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EP3625106B1 - Sensor-controlled adjustment of fusion weights to weather conditions in a odometric unit of a rail vehicle - Google Patents

Sensor-controlled adjustment of fusion weights to weather conditions in a odometric unit of a rail vehicle Download PDF

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Publication number
EP3625106B1
EP3625106B1 EP18746651.1A EP18746651A EP3625106B1 EP 3625106 B1 EP3625106 B1 EP 3625106B1 EP 18746651 A EP18746651 A EP 18746651A EP 3625106 B1 EP3625106 B1 EP 3625106B1
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EP
European Patent Office
Prior art keywords
data
unit
rail vehicle
sensor
weather
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EP18746651.1A
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German (de)
French (fr)
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EP3625106A1 (en
Inventor
Steven Alexander Calder
Hamed Ketabdar
Navid Nourani-Vatani
Andrew Palmer
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Siemens Mobility GmbH
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Siemens Mobility GmbH
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0072—On-board train data handling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
    • B61L23/041—Obstacle detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/021—Measuring and recording of train speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/026—Relative localisation, e.g. using odometer

Definitions

  • the invention relates to a method for adapting fusion parameters of an odometry unit of a rail vehicle.
  • the invention relates to an adjustment device for determining fusion weights.
  • the invention also relates to a rail vehicle.
  • the invention relates to a computer program product and a computer-readable medium.
  • Speed measurements are essential for autonomous driving and vehicle assistance systems. Velocity data can be used for many different purposes. Examples of this are monitoring compliance with legal regulations, planning trips, initiating braking processes and determining positions. Conventionally, the speed is determined by merging measurement results from different sensors. Sensors used to determine speed can produce erroneous data. This may be the case, for example, due to bad weather conditions such as rain, snow, etc. Snow, fog, and rain can affect the performance of Doppler radar sensors. Rain can lead to slippery roadways or track surfaces, which also contributes to slipping and wheel spin, which degrades the measurement accuracy of sensors that measure the rotational frequency of the wheels. Consequently, there is a problem in that errors occur when measuring odometric data by individual sensors, and the overall result of the odometric measurement is thus falsified.
  • DE 10 2006 035 597 A1 a method for determining the route and the speed of a vehicle is described, in particular for safety-critical train control systems. In the process, sensor data from different sensors are merged.
  • a method and a device for on-board position data acquisition in a rail vehicle are known.
  • the positions of roadside location markings are detected by sensors.
  • the rail vehicle has at least one sensor, preferably a radar sensor, for detecting the positions of the location markers.
  • the odometric data itself is determined on the basis of odometric sensor data from different types of odometric sensors by weighted combination or fusion, for example by weighted addition in the odometry unit.
  • weights for the fusion of the odometric data current weather data can advantageously be taken into account in such a way that odometric sensors or their odometric data impaired by the current weather situation are weighted less. This measure improves the accuracy of the odometric data and the robustness of the determination of this data.
  • the definition of the fusion weights is preferably also automated in order to enable real-time adjustment of the measurement parameters, ie the fusion weights.
  • Internal image recording units can already be present in rail vehicles, for example as surveillance cameras, in order to improve the personal safety of the passengers.
  • surveillance cameras no additional cameras have to be installed to determine the weather situation, but the existing surveillance cameras can also take over the task of observing the weather situation.
  • the surveillance cameras can be temporarily aligned in the direction of the windows of the rail vehicle so that the external environment can be recorded and weather data can be determined.
  • the rail vehicle according to the invention shares the advantages of the adjustment device according to the invention.
  • Some components of the adjustment device according to the invention can for the most part be designed in the form of software components. This relates in particular to parts of the weather determination unit and the determination unit. In principle, however, these components can also be partially implemented in the form of software-supported hardware, for example FPGAs or the like, particularly when particularly fast calculations are involved. Likewise, the interfaces required, for example when it is only a matter of taking over data from other software components, can be designed as software interfaces. However, they can also be in the form of hardware interfaces that are controlled by suitable software.
  • a largely software-based implementation has the advantage that computer systems already present in a rail vehicle can easily be updated by means of a software update after a possible supplementation with additional hardware elements can be retrofitted to work in the manner of the invention.
  • the object is also achieved by a corresponding computer program product with a computer program that can be loaded directly into a memory device of such a computer system, with program sections to carry out all steps of the method according to the invention when the computer program is executed in the computer system.
  • such a computer program product may also include additional components such as documentation and/or additional components, including hardware components such as hardware keys (dongles, etc.) for using the software
  • a computer-readable medium for example a memory stick, a hard disk or another transportable or permanently installed data medium, on which the program sections of the computer program that can be read and executed by a computer unit are stored, can be used for transport to the storage device of the computer system and/or for storage on the computer system.
  • the computer unit can, for example, have one or more microprocessors or the like working together.
  • a surveillance camera is used as the internal image recording unit.
  • existing installations can advantageously be used, with an additional automated evaluation of the image data being added.
  • the surveillance camera for weather observation is aligned in such a way that the external environment of the rail vehicle image data can be recorded.
  • Advantageous information about the external environment of the rail vehicle can be recorded with the surveillance cameras, which provides information about the current weather conditions.
  • the surveillance camera for weather observation is aligned in such a way that image data can be captured from an interior area of the rail vehicle.
  • the surveillance cameras can be kept facing inwards and indirect information about the weather situation is obtained based on the clothing and equipment of the passengers.
  • Indoor and outdoor environmental monitoring can also be combined to provide more reliable weather data.
  • a current weather situation is determined using the image data recorded by the surveillance camera.
  • the image data can advantageously also be used to determine the weather situation, so that no additional hardware is required to record weather information.
  • an image evaluation method based on machine vision is applied to the captured image data to determine the current weather situation.
  • the image data can preferably be compared with different image patterns, each of which is associated with a different weather situation.
  • the weather conditions mentioned have an influence on the reliability of the odometric sensors.
  • snow can affect the reliability of a Doppler radar.
  • Rain can cause the wheels of the rail vehicle to slip and thus reduce the reliability of the rotary frequency sensors.
  • Current operating data from an air conditioning system in the rail vehicle can also be used to determine the weather conditions. Based on the operating data, a current temperature can be deduced, which in turn gives information about the current weather conditions.
  • fusion weights of sensors which are classified as error-prone on the basis of the weather data are reduced as a function of the determined weather data. In this way, the accuracy of the ascertained odometric data is advantageously improved.
  • step 1.I sensor data, in this exemplary embodiment image data BD, from the surroundings of the rail vehicle, which are captured by a surveillance camera, temperature data TD from a temperature sensor which measures an outside temperature, humidity sensor data FSD from a humidity sensor and lidar sensor data LSD from detected by a lidar sensor.
  • sensor data BD image data BD
  • temperature data TD from a temperature sensor which measures an outside temperature
  • humidity sensor data FSD from a humidity sensor
  • lidar sensor data LSD from detected by a lidar sensor.
  • weather data WD are determined in step 1.II.
  • the humidity sensor data can be used to determine whether it is currently raining and how hard it is raining.
  • fusion weights FG for the fusion of odometric data are determined on the basis of the determined weather data WD.
  • the odometric data itself is determined, for example, with the aid of a rotary frequency sensor and a Doppler wheel, and then weighted and combined with the aid of the aforementioned fusion weights FG in order to determine a vehicle speed or a distance covered.
  • the adjustment device 20 for a rail vehicle 40 (see 3 ) described.
  • the adjustment device 20 includes a data input interface 21 which is set up to receive sensor data SD from the interior and/or the surroundings of the rail vehicle 40 .
  • the sensor data SD are transmitted to a weather determination unit 22, which is used to determine weather data WD on the basis of the recorded sensor data SD.
  • Part of the adjustment device 20 is also a determination unit 23, which is set up to calculate fusion weights FG for the fusion of odometric data v, P(t), which are based on sensor data FD, DRD from different types of sensors 15, 16 (see 3 ) were determined to be determined as a function of the determined weather data WD.
  • the determined weights FG are output via an output interface 24 and sent to an evaluation unit 30 (see 3 ) transmitted.
  • the rail vehicle 40 includes a plurality of different sensor units 10, 11, 12, 13, with which sensor data BD, TD, FSD, LSD are recorded as a basis for determining weather data WD.
  • the sensor units 10, 11, 12, 13 include a surveillance camera 10, which records image data BD from the area surrounding the rail vehicle 40, a temperature sensor 11 for determining outside temperature data TD, a humidity sensor unit 12 for determining humidity sensor data FSD, which convey information about the humidity, and a lidar sensor unit 13, which can use lidar to determine information about the occurrence of precipitation, such as rain or snow, and fog.
  • the rail vehicle 40 also has two odometric sensors 15, 16.
  • a first odometric sensor 15 is designed as a rotary frequency meter and a second odometric sensor is designed as a Doppler radar sensor.
  • Frequency data FD and Doppler radar data DRD are transmitted from the two odometric sensors to an evaluation unit 30, also known as an odometry unit, which additionally receives data from the adjustment device 20 relating to the fusion weights FG to be used.
  • the evaluation unit 30 determines first odometric data sets v F , P F (t) relating to the speed and the position of the rail vehicle 40 and based on the Doppler radar data DRD second odometric data sets v D , P D (t), which also indicate the speed and the position of the rail vehicle 40.
  • the ascertained odometric data records v F , P F (t), v D , P D (t) are weighted with the aid of the ascertained weights FG and combined to form merged odometric data v, P(t).
  • the merged odometric data v, P(t) are transmitted to a control unit 31, which is on the basis of which carries out automatic control processes and sends the data v, P(t) to a display unit (not shown) on which they are displayed to the operating personnel.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Image Processing (AREA)
  • Machines For Laying And Maintaining Railways (AREA)

Description

Die Erfindung betrifft ein Verfahren zum Anpassen von Fusionsparametern einer Odometrieeinheit eines Schienenfahrzeugs. Zu-10 dem betrifft die Erfindung eine Justage-Einrichtung zur Festlegung von Fusionsgewichten. Überdies betrifft die Erfindung ein Schienenfahrzeug. Weiterhin betrifft die Erfindung ein Computerprogrammprodukt und ein computerlesbares Medium.The invention relates to a method for adapting fusion parameters of an odometry unit of a rail vehicle. In addition, the invention relates to an adjustment device for determining fusion weights. The invention also relates to a rail vehicle. Furthermore, the invention relates to a computer program product and a computer-readable medium.

Geschwindigkeitsmessungen sind unverzichtbar für das autonome Fahren und Assistenzsysteme von Fahrzeugen. Geschwindigkeitsdaten können für viele unterschiedliche Zwecke genutzt werden. Beispiele hierfür sind die Überwachung der Beachtung von gesetzlichen Bestimmungen, das Planen von Fahrten, das Einleiten von Bremsprozessen und Positionsbestimmungen. Herkömmlich wird eine Ermittlung der Geschwindigkeit durch die Fusion von Messergebnissen unterschiedlicher Sensoren erreicht. Sensoren, die für die Geschwindigkeitsermittlung genutzt werden, können fehlerhafte Daten erzeugen. Dies kann zum Beispiel aufgrund schlechter Wetterbedingungen, wie zum Beispiel Regen, Schnee usw. der Fall sein. Schnee, Nebel und Regen können die Leistung von Doppler-Radarsensoren beeinträchtigen. Regen kann zu glatten Fahrbahnen bzw. Gleisbelägen führen, was auch zu einem Rutschen und Durchdrehen der Räder beiträgt, wodurch die Messgenauigkeit bei Sensoren, welche die Drehfrequenz der Räder messen, verschlechtert ist. Mithin besteht ein Problem darin, dass bei der Messung odometrischer Daten durch einzelne Sensoren Fehler auftreten und so das Gesamtergebnis der odometrischen Messung verfälscht wird.Speed measurements are essential for autonomous driving and vehicle assistance systems. Velocity data can be used for many different purposes. Examples of this are monitoring compliance with legal regulations, planning trips, initiating braking processes and determining positions. Conventionally, the speed is determined by merging measurement results from different sensors. Sensors used to determine speed can produce erroneous data. This may be the case, for example, due to bad weather conditions such as rain, snow, etc. Snow, fog, and rain can affect the performance of Doppler radar sensors. Rain can lead to slippery roadways or track surfaces, which also contributes to slipping and wheel spin, which degrades the measurement accuracy of sensors that measure the rotational frequency of the wheels. Consequently, there is a problem in that errors occur when measuring odometric data by individual sensors, and the overall result of the odometric measurement is thus falsified.

In DE 10 2006 035 597 A1 wird ein Verfahren zur Bestimmung des Fahrwegs und der Geschwindigkeit eines Fahrzeugs, insbesondere für sicherheitskritische Zugbeeinflussungssysteme beschrieben. Dabei werden Sensordaten von unterschiedlichen Sensoren fusioniert.In DE 10 2006 035 597 A1 a method for determining the route and the speed of a vehicle is described, in particular for safety-critical train control systems. In the process, sensor data from different sensors are merged.

In DE 10 2009 006 113 A1 wird eine Vorrichtung zur Umfelddarstellung eines Fahrzeugs beschrieben, wobei die Existenz von Objekten auf Basis von fusionierten Sensordaten ermittelt wird.In DE 10 2009 006 113 A1 a device for displaying the surroundings of a vehicle is described, with the existence of objects being determined on the basis of merged sensor data.

In US 2017/ 0 307 247 A1 wird die Detektion von Wetterbedingungen mit Hilfe bordeigener Sensoren eines Kraftfahrzeugs beschrieben.In US 2017/0 307 247 A1 describes the detection of weather conditions using on-board sensors of a motor vehicle.

In US 9 676 393 B2 werden Wetterbedingungen erfasst, welche die Funktion eines Warnsystems eines Schienenfahrzeugs beeinträchtigen können.In U.S. 9,676,393 B2 Weather conditions are recorded that can impair the function of a warning system on a rail vehicle.

Aus der Offenlegungsschrift DE 102015201041 A1 ist ein Verfahren und eine Vorrichtung zur fahrzeugseitigen Positionsdatenerfassung bei einem Schienenfahrzeug bekannt. Um eine genaue Positionsdatenerfassung, insbesondere zur Kalibrierung odometrischer Systeme, in geringen und im Wesentlichen gleichmäßigen Abständen zu ermöglichen, ist vorgesehen, dass die Positionen streckenseitiger Ortsmarkierungen sensorisch detektiert werden. Dazu ist vorgesehen, dass das Schienenfahrzeug mindestens einen Sensor, vorzugsweise einen Radarsensor, zur Detektion der Positionen der Ortsmarkierungen aufweist.From the disclosure document DE 102015201041 A1 a method and a device for on-board position data acquisition in a rail vehicle are known. In order to enable precise position data acquisition, in particular for the calibration of odometric systems, at small and essentially uniform intervals, it is provided that the positions of roadside location markings are detected by sensors. For this purpose it is provided that the rail vehicle has at least one sensor, preferably a radar sensor, for detecting the positions of the location markers.

Es besteht also die Aufgabe, ein Verfahren zur odometrischen Messung sowie eine entsprechende Messeinrichtung so zu justieren, dass diese trotz widriger Wetterbedingungen exaktere Ergebnisse liefern als bisher.There is therefore the task of adjusting a method for odometric measurement and a corresponding measuring device in such a way that they deliver more precise results than before, despite adverse weather conditions.

Diese Aufgabe wird durch ein Verfahren gemäß Patentanspruch 1, eine Justage-Einrichtung gemäß Patentanspruch 12, ein Schienenfahrzeug gemäß Patentanspruch 13, ein Computerprogrammprodukt gemäß Patentanspruch 14, sowie ein computerlesbares Speichermedium gemäß Patentanspruch 15 gelöst. Es werden Sensordaten vom Innenraum und/oder der Umgebung des Schienenfahrzeugs mit Hilfe mindestens einer Sensoreinheit, welche eine interne Bildaufnahmeeinheit umfasst, erfasst. Die erfassten Sensordaten werden dazu genutzt, um Wetterdaten zu ermitteln. Die Wetterdaten werden vorzugsweise automatisiert ermittelt, so dass kein zusätzlicher personeller Aufwand benötigt wird und die Auswertung in Echtzeit erfolgen kann. In Abhängigkeit von den ermittelten Wetterdaten werden Fusionsgewichte für die Fusion von odometrischen Daten festgelegt. Die odometrischen Daten selbst, beispielsweise Geschwindigkeitsdaten oder Positionsdaten, werden auf Basis von odometrischen Sensordaten von unterschiedlichen Arten von odometrischen Sensoren durch gewichtete Kombination bzw. Fusion, beispielsweise durch gewichtete Addition in der Odometrieeinheit ermittelt. Vorteilhaft können mit Hilfe der Festlegung der Gewichte für die Fusion der odometrischen Daten aktuelle Wetterdaten dahingehend berücksichtigt werden, dass durch die aktuelle Wetterlage beeinträchtigte odometrische Sensoren bzw. deren odometrische Daten schwächer gewichtet werden. Mit dieser Maßnahme wird die Genauigkeit der odometrischen Daten sowie die Robustheit der Ermittlung dieser Daten verbessert. Das Festlegen der Fusionsgewichte erfolgt vorzugsweise ebenfalls automatisiert, um eine Echtzeitanpassung der Messparameter, d.h. der Fusionsgewichte, zu ermöglichen.This object is achieved by a method according to patent claim 1, an adjustment device according to patent claim 12, a rail vehicle according to patent claim 13, a computer program product according to patent claim 14 and a computer-readable storage medium according to patent claim 15. It will Sensor data from the interior and / or the environment of the rail vehicle using at least one sensor unit, which includes an internal imaging unit, recorded. The recorded sensor data is used to determine weather data. The weather data is preferably determined automatically, so that no additional personnel effort is required and the evaluation can take place in real time. Depending on the determined weather data, fusion weights for the fusion of odometric data are determined. The odometric data itself, for example speed data or position data, is determined on the basis of odometric sensor data from different types of odometric sensors by weighted combination or fusion, for example by weighted addition in the odometry unit. By defining the weights for the fusion of the odometric data, current weather data can advantageously be taken into account in such a way that odometric sensors or their odometric data impaired by the current weather situation are weighted less. This measure improves the accuracy of the odometric data and the robustness of the determination of this data. The definition of the fusion weights is preferably also automated in order to enable real-time adjustment of the measurement parameters, ie the fusion weights.

Interne Bildaufnahmeeinheiten können beispielsweise als Überwachungskameras bereits in Schienenfahrzeugen vorhanden sein, um die persönliche Sicherheit der Passagiere zu verbessern. Vorteilhaft müssen zur Ermittlung der Wetterlage keine zusätzlichen Kameras installiert werden, sondern die bereits vorhandenen Überwachungskameras können zusätzlich die Aufgabe zur Beobachtung der Wetterlage übernehmen. Hierfür können die Überwachungskameras zeitweise in Richtung der Fenster des Schienenfahrzeugs ausgerichtet werden, damit die äußere Umgebung erfasst werden kann und Wetterdaten ermittelt werden können.Internal image recording units can already be present in rail vehicles, for example as surveillance cameras, in order to improve the personal safety of the passengers. Advantageously, no additional cameras have to be installed to determine the weather situation, but the existing surveillance cameras can also take over the task of observing the weather situation. For this purpose, the surveillance cameras can be temporarily aligned in the direction of the windows of the rail vehicle so that the external environment can be recorded and weather data can be determined.

Das erfindungsgemäße Schienenfahrzeug teilt die Vorteile der erfindungsgemäßen Justage-Einrichtung.The rail vehicle according to the invention shares the advantages of the adjustment device according to the invention.

Einige Komponenten der erfindungsgemäßen Justage-Einrichtung können zum überwiegenden Teil in Form von Softwarekomponenten ausgebildet sein. Dies betrifft insbesondere Teile der Wetter-Ermittlungseinheit und der Festlegungseinheit. Grundsätzlich können diese Komponenten aber auch zum Teil, insbesondere wenn es um besonders schnelle Berechnungen geht, in Form von softwareunterstützter Hardware, beispielsweise FPGAs oder dergleichen, realisiert sein. Ebenso können die benötigten Schnittstellen, beispielsweise wenn es nur um eine Übernahme von Daten aus anderen Softwarekomponenten geht, als Softwareschnittstellen ausgebildet sein. Sie können aber auch als hardwaremäßig aufgebaute Schnittstellen ausgebildet sein, die durch geeignete Software angesteuert werden.Some components of the adjustment device according to the invention can for the most part be designed in the form of software components. This relates in particular to parts of the weather determination unit and the determination unit. In principle, however, these components can also be partially implemented in the form of software-supported hardware, for example FPGAs or the like, particularly when particularly fast calculations are involved. Likewise, the interfaces required, for example when it is only a matter of taking over data from other software components, can be designed as software interfaces. However, they can also be in the form of hardware interfaces that are controlled by suitable software.

Eine weitgehend softwaremäßige Realisierung hat den Vorteil, dass auch schon bisher in einem Schienenfahrzeug vorhandene Rechnersysteme nach einer eventuellen Ergänzung durch zusätzliche Hardwareelemente auf einfache Weise durch ein Software-Update nachgerüstet werden können, um auf die erfindungsgemäße Weise zu arbeiten. Insofern wird die Aufgabe auch durch ein entsprechendes Computerprogrammprodukt mit einem Computerprogramm gelöst, welches direkt in eine Speichereinrichtung eines solchen Rechnersystems ladbar ist, mit Programmabschnitten, um alle Schritte des erfindungsgemäßen Verfahrens auszuführen, wenn das Computerprogramm in dem Rechnersystem ausgeführt wird.A largely software-based implementation has the advantage that computer systems already present in a rail vehicle can easily be updated by means of a software update after a possible supplementation with additional hardware elements can be retrofitted to work in the manner of the invention. In this respect, the object is also achieved by a corresponding computer program product with a computer program that can be loaded directly into a memory device of such a computer system, with program sections to carry out all steps of the method according to the invention when the computer program is executed in the computer system.

Ein solches Computerprogrammprodukt kann neben dem Computerprogramm gegebenenfalls zusätzliche Bestandteile, wie z.B. eine Dokumentation und/oder zusätzliche Komponenten, auch Hardware-Komponenten, wie z.B. Hardware-Schlüssel (Dongles etc.) zur Nutzung der Software, umfassenIn addition to the computer program, such a computer program product may also include additional components such as documentation and/or additional components, including hardware components such as hardware keys (dongles, etc.) for using the software

Zum Transport zur Speichereinrichtung des Rechnersystems und/oder zur Speicherung an dem Rechnersystem kann ein computerlesbares Medium, beispielsweise ein Memorystick, eine Festplatte oder ein sonstiger transportabler oder fest eingebauter Datenträger dienen, auf welchem die von einer Rechnereinheit einlesbaren und ausführbaren Programmabschnitte des Computerprogramms gespeichert sind. Die Rechnereinheit kann z.B. hierzu einen oder mehrere zusammenarbeitende Mikroprozessoren oder dergleichen aufweisen.A computer-readable medium, for example a memory stick, a hard disk or another transportable or permanently installed data medium, on which the program sections of the computer program that can be read and executed by a computer unit are stored, can be used for transport to the storage device of the computer system and/or for storage on the computer system. For this purpose, the computer unit can, for example, have one or more microprocessors or the like working together.

Die abhängigen Ansprüche sowie die nachfolgende Beschreibung enthalten jeweils besonders vorteilhafte Ausgestaltungen und Weiterbildungen der Erfindung.The dependent claims and the following description each contain particularly advantageous configurations and developments of the invention.

In einer Ausgestaltung des erfindungsgemäßen Verfahrens umfasst die mindestens eine Sensoreinheit eine weitere Sensoreinheit, die mindestens eine der folgenden Sensorarten umfasst:

  • eine externe Bildaufnahmeeinheit,
  • einen Temperatursensor,
  • einen Feuchtigkeitssensor,
  • einen LIDAR-Sensor zur Hinderniserkennung.
In one embodiment of the method according to the invention the at least one sensor unit includes a further sensor unit which includes at least one of the following sensor types:
  • an external image acquisition unit,
  • a temperature sensor,
  • a humidity sensor,
  • a LIDAR sensor for obstacle detection.

Mit einer externen Bildaufnahmeeinheit als Sensoreinheit können Wetterphänomene bildlich erfasst und anschließend identifiziert werden. Aus der Wetterlage können wiederum Schlussfolgerungen hinsichtlich der Zuverlässigkeit einzelner odometrischer Sensoren gezogen werden. Temperatursensoren können ebenfalls wichtige Anhaltspunkte über die Zuverlässigkeit odometrischer Sensoren geben. Beispielsweise kann Frost auf das Auftreten von Schnee hinweisen, was wiederum eine Geschwindigkeitsmessung mit Hilfe eines Doppler-Radars erschwert. Feuchtigkeitssensoren können zum Beispiel zum automatisierten Betrieb von Scheibenwischern in Schienenfahrzeugen bereits vorhanden sein und können nun erfindungsgemäß zusätzlich dazu genutzt werden, um Wetterdaten zur Beurteilung der Zuverlässigkeit odometrischer Sensoren zu gewinnen. Mit LIDAR-Sensoren kann zum Beispiel das Auftreten von Nebel erkannt werden. Nebel erschwert wiederum die Anwendung einer Geschwindigkeitsmessung mit Hilfe eines Doppler-Radars.With an external image recording unit as a sensor unit, weather phenomena can be recorded and then identified. In turn, conclusions regarding the reliability of individual odometric sensors can be drawn from the weather conditions. Temperature sensors can also provide important clues about the reliability of odometric sensors. For example, frost can indicate the occurrence of snow, which in turn makes it difficult to measure speed using a Doppler radar. Moisture sensors can already be present, for example, for the automated operation of windscreen wipers in rail vehicles and can now also be used according to the invention to obtain weather data for assessing the reliability of odometric sensors. With LIDAR sensors, for example, the occurrence of fog can be detected. Fog, in turn, makes it difficult to use a speed measurement with the help of a Doppler radar.

In einer Variante des erfindungsgemäßen Verfahrens wird als interne Bildaufnahmeeinheit eine Überwachungskamera eingesetzt. Wie bereits erwähnt, kann vorteilhaft auf bereits vorhandene Installationen zurückgegriffen werden, wobei zusätzlich eine automatisierte Auswertung der Bilddaten hinzukommt.In a variant of the method according to the invention, a surveillance camera is used as the internal image recording unit. As already mentioned, existing installations can advantageously be used, with an additional automated evaluation of the image data being added.

In einer Ausgestaltung des erfindungsgemäßen Verfahrens wird die Überwachungskamera zur Wetterbeobachtung derart ausgerichtet, dass von der externen Umgebung des Schienenfahrzeugs Bilddaten erfasst werden können. Vorteilhaft können mit den Überwachungskameras Informationen über die externe Umgebung des Schienenfahrzeugs erfasst werden, welche Auskunft über die aktuelle Wetterlage geben.In one embodiment of the method according to the invention, the surveillance camera for weather observation is aligned in such a way that the external environment of the rail vehicle image data can be recorded. Advantageous information about the external environment of the rail vehicle can be recorded with the surveillance cameras, which provides information about the current weather conditions.

In einer Variante des erfindungsgemäßen Verfahrens wird die Überwachungskamera zur Wetterbeobachtung derart ausgerichtet, dass von einem Innenbereich des Schienenfahrzeugs Bilddaten erfasst werden können. Bei dieser Variante kann die Ausrichtung der Überwachungskameras nach innen beibehalten werden und es werden indirekte Informationen über die Wetterlage anhand der Bekleidung und Ausrüstung der Passagiere. Die Überwachung des Innenraums und der äußeren Umgebung können auch miteinander kombiniert werden, um zuverlässigere Wetterdaten zu erhalten.In a variant of the method according to the invention, the surveillance camera for weather observation is aligned in such a way that image data can be captured from an interior area of the rail vehicle. With this variant, the surveillance cameras can be kept facing inwards and indirect information about the weather situation is obtained based on the clothing and equipment of the passengers. Indoor and outdoor environmental monitoring can also be combined to provide more reliable weather data.

In einer Ausgestaltung des erfindungsgemäßen Verfahrens wird anhand der von der Überwachungskamera erfassten Bilddaten eine aktuelle Wetterlage ermittelt. Vorteilhaft können die Bilddaten zusätzlich zur Überwachung auch zur Ermittlung der Wetterlage genutzt werden, so dass keine zusätzliche Hardware zur Erfassung von Wetterinformationen benötigt wird.In one embodiment of the method according to the invention, a current weather situation is determined using the image data recorded by the surveillance camera. In addition to monitoring, the image data can advantageously also be used to determine the weather situation, so that no additional hardware is required to record weather information.

In einer bevorzugten Ausgestaltung des erfindungsgemäßen Verfahrens wird zur Ermittlung der aktuellen Wetterlage ein Bildauswertungsverfahren auf die erfassten Bilddaten angewendet, welches auf dem maschinellen Sehen basiert.In a preferred embodiment of the method according to the invention, an image evaluation method based on machine vision is applied to the captured image data to determine the current weather situation.

Bei dem Bildauswertungsverfahren kann vorzugsweise ein Vergleich der Bilddaten mit unterschiedlichen Bildmustern durchgeführt werden, welche jeweils einer unterschiedlichen Wetterlage zugeordnet sind.In the image evaluation method, the image data can preferably be compared with different image patterns, each of which is associated with a different weather situation.

Die unterschiedlichen Wetterlagen können beispielsweise die folgenden Wetterlagen umfassen:

  • Schneefall,
  • Nebel,
  • Regen.
The different weather conditions can include, for example, the following weather conditions:
  • snowfall,
  • Fog,
  • Rain.

Wie bereits erwähnt habe die genannten Wetterlagen Einfluss auf die Zuverlässigkeit der odometrischen Sensoren. Beispielsweise kann Schnee die Zuverlässigkeit eines Doppler-Radars beeinträchtigen. Regen kann zu einem Rutschen der Räder des Schienenfahrzeugs und damit zu einer geringeren Zuverlässigkeit der Drehfrequenzsensoren führen.As already mentioned, the weather conditions mentioned have an influence on the reliability of the odometric sensors. For example, snow can affect the reliability of a Doppler radar. Rain can cause the wheels of the rail vehicle to slip and thus reduce the reliability of the rotary frequency sensors.

Zur Ermittlung der Wetterlage können zusätzlich aktuelle Betriebsdaten einer Klimaanlage des Schienenfahrzeugs verwendet werden. Anhand der Betriebsdaten kann auf eine aktuelle Temperatur geschlossen werden, welche wiederum Hinweise auf die aktuelle Wetterlage gibt.Current operating data from an air conditioning system in the rail vehicle can also be used to determine the weather conditions. Based on the operating data, a current temperature can be deduced, which in turn gives information about the current weather conditions.

In einer Ausgestaltung des erfindungsgemäßen Verfahrens werden in Abhängigkeit von den ermittelten Wetterdaten, Fusionsgewichte von Sensoren, welche aufgrund der Wetterdaten als fehleranfällig eingestuft werden, reduziert. Vorteilhaft wird auf diese Weise die Genauigkeit der ermittelten odometrischen Daten verbessert.In one embodiment of the method according to the invention, fusion weights of sensors which are classified as error-prone on the basis of the weather data are reduced as a function of the determined weather data. In this way, the accuracy of the ascertained odometric data is advantageously improved.

Die Erfindung wird im Folgenden unter Hinweis auf die beigefügten Figuren anhand von Ausführungsbeispielen noch einmal näher erläutert. Es zeigen:

  • FIG 1 ein Flussdiagramm, welches ein Verfahren zum Anpassen von Messparametern einer Odometrieeinheit eines Schienenfahrzeugs gemäß einem ersten Ausführungsbeispiel der Erfindung veranschaulicht,
  • FIG 2 ein Blockdiagramm, welches eine Justage-Einrichtung gemäß einem Ausführungsbeispiel der Erfindung veranschaulicht,
  • FIG 3 ein Blockdiagramm, welches ein Schienenfahrzeug gemäß einem Ausführungsbeispiel der Erfindung veranschaulicht.
The invention is explained in more detail below with reference to the attached figures using exemplary embodiments. Show it:
  • FIG 1 a flow chart illustrating a method for adjusting measurement parameters of an odometry unit of a rail vehicle according to a first exemplary embodiment of the invention,
  • FIG 2 a block diagram illustrating an adjustment device according to an embodiment of the invention,
  • 3 12 is a block diagram illustrating a rail vehicle according to an embodiment of the invention.

In FIG 1 ist ein Verfahren zum Anpassen von Messparametern einer Odometrieeinheit eines Schienenfahrzeugs veranschaulicht. Bei dem Schritt 1.I werden Sensordaten, in diesem Ausführungsbeispiel Bilddaten BD, von der Umgebung des Schienenfahrzeugs, welche von einer Überwachungskamera erfasst werden, Temperaturdaten TD von einem Temperatursensor, welcher eine Außentemperatur misst, Feuchtesensordaten FSD von einem Feuchtesensor und Lidar-Sensordaten LSD von einem Lidar-Sensor erfasst. Auf Basis der erfassten Sensordaten BD, TD, FSD, LSD werden bei dem Schritt 1.II Wetterdaten WD ermittelt. Beispielsweise kann mit Hilfe der Feuchtesensordaten ermittelt werden, ob es aktuell regnet und wie stark es regnet. Schließlich werden bei dem Schritt 1.III Fusionsgewichte FG für die Fusion von odometrischen Daten, beispielsweise eine gemessenen Geschwindigkeit oder zurückgelegte Wegstrecke, auf Basis der ermittelten Wetterdaten WD ermittelt. Die odometrischen Daten selbst werden nach der Justage beispielsweise mit Hilfe eines Drehfrequenzsensors und eines Doppler-Radas ermittelt und anschließend mit Hilfe der genannten Fusionsgewichte FG gewichtet kombiniert, um eine Fahrzeuggeschwindigkeit oder eine zurückgelegte Wegstrecke zu ermitteln.In FIG 1 a method for adjusting measurement parameters of an odometry unit of a rail vehicle is illustrated. In step 1.I, sensor data, in this exemplary embodiment image data BD, from the surroundings of the rail vehicle, which are captured by a surveillance camera, temperature data TD from a temperature sensor which measures an outside temperature, humidity sensor data FSD from a humidity sensor and lidar sensor data LSD from detected by a lidar sensor. On the basis of the recorded sensor data BD, TD, FSD, LSD, weather data WD are determined in step 1.II. For example, the humidity sensor data can be used to determine whether it is currently raining and how hard it is raining. Finally, in step 1.III, fusion weights FG for the fusion of odometric data, for example a measured speed or distance covered, are determined on the basis of the determined weather data WD. After the adjustment, the odometric data itself is determined, for example, with the aid of a rotary frequency sensor and a Doppler wheel, and then weighted and combined with the aid of the aforementioned fusion weights FG in order to determine a vehicle speed or a distance covered.

In FIG 2 wird eine Justage-Einrichtung 20 für ein Schienenfahrzeug 40 (siehe FIG 3) beschrieben. Die Justage-Einrichtung 20 umfasst eine Dateneingangsschnittstelle 21, welche dazu eingerichtet ist, Sensordaten SD vom Innenraum und/oder der Umgebung des Schienenfahrzeugs 40 zu empfangen. Die Sensordaten SD werden an eine Wetter-Ermittlungseinheit 22 übermittelt, die dazu dient, Wetterdaten WD auf Basis der erfassten Sensordaten SD zu ermitteln. Teil der Justage-Einrichtung 20 ist auch eine Festlegungseinheit 23, welche dazu eingerichtet ist, Fusionsgewichte FG für die Fusion von odometrischen Daten v, P(t), welche auf Basis von Sensordaten FD, DRD von unterschiedlichen Arten von Sensoren 15, 16 (siehe FIG 3) ermittelt wurden, in Abhängigkeit von den ermittelten Wetterdaten WD festzulegen. Die ermittelten Gewichte FG werden über eine Ausgangsschnittstelle 24 ausgegeben und an eine Auswertungseinheit 30 (siehe FIG 3) übermittelt.In FIG 2 is an adjustment device 20 for a rail vehicle 40 (see 3 ) described. The adjustment device 20 includes a data input interface 21 which is set up to receive sensor data SD from the interior and/or the surroundings of the rail vehicle 40 . The sensor data SD are transmitted to a weather determination unit 22, which is used to determine weather data WD on the basis of the recorded sensor data SD. Part of the adjustment device 20 is also a determination unit 23, which is set up to calculate fusion weights FG for the fusion of odometric data v, P(t), which are based on sensor data FD, DRD from different types of sensors 15, 16 (see 3 ) were determined to be determined as a function of the determined weather data WD. The determined weights FG are output via an output interface 24 and sent to an evaluation unit 30 (see 3 ) transmitted.

In FIG 3 ist ein Blockdiagramm gezeigt, welches ein Schienenfahrzeug 40 veranschaulicht. Das Schienenfahrzeug 40 umfasst eine Mehrzahl von unterschiedlichen Sensoreinheiten 10, 11, 12, 13, mit denen Sensordaten BD, TD, FSD, LSD als Grundlage für die Ermittlung von Wetterdaten WD erfasst werden. Die Sensoreinheiten 10, 11, 12, 13 umfassen eine Überwachungskamera 10, welche Bilddaten BD von der Umgebung des Schienenfahrzeugs 40 aufnimmt, einen Temperatursensor 11 zum Ermitteln von Außentemperaturdaten TD, eine Feuchtesensoreinheit 12 zum Ermitteln von Feuchtsensordaten FSD, welche Informationen über die Luftfeuchtigkeit vermitteln, und eine Lidar-Sensoreinheit 13, welche mit Hilfe von Lidar Informationen über das Auftreten von Niederschlägen, wie zum Beispiel Regen oder Schnee, sowie von Nebel ermitteln kann. Weiterhin weist das Schienenfahrzeug 40 noch zwei odometrische Sensoren 15, 16 auf. Ein erster odometrischer Sensor 15 ist als Drehfrequenzmesser ausgebildet und ein zweiter odometrischer Sensor ist als Doppler-Radarsensor ausgebildet. Von den beiden odometrischen Sensoren werden Frequenzdaten FD bzw. Doppler-Radardaten DRD an eine Auswertungseinheit 30, auch Odometrieeinheit genannt, übermittelt, welche zusätzlich von der Justage-Einrichtung 20 Daten bezüglich anzuwendender Fusionsgewichte FG erhält. Die Auswertungseinheit 30 ermittelt auf Basis der odometrischen Frequenzdaten FD erste odometrische Datensätze vF, PF(t) betreffend die Geschwindigkeit und die Position des Schienenfahrzeugs 40 und auf Basis der Doppler-Radardaten DRD zweite odometrische Datensätze vD, PD(t), welche ebenfalls die Geschwindigkeit und die Position des Schienenfahrzeugs 40 angeben. Die ermittelten odometrischen Datensätze vF, PF(t), vD, PD(t) werden mit Hilfe der ermittelten Gewichte FG gewichtet zu fusionierten odometrischen Daten v, P(t) kombiniert. Die fusionierten odometrischen Daten v, P(t) werden an eine Steuerungseinheit 31 übermittelt, welche auf deren Basis automatische Steuerungsvorgänge durchführt und die Daten v, P(t) an eine Anzeigeeinheit (nicht gezeigt) weitersendet, auf der sie dem Bedienpersonal bildlich dargestellt werden.In 3 A block diagram illustrating a rail vehicle 40 is shown. The rail vehicle 40 includes a plurality of different sensor units 10, 11, 12, 13, with which sensor data BD, TD, FSD, LSD are recorded as a basis for determining weather data WD. The sensor units 10, 11, 12, 13 include a surveillance camera 10, which records image data BD from the area surrounding the rail vehicle 40, a temperature sensor 11 for determining outside temperature data TD, a humidity sensor unit 12 for determining humidity sensor data FSD, which convey information about the humidity, and a lidar sensor unit 13, which can use lidar to determine information about the occurrence of precipitation, such as rain or snow, and fog. The rail vehicle 40 also has two odometric sensors 15, 16. A first odometric sensor 15 is designed as a rotary frequency meter and a second odometric sensor is designed as a Doppler radar sensor. Frequency data FD and Doppler radar data DRD are transmitted from the two odometric sensors to an evaluation unit 30, also known as an odometry unit, which additionally receives data from the adjustment device 20 relating to the fusion weights FG to be used. Based on the odometric frequency data FD, the evaluation unit 30 determines first odometric data sets v F , P F (t) relating to the speed and the position of the rail vehicle 40 and based on the Doppler radar data DRD second odometric data sets v D , P D (t), which also indicate the speed and the position of the rail vehicle 40. The ascertained odometric data records v F , P F (t), v D , P D (t) are weighted with the aid of the ascertained weights FG and combined to form merged odometric data v, P(t). The merged odometric data v, P(t) are transmitted to a control unit 31, which is on the basis of which carries out automatic control processes and sends the data v, P(t) to a display unit (not shown) on which they are displayed to the operating personnel.

Es wird abschließend noch einmal darauf hingewiesen, dass es sich bei den vorbeschriebenen Verfahren und Vorrichtungen lediglich um bevorzugte Ausführungsbeispiele der Erfindung handelt und dass die Erfindung vom Fachmann variiert werden kann, ohne den Bereich der Erfindung zu verlassen, soweit er durch die Ansprüche vorgegeben ist. Es wird der Vollständigkeit halber auch darauf hingewiesen, dass die Verwendung der unbestimmten Artikel "ein" bzw. "eine" nicht ausschließt, dass die betreffenden Merkmale auch mehrfach vorhanden sein können. Ebenso schließt der Begriff "Einheit" nicht aus, dass diese aus mehreren Komponenten besteht, die gegebenenfalls auch räumlich verteilt sein können.Finally, it is pointed out once again that the methods and devices described above are merely preferred exemplary embodiments of the invention and that the invention can be varied by a person skilled in the art without departing from the scope of the invention insofar as it is specified by the claims. For the sake of completeness, it is also pointed out that the use of the indefinite article "a" or "an" does not rule out the possibility that the relevant characteristics can also be present more than once. Likewise, the term "unit" does not rule out that this consists of several components, which can also be spatially distributed if necessary.

Claims (15)

  1. Method for adjusting fusion weightings (FG) of an odometry unit (30) of a rail vehicle (40),
    - wherein the odometry unit (30) is embodied to combine odometric data records (vF, PF(t); vD, PD(t)) determined from different types of odometric sensors (15, 16) of the rail vehicle (40) with the aid of the fusion weightings (FG) weighted to form fused odometric data (v, P(t)),
    having the steps:
    - capturing sensor data (SD; BD, TD, FSD, LSD) from the interior and/or the surroundings of the rail vehicle (40) with the aid of at least one sensor unit (10, 11, 12, 13), wherein at least one of the at least one sensor unit (10, 11, 12, 13) comprises an internal image-recording unit (10),
    - determining weather data (WD) on the basis of the captured sensor data (SD; BD, TD, FSD, LSD),
    - defining fusion weightings (FG) as a function of the determined weather data (WD).
  2. Method according to claim 1, wherein a further sensor unit (10, 11, 12, 13) of the at least one sensor unit (10, 11, 12, 13) comprises at least one of the following sensor types:
    - an external image-recording unit,
    - a temperature sensor (11),
    - a humidity sensor (12),
    - a LIDAR sensor for obstacle detection (13).
  3. Method according to claim 1 or 2, wherein a monitoring camera (10a) is used as the internal image-recording unit (10) .
  4. Method according to claim 3, wherein the monitoring camera (10) is designed to observe the weather so that image data (BD) can be captured from the external surroundings of the rail vehicle (40).
  5. Method according to claim 3, wherein the monitoring camera (10) is designed to observe the weather so that image data (BD) can be captured from an internal area of the rail vehicle (40).
  6. Method according to claim 4 or 5, wherein a current weather situation is determined on the basis of the image data (BD) captured by the monitoring camera (10).
  7. Method according to claim 6, wherein in order to determine the current weather situation, an image evaluation method is applied to the captured image data (BD), which is based on machine vision.
  8. Method according to claim 7, wherein in the image evaluation method a comparison of the image data (BD) is carried out with different image patterns, which are assigned to a different weather situation in each case.
  9. Method according to claim 8, wherein the different weather situations comprise the following weather situations:
    - snow fall,
    - fog,
    - rain.
  10. Method according to one of claims 6 to 9, wherein current operating data of an air-conditioning system of the rail vehicle (40) is additionally used to determine the weather situation.
  11. Method according to one of the preceding claims, wherein fusion weightings of sensors (10, 11, 12, 13), which are classified as fault-prone on account of weather data, are reduced as a function of the determined weather data.
  12. Adjustment facility (20) for defining fusion weightings (FG) for the fusion of odometric data (v, P(t)) for a rail vehicle (40), having:
    - a data input interface (21) for receiving sensor data (SD; BD, TD, FSD, LSD) from at least one sensor unit (10, 11, 12, 13) of the rail vehicle (40), wherein at least one of the at least one sensor unit (10, 11, 12, 13) comprises an internal image-recording unit (10), with respect to the interior and/or the surroundings of the rail vehicle (40),
    - a weather determination unit (22) for determining weather data (WD) on the basis of the captured sensor data (BD, TD, FSD, LSD),
    - a defining unit (23) for defining the fusion weightings (FG) for the fusion of odometric data (v, P(t)), which was determined on the basis of odometric sensor data (FD, DRD) from different types of odometric sensors (15, 16) of the rail vehicle (40) as a function of the determined weather data (WD).
  13. Rail vehicle (40), having
    - an adjustment facility (20) according to claim 12.
  14. Computer program product having a computer program which is directly loadable into a storage unit of a computer unit of a rail vehicle (40), having program portions in order to carry out all the steps of a method according to one of claims 1 to 11 when the computer program is executed in the computer unit.
  15. A computer-readable medium on which program portions that are executable by a computer unit are stored, in order to carry out all the steps of the method according to one of claims 1 to 11 when the program portions are executed by the computer unit.
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CN111032476B (en) 2022-04-08
EP3625106A1 (en) 2020-03-25
ES2946763T3 (en) 2023-07-25
WO2019029969A1 (en) 2019-02-14

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