# US 11,999,396 B2 · Automated on-vehicle control system for a rail vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,999,396 B2 - Document ID: US11999396B2 - Status: Granted - Kind: B2 - Application number: 17/276,246 - Filed: 2019-09-11 - Published: 2022-02-03 - Granted: 2024-06-04 - Earliest claimed: 2018-09-14 - Assignees: Siemens Mobility GmbH - Applicants: Siemens Mobility GmbH - Inventors: Andre Angierski; Christian Klier - Web page: https://patentgrep.com/patent/US11999396B2 ## CPC - B61L 27/04: Automatic systems, e.g. controlled by train; Change-over to manual control - B61L 15/0072: {On-board train data handling} - B61L 23/041: {Obstacle detection} - B61L 25/025: {Absolute localisation, e.g. providing geodetic coordinates} - B61L 2205/04: Satellite based navigation systems, e.g. global positioning system [GPS] - B61L 2210/02: Single autonomous vehicles - B61L: GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC (brakes or auxiliary equipment B61H, B61K; point or crossing construction E01B) ## Abstract An automated on-vehicle rail vehicle control system has an on-vehicle set point value detection unit, an automated train operating system, a driving and braking unit, and additional sensors for detecting environment-related information. The on-vehicle set point value detection unit is configured to determine, based on on-vehicle positioning and map data as well as sensor data from the additional sensors, operative set point values for the control mode and the current driving mission of the rail vehicle. The automated train operating system is configured to generate driving and braking commands based on the set point values of the on-vehicle set point value detection unit. The driving and braking unit is configured to carry out traction and braking operations based on the driving and braking commands so determined. There are also described a rail vehicle and a method for the automated control of a rail vehicle. ## Claims ### Claim 1 An automated on-vehicle rail vehicle control system, comprising: an on-vehicle setpoint value specification determination unit; an automated train operating system; a driving and braking unit; and a plurality of sensors for acquiring environmental information; said on-vehicle setpoint value specification determination unit being configured, based on a high-precision on-vehicle position determination and high-precision map data, and based on dynamic influences identified from environmental information acquired via sensor data from said sensors, to determine operative setpoint value specifications for a regulation mode and a current driving mission of the rail vehicle, in order to move the rail vehicle according to the driving mission and an external environmental situation; said automated train operating system being configured to generate driving and braking commands based on the setpoint value specifications determined by said on-vehicle setpoint value specification determination unit; and said driving and braking unit being configured to carry out traction and braking operations based on the driving and braking commands generated by said automated train operating system. ### Claim 2 (depends on 1) The control system according to claim 1, wherein said on-vehicle setpoint value specification determination unit comprises at least one of the following sensors: a position determination unit; an incremental odometer; an imaging system, a radar system; and inertial sensors. ### Claim 3 (depends on 1) The control system according to claim 1, wherein said on-vehicle setpoint value specification determination unit comprises a comparison unit for comparing sensor information acquired with said sensors with a high-precision route map. ### Claim 4 (depends on 3) The control system according to claim 3, wherein the high-precision route map comprises information selected from the group consisting of a course of the route, signal positions, stop positions, and branches. ### Claim 5 (depends on 2) The control system according to claim 2, wherein said sensors have at least one imaging system or a radar system and the information from the imaging system or the radar system is usable to determine the following information: signal identification; perception of other traffic participants; and perception of passengers at a stop in order to carry out an appropriate procedure at the stop. ### Claim 6 (depends on 1) The control system according to claim 1, wherein a current specification for moving the rail vehicle is determined on a basis of a current local position, the driving mission, and the high-precision map data. ### Claim 7 (depends on 1) A rail vehicle, comprising an automated on-vehicle rail vehicle control system according to claim 1. ### Claim 8 A method for an automated control of a rail vehicle, the method comprising the following steps: determining a position of the rail vehicle with an on-vehicle high-precision position determination; acquiring environmental information; determining operative setpoint specifications for a regulation mode and a current driving mission of the rail vehicle based on the position of the rail vehicle, high-precision map data, and dynamic influences identified on a basis of the environmental information, in order to move the rail vehicle according to a driving mission and an external environmental situation; generating driving and braking commands based on the setpoint specifications; and carrying out traction and braking operations based on the driving and braking commands. ### Claim 9 (depends on 8) A non-transitory computer program product comprising a computer program to be loaded directly into a memory unit of a control device of a rail vehicle, the computer program having program sections for performing the steps of the method according to claim 8 when the computer program is executed in the control device. ### Claim 10 (depends on 8) A non-transitory computer-readable medium on which program sections to be executed by a computer unit are stored and the program sections are configured to carry out all the steps of the method according to claim 8 when the program sections are executed by the computer unit.