components of the measurement data (MD) to which an object from a given object group can be assigned an object type specification (TYPE) that identifies the respective object group.

12. Rail vehicle (10) according to one of the preceding claims 9 to 11, characterized in that the object-related warning information (Wl) contains the associated object type specification (TYP) if the assignment to one of the specified object groups was successful. 202409574 19 13. Rail vehicle (10) according to one of the preceding claims 9 to 12, characterized in that the object-related warning information (Wl) contains the part of the measurement data (MD) belonging to the respective object if the assignment to the specified object groups was unsuccessful.

14. Rail vehicle (10) according to one of the preceding claims 9 to 13, characterized in that the filter device (13) performs the comparison of the object recognition information (Ol) with the track data set (SDS) including the object type information.

15. Remote control device (100) for controlling a rail vehicle (10), in particular a rail vehicle (10) according to one of the preceding claims and for carrying out a method according to one of the preceding claims, characterized in that the remote control device (100) comprises: - a trackside receiving device (130) for receiving object-related warning information (Wl) from a vehicle-side transmitting device (14) of the rail vehicle (10) to be controlled, - a route data set (SDS) in which known stationary objects that are not critical to the movement of the rail vehicle (10) are defined, - a visualization device (151) which generates virtual image data based on the track data set (SDS) and the received object-related warning information (Wl), which visualizes the journey of the rail vehicle (10) taking into account the known stationary objects that are not critical for the journey of the rail vehicle (10) as well as the object-related warning information (Wl), - a display device (110) for displaying the virtual image data, - an operating device (120) which enables operator input of remote control commands (RCC) for remote control of the rail vehicle (10), and - a trackside transmitter (14) which forwards the remote control commands (FSB) to a vehicle-side receiver (130).

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