Process and arrangement for determining the position of at least one point of a track-guided vehicle

• US 5,893,043 A
• Filed: 08/30/1996
• Issued: 04/06/1999
• Est. Priority Date: 08/30/1995
• Status: Expired due to Fees

• Current Assignee: Daimler Chrysler Company LLC (Stellantis NV)
• Original Assignee: Daimler-Benz AG (Mercedes-Benz Group AG)
• Inventors: Boese, Peter, Moehlenbrink, Wolfgang, Moehrke, Gerd
• Primary Examiner(s): MARQUIS, LISSI MOJICA
• Application Number:
  US08/705,717
• Time in Patent Office: 949 Days
• Field of Search: 701/206, 701/207, 701/208, 701/209, 701/210, 701/211, 701/213, 701/216, 246/167 R, 246/182 R, 246/182 C, 246/187 C, 246/5
• US Class Current: 701/207
• CPC Class Codes: B61L 15/0054 Train integrity supervision, e.g. end-of-train [EOT] devices
• CPC Class Codes: B61L 15/0092 Memory means reproducing during the running of the vehicle or vehicle train, e.g. smart cards
• CPC Class Codes: B61L 2205/04 Satellite based navigation systems, e.g. global positioning system [GPS]
• CPC Class Codes: B61L 25/021 Measuring and recording of train speed
• CPC Class Codes: B61L 25/025 Absolute localisation, e.g. providing geodetic coordinates
• CPC Class Codes: B61L 25/026 Relative localisation, e.g. using odometer
• CPC Class Codes: G01C 21/005 with correlation of navigation data from several sources, e.g. map or contour matching G01C21/30 takes precedence
• CPC Class Codes: G01S 13/89 for mapping or imaging
• CPC Class Codes: G01S 7/003 Transmission of data between radar, sonar or lidar systems and remote stations
• CPC Class Codes: G01S 7/412 based on a comparison between measured values and known or stored values

Abstract

A process and an arrangement for determining the position of a vehicle moving on a given track by using a map matching process is provided. At least three types of position measuring data in the form of object site data, path length data and route course data are obtained. By use of a computer unit, for each type of measuring data, a data correlation is carried out with a respective pertaining stored desired data quantity for the determination of respective position results which then are evaluated, in an m-out-of-n decision making process. In this process, a given number m of the n determined position results is taken into account. With comparatively low expenditures, this permits a reliable and error-tolerant vehicle position determination for use, for example, for railway vehicles.

Claims

1. A process for determining a position of at least one point of a vehicle moving on a given track, the process comprising the steps of:

obtaining in a mutually independent manner at least a number n of different types of position measuring data, with n being greater than or equal to three, by detecting objects present along the given track, a travelled path length of the vehicle, and a travelled route course of the vehicle;

determining a position result for each different type of position measuring data detected using a respective correlation of the detected position measuring data with a corresponding stored desired data quantity; and

determining the position of the vehicle from the position result for each type of detected measuring data by performing an m-out-of-n decision making process, where m=(n-x) and x is defined by the number of positions results not used for the analysis, said process determining a given number m from the number n of independently determined position results situated within an interval having a given resolution width, said interval being evaluated as the position to be determined.

2. The process according to claim 1, further comprising the step of determining one of said different types of position measuring data by detecting path markers arranged along the given track.

3. The process according to claim 1, further comprising the step of recursively returning the determined position of the vehicle to the stored desired data quantities.

4. The process according to claim 1, further comprising the steps of:

determining a distance between a forward point and a rearward point of the vehicle by performing the above steps independently of one another for the forward point and the rearward point of the vehicle; and

determining the distance between the forward point and the rearward point by forming a difference of the two position results.

5. An arrangement for determining a position of at least one point of a vehicle moving along a given track, the arrangement comprising:

a computer unit for carrying out data correlations as well as an m-out-of-n decision finding process, wherein n is the number of different types of position measuring data that are obtained and wherein m=(n-x) and x is defined by the number of positions results not used for the analysis;

a plurality of memories coupled to said computer unit, said memories being read out by said computer unit and having stored therein desired data quantities; and

a sensing system for obtaining position measuring data, said sensing system including at least an object recognition sensor unit for obtaining object site data, a path length measuring unit for obtaining path length data, and an angle-of-rotation measuring unit for obtaining route course data being arranged on the side of the vehicle.

6. The arrangement according to claim 5, wherein said object recognition sensor comprises one of a camera having a picture processing device coupled thereto, and a picture-generating radar sensor having a signal processing device coupled thereto.

7. The arrangement according to claim 5, wherein said sensor for obtaining the position measuring data further comprises a path marker reading apparatus;

and

a path marker list memory having stored therein pertaining desired data quantity of various path markers, said pertaining desired data quantity being read out of said path marker list memory by said computer unit.

8. The arrangement according to claim 5, further comprising a GPS-reception part having an output signal supplied to said computer unit.

9. The arrangement according to claim 5, wherein said arrangement determines the position of a forward point and a rearward point of the vehicle;

wherein said computer unit, said plurality of memories, and said sensor system are arranged on one of the forward or rearward points of the vehicle;

wherein on the other of said forward or rearward points of the vehicle, at least one sensor unit is provided which corresponds to one of the sensor units in the sensor system arranged at said one point;

a communication device for transmitting the position measuring data, obtained by the at least one sensor unit positioned at the other point, to said computer unit housed at said one first point; and

wherein said computer unit, in addition to determining a position of said one point of the vehicle, also determines a position of said other point of the vehicle via data correlation of the transmitted position measuring data with the pertaining desired data quantity.

10. The arrangement according to claim 9, further comprising means for determining a distance between the forward and rearward points of the vehicle by forming a difference of the positions of the forward point and rearward point of the vehicle in said computer unit.