DE102023204214A1 - Validation of an object recognition device of a rail vehicle - Google Patents

Abstract

The invention relates to a validation system (10) for functional testing of an object recognition device (ORU) installed on a rail vehicle (RV). It comprises a reference object (20) which is positioned at an object position (P20) in the area of a rail track (RT) and has at least one target object dimension (M-ref) and one target object type (T-ref), which are stored together with the object position (P20) in a database (30). It further comprises a distance determination system (40) for determining a current target object distance (D-ref) between the rail vehicle (RV) and the reference object (20), which has a vehicle-side position determination module (41) with a receiving unit (42) for navigation satellite signals for determining the current vehicle position (PRV) and a computing unit (43) communicating with the database (30) for calculating the current target object distance (D-ref) from the current vehicle position (PRV) and the object position (P20). A test unit (50) is designed to calculate deviations (ΔD, ΔM, ΔT) between the determined actual object distance (D) and the calculated target object distance (D-ref) and between the determined actual object data (M, T) and the target object data (M-ref, T-ref). It is also designed to determine whether the deviations (ΔD, ΔM, ΔT) are within predetermined validity ranges (VAL-D, VAL-M, VAL-T).

Description

The invention relates to a validation system and a validation method for functional testing of an object recognition device installed on a rail vehicle.

For the partially or fully automated operation of a rail vehicle, such as a tram, but also a regional or high-speed train, object detection devices are increasingly being used which have a sensor arrangement arranged at the front of the vehicle. Such a sensor arrangement has a detection area - also called field of view or image area - which is directed forwards in the direction of travel of the rail vehicle. The sensor arrangement comprises one or more environmental sensors for recording sensor data which represent objects in the detection area. Objects in the environment can be track systems with the tracks used by the rail vehicle and those adjacent to it, buildings and vegetation in the area of the track systems, operating equipment of an overhead line system or signaling systems, but in particular stationary or moving objects which could pose an obstacle with a risk of collision for the rail vehicle. Potential obstacles should in particular be other rail vehicles, trucks and passenger cars, motorcyclists and cyclists, pedestrians but also track ends such as a buffer stop. Monocular video cameras, stereo cameras, time-of-flight cameras, lidar sensors, laser scanners, radar sensors, ultrasonic sensors, thermal imaging cameras and the like can be used as environmental sensors, the sensor data of which represent an object located in the detection area. The recorded sensor data is fed to an evaluation unit of the object recognition device and processed by this, wherein in particular sensor data from different environmental sensors are fused in order to determine current actual values of an object. The actual values here should be the object position determined relative to the sensor arrangement of the object recognition device, which is given by a longitudinal object distance between the object and the current vehicle position of the rail vehicle and by a lateral object distance between the object and the track being traveled on. The actual values of the object also include further object data characterizing it, in particular at least one object dimension and one object type. An object height, an object width, an object diagonal, an object area, an object outline or several of the aforementioned object dimensions can be determined as at least one object dimension. Object types can be a rail vehicle, a motor vehicle, a motorcycle or bicycle, a pedestrian or a buffer stop. Depending on the object type detected and several object positions detected in succession, the object detection device can determine whether an object represents an obstacle with a risk of collision for the rail vehicle in order to, if necessary, trigger an alarm to the driver and/or road users in a vehicle environment or automatically trigger a braking intervention or emergency braking by the vehicle control system of the rail vehicle.

The reliability of the actual values determined by the object recognition device is therefore of crucial importance for the safety of partially or fully automated operation of a rail vehicle.

The invention is therefore based on the object of proposing measures for checking the function of an object detection device installed on a rail vehicle.

The object is achieved on the one hand by a validation system according to the invention for functional testing of an object recognition device installed on a rail vehicle, which has a sensor arrangement with a detection area for recording sensor data representing an object located in the detection area and an evaluation unit that processes the recorded sensor data to determine a current actual object distance between the rail vehicle and the object as well as actual object data characterizing the object, wherein an actual object type and at least one actual object dimension are determined as actual object data. In addition to the longitudinal actual object distance between the rail vehicle and the object, a lateral actual object distance between the object and the center of the track on which the rail vehicle travels can also be determined. An actual object height and/or an actual object width and/or an actual object diagonal and/or an actual object surface area and/or an actual object boundary, i.e. a shape of the outer boundary of an object cross-section, can be determined as actual object dimensions. As actual object type, other rail vehicles running on the track being used or on an adjacent track, a truck, a passenger car, a motorcyclist, a cyclist, a pedestrian and a buffer stop on the track being used by the rail vehicle can be identified and distinguished from one another.

The validation system comprises at least one reference object which is positioned at an object position in the area of a railway track such that it is in the detection range of the sensor arrangement of the rail vehicle approaching the reference object on the rail route. The reference object has a target object type and at least one target object dimension as target object data, which are also referred to as target values. Along a rail route, which can be designed as a branch line or circular route for a regional train, for example, several validation points can be set up permanently or temporarily, which the rail vehicle passes one after the other on its journey. Several reference objects can also be positioned at a validation point, which are positioned at different object positions and can have different target object types and/or different target object data. The object positions, target object types and target object data of a reference object are known with a predefined accuracy, for example the reference objects can be measured at their object positions using high-precision position measuring technology. A reference object can have the target object dimensions characteristic of a respective target object type. A reference object can be designed as a dummy that represents a person, a wild animal, a car, a stroller, a light pole, an overhead line pole, and the like. When the rail vehicle approaches a reference object or a group of reference objects, their target values serve as a comparison basis for the corresponding actual values determined by the object recognition device. During operation, the rail vehicle repeatedly approaches reference objects after certain sections of the route in order to be able to carry out or repeat a comparison between the actual values currently determined by the object recognition device and known target values.

The validation system also includes a database in which the object position and the target object data of the positioned reference object are stored. If there are several reference objects, these target values are stored in the database for each reference object. Depending on the design of the validation system, the database can be located on the rail vehicle or on the reference object(s), or it can be made available centrally or via the cloud by an operator of the rail vehicle.

The validation system also includes a distance determination system for determining a current target object distance between the rail vehicle and the reference object. For this purpose, the distance determination system has a vehicle-side position determination module with a receiving unit for navigation satellite signals for determining the current vehicle position of the rail vehicle. In addition, the distance determination system has a computing unit that communicates with the database for calculating the current target object distance from the current vehicle position and the object position. To determine the current vehicle position, signals from so-called global satellite systems for positioning and navigation (Global Navigation Satellite System, GNSS for short), such as NAVSTAR GPS, GLANOSS, Galileo or Beidou, are received by the receiving unit. The computing unit of the distance determination module continuously calculates the target object distance between the object position of the reference object detected by the object detection device and the currently determined vehicle position of the rail vehicle at a high frequency, for example 10 Hz or 100 Hz.

The validation system also includes a test unit that is designed to calculate deviations between the determined actual object distances and the calculated target object distances, as well as between the determined actual object data and the target object data. The test unit is also designed to determine whether the deviations are within predetermined validity ranges. The validity range is understood here to be a tolerance range for actual object values around a target object value; actual object values determined by the object recognition device that are within the tolerance range are then qualified as valid. If the actual object values determined for a reference object are within the tolerance ranges, the functional test of the object recognition device has been positive and it can be assumed that the object recognition device recognizes the target object type and the target object distance of the reference object correctly and accurately enough.

The validation system can be used during ongoing rail operations at any time of day or night and under appropriate environmental conditions to monitor the proper functioning of the object detection device of a rail vehicle. However, it can also be used to comprehensively check the functionality of an object detection device for rail vehicles that is still under development. If the deviations between actual and target object values are outside the assigned validity ranges for any reason, measures can be taken immediately. The validation system according to the invention thus significantly increases the operational reliability of a partially or fully automated rail vehicle with an object detection device for obstacle detection.

In an advantageous embodiment, the validation system according to the invention comprises a digital map system for a rail network having the rail line, in which the object position of the positioned reference object is recorded. The distance determination system is designed to determine when a predetermined trigger distance of the rail vehicle is reached before the object position. When the trigger distance is reached, sensor data is continuously recorded by the sensor arrangement as the rail vehicle approaches the reference object, current actual object distances and actual object data are determined by the evaluation unit, current target object distances are determined by the distance determination system, and deviations are calculated and it is determined in each case whether they lie within the validity ranges. The digital map system can be stored directly on the rail vehicle, or at least it can be accessed from the rail vehicle if it is stored at another location. The test unit of the validation system does not have to be operated continuously in this way, but only when a reference object is approached. The sensor arrangement and the evaluation unit of the object recognition device operate continuously in normal operation, while in an evaluation phase of an object recognition device under development, this can also only be started when approaching a reference object with the validation system.

In a further advantageous embodiment, the validation system according to the invention further comprises a communication system with a vehicle-side communication module and a reference object-side communication module, which are set up to exchange data wirelessly between the rail vehicle and the reference object, and optionally additionally with an operations center and a data storage in a computer cloud. Common radio systems in the 433 MHz or 868 MHz frequency range can be used for wireless communication between the rail vehicle and the reference object. Wireless local networks (WLAN) or mobile radio systems according to the LTE or 5G standard can be used for communication with an operations center of the rail vehicle and with the data storage in the computer cloud. The communication modules can also be designed as terminal devices of a satellite network for Internet access, for example the Starlink satellite network. The communication system allows data generated by the components of the validation system to be transferred to other components of the validation system, regardless of whether they were generated or stored on the rail vehicle, on the reference object, in an operations center or in the cloud.

In a further advantageous embodiment of the validation system according to the invention, the reference object has a position determination module on the reference object side with a receiving unit for navigation satellite signals, which is designed to determine the object position of the reference object after it has been positioned in the area of the rail track. Instead of manually measuring the object position when positioning a reference object, the same position determination technology as in the rail vehicle can be used for the reference object, so that the object position is automatically determined from the received GNSS signals after positioning a reference object. The determined object position can be entered into the database with the other target values of the reference object. It is transmitted to the rail vehicle via the communication system, where the computing unit of the distance determination system calculates an exact distance between the rail vehicle and the object, the so-called current target object distance, from the currently determined object and vehicle positions at high frequency.

In a further advantageous embodiment of the validation system according to the invention, the vehicle-side distance determination system additionally has an inertial measuring unit for measuring a vehicle position value, wherein the current vehicle position is determined from the received navigation satellite signals and the measured vehicle position value. A known inertial measuring unit combines acceleration and yaw rate sensors in order to obtain - in relation to a reference point - its location position by integrating the determined acceleration values twice, among other things. This determined location position represents the measured vehicle position value. By additionally taking this vehicle position value into account, the accuracy is increased by a factor of 5 to 10 compared to the determination of the vehicle position based only on GNSS signals. This in turn increases the accuracy of the calculated current target object distances. An inertial measuring unit can also be provided in the reference object, which also improves the accuracy of the determined object position.

In a further advantageous embodiment, the validation system according to the invention further comprises a time synchronization system with a vehicle-side synchronization module and with a reference object-side synchronization module, which are designed so that the The acquisition of sensor data, the determination of actual object distances and actual object data, the determination of target object distances and the calculation of deviations are carried out in a time-synchronized manner. It also has a data memory for recording the time-synchronized sensor data, actual object distances, actual object data, target object distances and deviations. The synchronization modules have their own internal clocks which are synchronized using known methods (for example the Precision Time Protocol according to IEEE 1588 or the GPS time signal), which ensures that the synchronization modules and the components connected to the synchronization modules in the rail vehicle or reference object are coordinated with one another and carry out the right actions at the right time, i.e. sensor data acquisition, actual object distance and actual object data determination, target object distance determination, deviation calculation and data recording. The synchronicity makes it possible to relate data that belong to one another in time. The data memory can be located on the rail vehicle and/or the reference object and/or in the cloud. The data storage may include a management system that sends a notification when the amount of data stored in the data storage exceeds a threshold, so that measures can be taken to ensure that there is always sufficient storage space available in the data storage.

In a further advantageous embodiment, the validation system according to the invention further comprises a weather system with an environmental sensor for recording environmental data of the reference object, which can influence the recording of sensor data by the sensor arrangement, wherein the environmental data is recorded in a time-synchronized manner and recorded in the data memory in a time-synchronized manner. Depending on the environmental sensors used, the recording of sensor data by the sensor arrangement for object recognition can be influenced by the weather prevailing in the area of the reference object, i.e. by the air temperature and/or the air humidity and/or the air pressure and/or the precipitation and/or the wind speed and/or the solar radiation and the like. To record this environmental data, one or more environmental sensors are arranged in the area of the reference object, which can be designed as thermometers and/or hygrometers and/or barometers and/or ombrometers and/or anemometers and/or pyranometers. The environmental sensors can be combined to form a weather station arranged on the reference object. However, environmental sensors from a weather service provider can also be used, from which only the environmental data relating to the environment around the object position is received. The environmental data can also be recorded in a time-synchronized manner, so that after data has been transmitted, for example to the rail vehicle, it can be stored in the storage unit in a time-synchronized manner with the other data. If there are deviations between actual and target values outside the validity ranges, this may be because the evaluation unit of the object recognition device does not have complete sensor data available for processing, or because sensor data is faulty due to weather-related influences. Instead of a negative result for the functional test, the test unit can, for example, reject the test result as invalid if bad weather influences are present.

In a further advantageous embodiment, the validation system according to the invention further comprises a reporting unit connected to the test unit, which is designed to send an electronic message to an output unit in a driver's cab of the rail vehicle and/or in an operations center of the rail vehicle if the check has shown that deviations are outside the respective validity ranges. If one or more deviations between target and actual values are outside the relevant validity ranges, a message can be sent by email or another messaging service to a driver's cab of the rail vehicle or to an operations center of the rail vehicle and displayed there via an output unit designed, for example, as a display or monitor for the train driver in the case of semi-automated vehicle operation and/or to a control center employee in the case of fully automated vehicle operation. The message can contain the values of the deviations in relation to the validity ranges, but also evaluate the size of the deviations and contain recommendations for action as to whether, for example, early maintenance or immediate decommissioning is recommended for the object recognition device.

In a further advantageous embodiment of the validation system according to the invention, the reference object has a rechargeable energy source for the autonomous supply of its electrical consumers with electrical energy. As a result, reference objects are free from energy network connections in their energy supply and can be positioned flexibly along the rail line. A management system for an energy source designed as a rechargeable battery detects when the charge level falls below a threshold value, whereupon a corresponding message can be sent in order to recharge the rechargeable battery. Alternatively, the reference objects can also be supplied with electrical energy via power supplies.

The object is also achieved by a validation method according to the invention for checking the functionality of an object recognition device installed on a rail vehicle. Accordingly, a reference object, which has at least one target object dimension and one target object type as target object data, is positioned at an object position in the area of a rail route to be traveled by the rail vehicle. Sensor data characterizing the reference object are recorded by a sensor arrangement of the object recognition device. From the recorded sensor data, an evaluation unit of the object recognition device determines a current actual object distance between the rail vehicle and the reference object and at least one actual object dimension and one actual object type as actual object data. A current target object distance between the rail vehicle and the reference object is determined by determining the current vehicle position of the rail vehicle using received navigation satellite signals and calculating the current target object distance from the current vehicle position and the object position. Furthermore, deviations between the determined actual object distance and the calculated target object distance and between the determined actual object data and the target object data are calculated. Finally, it is determined whether the deviations lie within predetermined validity ranges. The validation system according to the invention described at the beginning is particularly suitable for carrying out this procedure.

• FIG Komponenten und Datenströme des erfindungsgemäßen Validierungssystems

schematisch veranschaulicht sind.Further features and advantages of the invention will become apparent from the following description of a specific embodiment with reference to the drawing, in the only

• FIG Components and data streams of the validation system according to the invention

are illustrated schematically.

According to the figure, a partially shown rail vehicle RV with a driver's cab DRC arranged at the front is traveling to the right on a rail track RT. The rail vehicle RV can be, for example, a regional train, but also a tram or a high-speed train. For partially or fully automated operation, an object detection device ORU is installed on the rail vehicle RV in order to detect potential obstacles on the rail track RT ahead. The object detection device ORU has a sensor arrangement SEN arranged at the front, which is made up of one or more environmental sensors not shown in detail. Depending on the detection task, one or more lidar, camera, radar and/or infrared sensors can be used as environmental sensors, the fields of view of which at least partially overlap in terms of range and opening angle and form a detection area FOV of the sensor arrangement SEN. Depending on the maximum travel speed of the rail vehicle RV, the detection area FOV can cover a track section in front of the rail vehicle RV of at least 5 m up to 500 m as well as the surrounding area to the side of this track section. The sensor arrangement SEN is used to record sensor data SD that represent an object located in the detection area FOV. There can also be several objects in the detection area FOV. The recorded sensor data SD are processed in an evaluation unit EVU of the object recognition device ORU in order to determine current actual values of the object(s). From the sensor data SD of individual environmental sensors or the fused sensor data of several environmental sensors, a current actual object distance D between the rail vehicle RV and the object as well as actual object data M, T characterizing the object can be determined as actual values of the object(s), namely at least one actual object dimension M and one actual object type T of an object. An actual object height and/or an actual object width and/or an actual object diagonal and/or an actual object surface area and/or an actual object boundary, i.e. a shape of the outer boundary of an object cross-section, can be determined as actual object dimensions M. From this, the actual object type T of an object can be recognized, i.e. whether the detected object is another rail vehicle that is traveling on the track being used or on an adjacent track, a truck, a passenger car, a motorcyclist, a cyclist, a pedestrian, such as an adult or a child, a stroller, an animal, in particular a wild animal, a lamppost, an overhead line mast, a buffer stop or other objects of the track-related infrastructure. Reliable automated recording of the actual values D, M, T of objects ahead is of central importance for a rail vehicle RV in automated operation if the observation of the environment ahead of the rail vehicle RV no longer falls solely within the scope of the duties of a train driver in the DRC driver's cab or if the use of a train driver is to be eliminated entirely.

According to the invention, a validation system 10 is therefore proposed for functional testing of the object recognition device ORU installed on a rail vehicle RV.

The validation system 10 comprises one or more reference objects 20 that are positioned along the rail route RT at one or more validation points. One or more reference objects 20 can be positioned at a validation point. The validation points are set up at a distance from one another along the rail route RT, which is designed, for example, as a branch line or circular route, in such a way that the rail vehicle RV repeatedly passes one of the validation points during its operation, at which the function of the object recognition device ORU can be checked using known reference objects 20.

Each reference object 20 is positioned at an object position P20 in the area of the rail track RT such that it is located in the detection range FOV of the sensor arrangement SEN of the rail vehicle RV approaching the reference object 20 on the rail track RT. The respective object position P20 is measured with high accuracy when a reference object 20 is set up. In the exemplary embodiment shown, the reference object 20 has a reference object-side position determination module 21 with a receiving unit 22 for navigation satellite signals, with which the object position P20 of the reference object 20 is automatically determined with the high accuracy of the GNSS signals after it has been positioned.

Each reference object 20 is designed as an artificial test dummy with specific target values. A reference object 20 has a specific target object type T-ref, such as a person, a wild animal, a motor vehicle, a stroller, a light pole, an overhead line pole, and the like, which is defined by one or more target object dimensions M-ref. The target object dimension M-ref can be, for example, a target object height and/or a target object width and/or a target object diagonal and/or a target object surface area and/or a target object boundary, i.e. a shape of the outer boundary of an object cross-section. Reference objects 20 of different types, sizes and poses can thus be manufactured as test dummies and positioned at a validation point. When the rail vehicle RV approaches a reference object 20 or a group of reference objects 20, their target values serve as a comparison basis for the corresponding actual values determined by the object recognition device ORU.

The validation system 10 also includes a database 30 in which the object position P20 and the target object data M-ref, T-ref of a positioned reference object 20 are stored. If there are several reference objects 20, target object dimensions M-ref and target object type T-ref are stored in the database 30 for each reference object 20. Depending on the design of the validation system 10, the database 30 is arranged on or distributed across the reference objects 20, but can also be arranged on the rail vehicle RV or, for example, made available centrally by an operator of the rail vehicle RV or via a computer cloud or cloud CLD.

The validation system 10 also includes a distance determination system 40 for determining a current target object distance D-ref between the rail vehicle RV and the reference object 20. This highly accurate target object distance D-ref serves as a reference value or comparison basis for the actual object distance D detected by the object recognition device ORU. For this purpose, the distance determination system 40 has a vehicle-side position determination module 41 with a receiving unit 42 for navigation satellite signals for determining a current vehicle position PRV of the rail vehicle RV, the accuracy of which is specified by the GNNS signals, for example from GPS or GALILEO. In the exemplary embodiment shown, the vehicle-side distance determination system 40 also has an inertial measuring unit 44 with acceleration and yaw rate sensors in order to obtain a further vehicle position value. The current vehicle position PRV is then determined with greater accuracy from the received navigation satellite signals and the measured vehicle position value. The distance determination system 40 further comprises a computing unit 43 for calculating the current target object distance D-ref, which is calculated from the determined current vehicle position PRV and the object position P20 of the reference object 20. For this purpose, the computing unit 43 communicates with the database 30 in order to obtain the object position P20 of the reference object 20 stored there.

If the object position P20 is located on a database 30 in the reference object 20 and the computing unit 43 is located on the rail vehicle RV, the object position P20 is transmitted, for example, by radio from the reference object 20 to the rail vehicle RV. For this purpose, the validation system 10 further comprises a communication system 60 with a vehicle-side communication module 61 and a reference object-side communication module 62. These are set up to exchange data wirelessly between the rail vehicle RV and the reference object 20, for example by forming a radio system operating in the frequency range 433 MHz or 868 MHz.

The validation system 10 further comprises a test unit 50 which is designed to calculate deviations ΔD, ΔM, ΔT between the determined actual object distances D and the calculated target object distances D-ref as well as between the determined actual object data M, T and the target object data M-ref, T-ref: $$\begin{array}{l}\Delta \text{D}=\text{D}-\text{D}-\text{ref}\\ \Delta \text{M}=\text{M}-\text{M}-\text{ref}\\ \Delta \text{T}=\text{T}-\text{T}-\text{ref}\end{array}$$

The test unit 50 then determines whether the calculated deviations ΔD, ΔM, ΔT are within predetermined validity ranges VAL-D, VAL-M, VAL-T. The validity range VAL-D, VAL-M, VAL-T is to be understood here as a tolerance range for actual object values D, M, T around a target object value D-ref, M-ref, T-ref; actual object values D, M, T determined by the object recognition device ORU that are within the tolerance range are then qualified as valid. If the actual object values D, M, T determined for a reference object 20 are within the tolerance ranges, the functional test of the object recognition device ORU has been positive and it can be assumed that the object recognition device ORU recognizes the target object type T-ref with its target object dimensions M-ref and the target object distance D-ref of the reference object 20 correctly and accurately enough.

The validation system 10 shown further comprises a reporting unit 110 connected to the test unit 50, which is designed to send an electronic message to an output unit DIS in the driver's cab DRC of the rail vehicle RV and/or to the operations center OCL of the rail vehicle RV. If the check by the test unit 50 has shown that one or more deviations ΔD, ΔM, ΔT are outside the respective validity ranges VAL-D, VAL-M, VAL-T, a message can be sent by email or via another messaging service and output by means of an output unit DIS designed, for example, as a display or monitor, to the train driver in the case of semi-automated vehicle operation and/or to a control center employee in the case of fully automated vehicle operation. The notification may contain the values of the deviations ΔD, ΔM, ΔT in relation to the validity ranges VAL-D, VAL-M, VAL-T, but may also evaluate the magnitude of the deviations ΔD, ΔM, ΔT and contain recommendations for action as to whether, for example, early maintenance or immediate decommissioning is recommended for the object recognition device ORU.

The validation system 10 can further comprise a weather system 100 with one or more environmental sensors 101 for recording environmental data U of the reference object 20. Weather-related environmental conditions can influence the recording of sensor data SD by the sensor arrangement SEN. For example, the air temperature and/or the air humidity and/or the air pressure and/or the precipitation and/or the wind speed and/or the solar radiation and the like can lead to sensor data SD being incomplete or incorrect and object recognition therefore not being reliable or not possible at all. To record this environmental data U, one or more environmental sensors 101 are arranged in the area of the reference object 20, which can be designed as thermometers and/or hygrometers and/or barometers and/or ombrometers and/or anemometers and/or pyranometers. The environmental sensors 101 can be combined to form a weather station arranged on the reference object 20. If there are deviations ΔD, ΔM, ΔT between actual and target values outside the validity ranges VAL-D, VAL-M, VAL-T, a possible explanation for this can be found using the environmental data U, without the object recognition device ORU having to have worked incorrectly. Instead of a negative result for the functional test, the test unit 50 can, for example, reject the test result as invalid if bad weather conditions are present and issue a corresponding message via the reporting unit 110.

The validation system 10 also includes a digital map system 90 for a rail network having the rail route RT. The digital map system 90 can be stored directly on the rail vehicle RV, but can at least be accessed from the rail vehicle RV if it is stored at another location. All positioned reference objects 20 are recorded in the map system 90. The distance determination system 40 is designed to determine when a predetermined trigger distance of the rail vehicle RV has been reached in front of the object position P20. Reaching the trigger distance triggers that, as the rail vehicle RV approaches a reference object 20, sensor data SD are continuously recorded by the sensor arrangement SEN, current actual object distances D and actual object data M, T are determined by the evaluation unit EVU, current target object distances D-ref are determined by the distance determination system 40, deviations ΔD, ΔM, ΔT are calculated, it is determined in each case whether these lie within the validity ranges VAL-D, VAL-M, VAL-T, and environmental data U are recorded by the weather system 100.

The validation system 10 further comprises a time synchronization system 70 with a mobile vehicle-side synchronization module 71 and a reference object-side synchronization module 72. These are designed so that the recording of the sensor data SD, the determination of the actual object distances D and the actual object data M, T, the determination of the target object distances D-ref, the calculation of the deviations ΔD, ΔM, ΔT, the determination of whether these are within the validity ranges VAL-D, VAL-M, VAL-T, and the recording of the environmental data U are carried out in a time-synchronized manner with one another. The synchronization modules 71, 72 have their own internal clocks which are synchronized using known methods (for example the Precision Time Protocol according to IEEE 1588 or the GPS time signal), which ensures that the synchronization modules 71, 72 and the components in the rail vehicle RV or reference object 20 connected to the synchronization modules 71, 72 carry out the right actions at the right time in a coordinated manner.

The validation system 10 also includes a data storage 80 for time-synchronized recording of the sensor data SD, the actual object distances D, the actual object data M, T, the target object distances D-ref, the deviations ΔD, ΔM, ΔT, the environmental data U and the determination results as to whether the deviations ΔD, ΔM, ΔT are within the validity ranges VAL-D, VAL-M, VAL-T. The time-synchronized procedure makes it possible to relate data that belong together in time. The data storage 80 can be located on the rail vehicle RV and/or the reference object 20 and/or in the cloud CLD. Wireless local networks (WLAN) or mobile radio systems according to the LTE or 5G standard can be used to transmit or upload data using the communication system 60. The communication modules 61, 62 can also be designed as terminal devices of the satellite network. The data storage 80 can have a management system which sends a corresponding notification when the amount of data stored in the data storage 80 exceeds a threshold value, so that measures can be taken to ensure that there is always sufficient storage space available in the data storage 80.

In order to supply its electrical consumers with electrical energy independently, the reference object 20 can have a rechargeable energy source 21. As a result, reference objects 20 are at least temporarily free from energy network connections in their energy supply and can be positioned flexibly along the rail route RT. A management system for an energy source 21 designed as a rechargeable battery detects when the charge level falls below a threshold value, whereupon a corresponding message can be sent in order to recharge the rechargeable battery.

The validation system 10 can be used during ongoing rail operations at any time of day or night and under appropriate environmental conditions to monitor the proper functioning of the object recognition device ORU of a rail vehicle RV. However, it can also be used for comprehensive functional testing of an object recognition device ORU that is still under development for rail vehicles RV. If the deviations ΔD, ΔM, ΔT between actual and target object values are outside the assigned validity ranges VAL-D, VAL-M, VAL-T for any reason, measures can be taken immediately. The validation system 10 according to the invention thereby significantly increases the operational reliability of a partially or fully automated rail vehicle RV with an object recognition device ORU for obstacle detection.

The reference symbols used in the description of the figures are clearly shown in the following

list of reference symbols

RV

rail vehicle

DRC

driver's cab

RT

railway line

ORU

object recognition device

SEN

sensor arrangement

FOV

detection range

SD

sensor data

D

Actual value: Actual object distance

M

Actual value: Actual object date: Actual object dimension

T

Actual value: Actual object date: Actual object type

10

validation system

20

reference object

21

Position determination module, reference object side

22

receiving unit

P20

object position

T-ref

Target value: Target object date: Target object type

M-ref

Target value: Target object date: Target object dimension

30

database

CLD

computer cloud

40

distance determination system

D-ref

target object distance

41

Positioning module, vehicle-side

42

receiving unit

PRV

vehicle position

43

arithmetic unit

44

measuring unit, inertial

60

communication system

61

communication module, vehicle side

62

communication module, reference object side

OCL

operations center

DIS

output unit

utility company

evaluation unit

23

energy source

50

test unit

ΔD

deviation between D and D-ref

ΔT

Deviation between T and T-ref

ΔM

deviation between M and M-ref

VAL-D

validity range for object distance

VAL-T

scope of validity for object type

VAL-M

validity range for object dimensions

110

reporting unit

100

weather system

101

environmental sensor

U

environmental data

70

time synchronization system

71

synchronization module, vehicle side

72

synchronization module, reference object side

80

data storage

90

card system

Claims (10)

Validation system (10) for functional testing of an object recognition device (ORU) installed on a rail vehicle (RV), which has - a sensor arrangement (SEN) having a detection range (FOV) for recording sensor data (SD) representing an object located in the detection range (FOV), and - an evaluation unit (EVU) processing the recorded sensor data (SD) for determining a current actual object distance (D) between the rail vehicle (RV) and the object as well as actual object data (M, T) characterizing the object, wherein at least one actual object dimension (M) and one actual object type (T) are determined as actual object data (M, T), comprising - a reference object (20), which - is positioned at an object position (P20) in the area of a rail track (RT) in such a way that it lies in the detection range (FOV) of the sensor arrangement (SEN) of the rail vehicle (RV) approaching the reference object (20) on the rail track (RT), and - has at least one target object dimension (M-ref) and one target object type (T-ref) as target object data (T-ref, M-ref), - a database (30) in which the object position (P20) and the target object data (T-ref, M-ref) of the positioned reference object (20) are stored, - a distance determination system (40) for determining a current target object distance (D-ref) between the rail vehicle (RV) and the reference object (20), which - has a vehicle-side position determination module (41) with a receiving unit (42) for navigation satellite signals for determining the current vehicle position (PRV) of the rail vehicle (RV) and - a computing unit (43) communicating with the database (30) for calculating the current target object distance (D-ref) from the current vehicle position (PRV) and the object position (P20), and - a test unit (50) which is designed is designed to calculate deviations (ΔD, ΔT, ΔM) between the determined actual object distance (D) and the calculated target object distance (D-ref) as well as between the determined actual object data (M, T) and the target object data (M-ref, T-ref), and which is further designed to determine whether the deviations (ΔD, ΔT, ΔM) are within predetermined validity ranges (VAL-D, VAL-T, VAL-M). validation system according to claim 1 , further comprising - a digital map system (90) for a rail network having the rail route (RT), in which the object position (P20) of the positioned reference object (20) is recorded, - wherein the distance determination system (40) is designed to determine when a predetermined trigger distance (DT) of the rail vehicle (RV) has been reached in front of the object position (P20), - wherein by reaching the trigger distance (DT) is triggered so that during the approach of the rail vehicle (RV) to the reference object (20) - sensor data (SD) are continuously recorded by the sensor arrangement (SEN), - current actual object distances (D) and actual object data (M, T) are determined by the evaluation unit (EVU), - current target object distances (D-ref) are determined by the distance determination system (40), and - deviations (ΔD, ΔM, ΔT) are calculated and it is determined in each case whether these lie within the validity ranges (VAL-D, VAL-M, VAL-T). Validation system (10) according to one of the preceding claims, further comprising a communication system (60) with a vehicle-side communication module (61) and a reference object-side communication module (62), which are configured to exchange data wirelessly between the rail vehicle (RV) and the reference object (20), and optionally additionally with an operations center (OCL) and a data storage (80) in a computer cloud (CLD). Validation system (10) according to one of the preceding claims, wherein the reference object (20) has a reference object-side position determination module (21) with a receiving unit (22) for navigation satellite signals, which is designed to determine the object position (P20) of the reference object (20) after its positioning in the region of the rail path (RT). Validation system (10) according to one of the preceding claims, wherein the vehicle-side distance determination system (40) additionally has an inertial measuring unit (44) for measuring a vehicle position value (PRV'), wherein the current vehicle position (PRV) is determined from the received navigation satellite signals and the measured vehicle position value (PRV'). Validation system (10) according to one of the preceding claims, further comprising - a time synchronization system (60) with a vehicle-side synchronization module (61) and with a reference object-side synchronization module (62), which are designed so that the recording of the sensor data (SD), the determination of the actual object distances (D) and the actual object data (T, M), the determination of the target object distances (D-ref) and the calculation of the deviations (ΔD, ΔT, ΔM) are carried out in a time-synchronized manner, and - a data memory (80) for recording the time-synchronized sensor data (SD), actual object distances (D), actual object data (T, M), target object distances (D-ref) and deviations (ΔD, ΔT, ΔM). Validation system (10) according to one of the preceding claims, further comprising a weather system (100) with an environmental sensor (101) for recording environmental data (U) of the reference object (20), which can influence the recording of sensor data (SD) by the sensor arrangement (SEN), wherein the environmental data (U) are recorded in a time-synchronized manner and recorded in the data memory (80). Validation system (10) according to one of the preceding claims, further comprising a reporting unit (110) connected to the test unit (50), which is designed to send an electronic message to an output unit (DIS) in a driver's cab of the rail vehicle (RV) and/or in an operations center (OCL) of the rail vehicle (RV) if the check has shown that deviations (ΔD, ΔT, ΔM) are outside the respective validity ranges (VAL-D, VAL-T, VAL-M). Validation system (10) according to one of the preceding claims, wherein the reference object (20) has a rechargeable energy source (23) for the autonomous supply of its electrical consumers with electrical energy. Validation method for functional testing of an object recognition device (ORU) installed on a rail vehicle (RV), - wherein a reference object (20), which has at least one target object dimension (M-ref) and one target object type (T-ref) as target object data (T-ref, M-ref), is positioned at an object position (P20) in the area of a rail route (RT) to be traveled by the rail vehicle (RV), - wherein sensor data (SD) characterizing the reference object (20) are recorded by a sensor arrangement (SEN) of the object recognition device (ORU), - wherein a current actual object distance (D) between the rail vehicle (RV) and the reference object (20) and at least one actual object dimension (M) and one actual object type (T) are determined as actual object data (M, T) from the recorded sensor data (SD) by an evaluation unit (EVU) of the object recognition device (ORU), - wherein a current target object distance (D-ref) between rail vehicle (RV) and reference object (20) is determined by determining the current vehicle position (PRV) of the rail vehicle (RV) using received navigation satellite signals and calculating the current target object distance (D-ref) from the current vehicle position (PRV) and the object position (P20), - whereby deviations (ΔD, ΔT, ΔM) between the determined actual object distance (D) and the calculated target object distance (D-ref) as well as between the determined actual object data (M, T) and the Target object data (M-ref, T-ref) are calculated, and - determining whether the deviations (ΔD, ΔT, ΔM) are within predetermined validity ranges (VAL-D, VAL-T, VAL-M).

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