EP3481695B1 - Method and collision warning system for detecting oncoming vehicles - Google Patents

Description

The invention relates to a method for the detection of oncoming transport vehicles in a route-bound transport system. The invention further relates to a collision warning system for a route-bound transport system. The invention also relates to a route-based transport system.

Route-bound transport systems are characterized by a fixed route of the routes used by the transport vehicles of these systems. Systems of this type are, for example, rail systems whose routes are precisely defined by the rails. In this context, a transport system should be understood to mean both a system for transporting freight and a system for transporting passengers, or a combination of both. In systems with fixed route guidance, the driver of a vehicle usually cannot change his direction of travel independently, since his direction of travel is clearly defined by guide elements, such as railroad tracks. However, the driver can still react to unforeseen events by braking or accelerating or passing on warning information to higher-level units that can influence the routes on the transport system, for example via switches.

Various systems for collision avoidance on routes that can be driven in both directions have been developed especially for railways. For example, lines are already "locked" by the signal box or by automatic devices. For example, if a train has traveled the route, the entry of further trains is prevented by a signal system. Furthermore, there are automatic systems which initiate the automatic braking of the vehicles if multiple use of such a route is not permitted. There are also procedures for trams in which the driver only has to hand over a single piece of baton (also via a mailbox). Only the driver who receives the rod at the entrance to the single-track line or finds it and is then in possession of the rod when driving through the line, may drive on the line. This method, known as "token railways signaling" in the English-speaking world, was previously used regularly on the Berlin tram, for example, on some single-track routes and is still used today on construction sites. However, all of these methods either require that the rules are adhered to by the drivers and are not inadvertently broken, or that the automatic systems can reliably detect vehicles. However, cases have repeatedly come to light in which these systems have failed, for example due to human error or due to incorrect detection of vehicles on, for example, sanded tracks.

Newer solutions include assistance systems which can use suitable sensors to detect obstacles and thus oncoming vehicles at an early stage and thus either warn the driver or initiate automatic braking themselves.

Automated driver assistance systems (ADAS = Advanced Driver Assistance System) are sometimes used to monitor the route of railway trains. In these ADAS systems, the trains are equipped with sensors and evaluation units. The trains are also supported with signaling information from signaling devices positioned on the railway line, some of which are processed by the driver and some which are already automated.

From the publication EP 2 892 020 A1 a method and a system for determining insurance premiums are known, in which correlations between recorded data, the are associated with the driver's behavior for the vehicle, and image data are used. Events during a journey are identified and put into context based on the image data. The events are then classified using the ratings of the classifications to determine driver behavior and these in turn are used to set the car insurance rates for the driver and the associated vehicle. For this purpose, sensors are built into the vehicle in an Advanced Driver Assistance System (ADAS), which supports the driver while driving. The ADAS system includes, for example, a collision avoidance system (pre-crash system). The ADAS system also includes a forward-facing camera that can perform proximity detection and obstacle detection (object detection) by detecting objects such as vehicles, pedestrians and animals and objects and their distance from the vehicle. The ADAS system can also include RADAR and LIDAR (Light Detection and Ranging) to perform proximity and object detection and is part of the obstacle sensors. For example, in the ADAS system, the collision warnings serve as reference points for a driver's reaction to the warning. The sensors in the system can also detect how long the driver has been on the way to a collision, from driving up, crossing the lane, drifting off the road, and the like, until he realizes that he needs to respond to avoid the collision .

With the aid of the sensors arranged on the vehicle, obstacles on the track and its immediate surroundings are detected and the evaluation units are used to assess the obstacles according to their danger or their potential for further driving and to generate corresponding information for the driver or directly in the vehicle control intervene. Other objects such as signals, signage or switch and track conditions are also recognized. ADAS systems use sensors such as video cameras, radar systems or lidar systems utilized. A computing unit connected to the aforementioned sensors can also track detected moving obstacles and objects and thus determine further possible collision risks and transmit them to the driver or an automatic train control system, which react taking into account the type of obstacle. For example, depending on the risk situation, emergency braking, for example using extremely decelerating rail brakes with a corresponding possible risk to cargo and passengers, can be triggered or only a comparatively safe service braking can be carried out.

Conventionally, sensors are used which are firmly connected to the transport vehicles and therefore scan a narrowly limited area of the travel path of the respective transport vehicle. Active sensors are also used, which actively send out a signal, which is then reflected by any objects that may be present and is reflected back in the direction of the transport path and can be detected there. As a rule, the emitted signals have to cover approximately twice the distance to the object (e.g. reduced by the distance covered by the transport vehicle during the transmission time). The detection with the aid of such sensors therefore has detection fields and ranges limited to half of the maximum possible range, so that a reliable detection of obstacles and other objects can currently only be carried out up to a maximum distance of 400 m. If more precise information about the type and condition of the obstacle or the object is to be recorded, the reachable ranges are often still far below.

However, there is a problem in that the sensor ranges that can be achieved are too short for fast-moving vehicles that meet each other, and therefore collision warning systems with longer ranges are desirable.

This object is achieved by a method for the detection of oncoming transport vehicles in a track-bound transport system according to claim 1, a collision warning system for a track-bound transport system according to claim 10 and a track-bound transport system according to claim 11.

In the method according to the invention for the detection of oncoming vehicles in a route-bound transport system, detectable sensor signals are actively transmitted by a first transport vehicle located on a route. Detectable sensor signals are to be understood as electromagnetic waves that can be detected by another transport vehicle with a receiving unit that is complementary to the active sensor unit. Furthermore, a route area lying in the forward direction is scanned by a second transportation vehicle located on the route and approaching the first transportation vehicle with regard to the occurrence of detectable sensor signals. The scanning can take place, for example, with the aid of a passive sensor which is suitable for detecting sensor signals with a wavelength which corresponds to the wavelength of the sensor signals emitted by the first transport vehicle.

The sensor signals emitted by the first transport vehicle are detected by the second transport vehicle. In this context, detection should be understood to mean that with the aid of the passive sensors of the second transport vehicle, a sensor signal is received which is interpreted as an indication of an oncoming vehicle. In this context, detection should also be understood to mean that the sensor signal from the first transport vehicle is reliably identified as a sensor signal which was emitted by an oncoming vehicle. Measures are provided for the identification of the sensor signal, the sensor signal from the first transport vehicle from to distinguish a possibly reflected sensor signal originating from the second transport vehicle. The measures mentioned are described below as refinements of the method according to the invention.

The difference to a conventional ADAS system, in which signals from oncoming vehicles may be mistakenly interpreted as own signals, is that in a conventional ADAS system, "accidentally" detected signals are subject to the same uncertainty as all passively reflected signals: There is no reliable information about the type of obstacle, but which is for example automatically triggered emergency braking is required (e.g. emergency braking for an animal is not permitted due to the possible risk to people on the train). Since the accidentally detected signal would be interpreted as a reflected signal, it would not be possible to classify it as a collision warning with an oncoming vehicle. In a conventional ADAS system, the detected signal must contain image information or geometric information about the obstacle, otherwise it cannot be used for collision warning.

In contrast, the method according to the invention contains measures for differentiation (for example a modulation specific to each vehicle) which are not required in a "normal" ADAS since only expected signals are expected. In the method according to the invention, however, one searches precisely for these signals which are not emitted by one's own vehicle. If this occurs, there is a high risk of collision and appropriate measures can be taken (additional measures must be taken for double-track routes with oncoming traffic, e.g. coding the track or route number in the transmitted signal). An image evaluation, as in a conventional ADAS system, in order to determine whether an obstacle is present and what it is, can advantageously be omitted in the method according to the invention.

The second transport vehicle can advantageously detect the first transport vehicle at a double distance compared to the conventional procedure since it does not have to emit the detectable sensor signals itself or the sensor signals need not be reflected because it receives the sensor signals of the first transport vehicle. In this way, the possible braking distance and the reaction time increase, so that the safety of the transport system is improved. The sensor range also increases because a spatial resolution of the detection result can be dispensed with, because the reception of sensor signals that can be assigned to an oncoming vehicle as such already includes the information that a transport vehicle with an active sensor unit is approaching. An additional identification of the oncoming transport vehicle based on an image of a monitoring area is therefore not necessary in the method according to the invention.

The collision warning system according to the invention for a route-bound transport system has an active sensor unit arranged on a first transport vehicle for actively sending out detectable sensor signals. Furthermore, the collision warning system according to the invention comprises a passive sensor unit arranged on a second transport vehicle for scanning a route area lying in the forward direction of the direction of travel of the second transport vehicle. In this context, a passive sensor unit is to be understood as a sensor unit which receives and can detect electromagnetic waves. In addition, the collision warning system according to the invention has an evaluation unit arranged on the second transport vehicle for determining an oncoming vehicle on the basis of the sensor signals detected by the passive sensor unit and transmitted by the first transport vehicle. With the aid of the evaluation unit, it can be determined on the basis of the detected sensor signals whether a collision with an oncoming vehicle threatens or not.

The route-bound transport system according to the invention has a plurality of transport vehicles with a collision warning system according to the invention. The collision warning system according to the invention can be installed, for example, as a supplement to an existing conventional security system. In this case, it represents an additional independent channel that is independent of the other security systems. Alternatively, the collision warning system according to the invention can also be based on an already existing safety system, for example using the already existing sensor system. In this case, the safety of the collision monitoring is also improved due to the increase in the range of the detection, and the effort and the additional costs can be kept low due to the joint use of the sensors.

Some essential components of the monitoring system according to the invention can be designed in the form of software components. This applies in particular to parts of the sensor units and the evaluation unit.

In principle, however, some of these components can also be implemented in the form of software-supported hardware, for example FPGAs or the like, particularly when it comes to particularly fast calculations.

A largely software-based implementation has the advantage that even previously used collision warning systems can be easily upgraded by a software update in order to work in the manner according to the invention. In this respect, the object is also achieved by a computer program product which can be loaded directly into a memory of a collision warning system with program code sections in order to carry out all steps of the method according to the invention when the program is executed in the collision warning system.

In addition to the computer program, such a computer program product can optionally contain additional components, such as, for. B. Documentation and / or additional components and also hardware components, such as Hardware keys (dongles etc.) for using the software.

For transport to the collision warning system and / or for storage on or in the collision warning system, a computer-readable medium, for example a memory stick, a hard disk or another portable or permanently installed data carrier, on which the program sections of the computer program that can be read and executed by a computer unit are stored . The computing unit can e.g. for this purpose have one or more cooperating microprocessors or the like.

The dependent claims and the following description each contain particularly advantageous refinements and developments of the invention. In particular, the claims of one claim category can also be developed analogously to the dependent claims of another claim category. In addition, the various features of different exemplary embodiments and claims can also be combined to form new exemplary embodiments within the scope of the invention.

The transport vehicles are particularly preferably railway trains. Due to the high speeds and long braking distances, detection of oncoming vehicles with a long range is particularly important in this type of vehicle.

In a preferred embodiment of the method according to the invention, the first transport vehicle additionally scans a route region lying in the forward direction and additionally sends out actively detectable sensor signals from the second transport vehicle. With this variant is the probability increased for a timely detection of an impending collision, since both vehicles both detect sensor signals and emit sensor signals, so that both vehicles can take appropriate measures to avoid collisions (e.g. brakes or emergency brakes) and thus significantly reduce or even completely avoid the consequences of a collision can.

1. a) Das zweite Transportfahrzeug verfügt nur über Sensoren und sendet selbst keine Signale aus. In diesem Fall kann das zweite Transportfahrzeug allerdings selbst nicht von anderen Fahrzeugen detektiert werden. Aber auf Grund dieser Tatsache, deutet eine Detektion von entsprechenden Signalen immer auf ein entgegenkommendes Fahrzeug hin. Eine derartige Lösung könnte beispielsweise während einer Migrationsphase bei der Einführung eines derartigen Systems eine erste kostengünstige Variante bei der Umrüstung von Fahrzeugen, beispielsweise als Zwischenlösung, sinnvoll sein.
2. b) Die Detektion für Signale entgegenkommender Transportfahrzeuge findet in einer Austastlücke statt, d.h. die Detektion zum Zwecke der Kollisionswarnung wird nur vorgenommen, wenn vom jeweiligen Transportfahrzeug selbst gerade kein Signal ausgesandt wird - oder umgekehrt - Signale, die empfangen werden, wenn gerade vom einem Transportfahrzeug selbst keine Signale ausgesandt werden, können in diesem Falle einem entgegenkommenden Transportfahrzeug zugeordnet werden.
3. c) Für Signale, für die technisch die Möglichkeit besteht, diese zirkular polarisiert auszusenden, und deren Polarisation durch technische Maßnahmen detektierbar ist (z.B. polarisiertes Licht), können die Signale entgegenkommender Transportfahrzeuge von denen vom eigenen Transportfahrzeug ausgesandten und reflektierten Signalen durch deren unterschiedliche Polarisation unterschieden werden.
4. d) Wird das ausgesandte Signal von jedem Transportfahrzeug in einer ausschließlich diesem Transportfahrzeug eigenen Art und Weise moduliert, können die Signale entgegenkommender Transportfahrzeuge auf Grund der unterschiedlichen Modulation von den eigenen Signalen unterschieden werden. Diese Modulation kann in einer besonders vorteilhaften Ausprägung verschiedene Zusatzinformationen über das Transportfahrzeug kodieren, die über eine Dekodierung während der Demodulation auf dem entgegenkommenden Transportfahrzeug wieder nutzbar gemacht werden. Neben der Unterscheidung der Transportfahrzeuge können nützliche Zusatzinformationen, wie beispielsweise die Geschwindigkeit, das Gewicht, die Ladung, die Belegung oder Nichtbelegung mit Passagieren, eine Information über das genutzte Gleis oder ähnliches, übertragen werden.

In order to be able to reliably distinguish between the received sensor signals on the second transport vehicle and possible signals emitted by the same transport vehicle and reflected by possible objects in the vicinity of the route, suitable measures can be provided. Depending on the application, the following types can be mentioned as such a measure:

1. a) The second transport vehicle only has sensors and does not send any signals. In this case, however, the second transport vehicle itself cannot be detected by other vehicles. But due to this fact, detection of corresponding signals always indicates an oncoming vehicle. Such a solution could be useful, for example, during a migration phase when introducing such a system, a first inexpensive variant when converting vehicles, for example as an interim solution.
2. b) The detection of signals from oncoming transport vehicles takes place in a blanking interval, that is to say the detection for the purpose of collision warning is only carried out if no signal is being emitted by the respective transport vehicle itself - or vice versa - signals which are received, if just from a transport vehicle In this case, no signals can be transmitted themselves, can be assigned to an oncoming transport vehicle.
3. c) For signals for which there is the technical possibility of emitting them circularly polarized and their polarization can be detected by technical measures (eg polarized light), the signals of oncoming transport vehicles can be distinguished from those signals emitted and reflected by the own transport vehicle by their different polarization.
4. d) If the transmitted signal is modulated by each transport vehicle in a manner that is unique to that transport vehicle, the signals from oncoming transport vehicles can be distinguished from the own signals due to the different modulation. In a particularly advantageous form, this modulation can encode various additional information about the transport vehicle, which can be made usable again by decoding during demodulation on the oncoming transport vehicle. In addition to the distinction between the transport vehicles, useful additional information, such as, for example, the speed, weight, load, occupancy or non-occupancy with passengers, information about the track used or the like, can be transmitted.

For two-track or multi-track routes, measures as described in d) are to be provided in order to be able to distinguish safely oncoming transport vehicles on the neighboring track from transport vehicles on a collision course.

In a special variant of the method according to the invention, in the case of detection of an oncoming transport vehicle, the driver of the respective transport vehicle is automatically warned and / or a braking process is initiated by an automatic system. Due to the increased detection range in the method according to the invention, the driver advantageously has a longer reaction time in order to initiate countermeasures against a collision. In the case of an automatically initiated braking maneuver, collisions due to a lack of reaction by the driver are prevented, so that the safety for the transport vehicle is increased. The earlier detection also increases the chance in vehicles with an active switch adjustment option (e.g. trams) that a possibly still possible track change can be carried out either manually or automatically.

In a further variant of the method according to the invention, both transport vehicles have a communication device, so that the transport vehicles can coordinate and thus optimize the measures for collision avoidance. For example, at a suitable distance, a transport vehicle that does not transport people could carry out emergency braking, while the other transport vehicle in passenger operation only carries out service braking that is less dangerous for the transported people. Or it is negotiated between the transport vehicles, which of the vehicles carries out a possibly risky track change.

In an advantageous refinement of this variant, the information exchange is carried out automatically using the information transmitted by modulation, and the strategy for collision avoidance is also automatically determined and initiated by computing units housed in the vehicles. In this way, valuable time can be saved, which is then additionally available for the measures for collision avoidance.

In a further variant of the method, the risk of collision is automatically transmitted to one or more signal boxes. The greater warning time increases the chances of manually or automatically enabling a possible track change for one of the two transport vehicles via a signal box responsible for one of the transport vehicles.

In a particularly practicable variant of the method according to the invention, an ADAS system is used to carry out the method, which is supplemented by a detection of sensor signals from oncoming transport vehicles. Such a detection of sensor signals of an oncoming transport vehicle can be facilitated, for example, by sending out the sensor signals and scanning different transport vehicles at the same frequency. That is, the reception by the passive sensor is limited, for example with the aid of a filter, to a frequency range which is used by the sensor signals of the active sensor of the oncoming vehicle. This prevents a detection event from being erroneously triggered when signals or generally electromagnetic waves from interference sources fall on the passive sensor unit. An incorrect interpretation of own sensor signals possibly reflected on the surroundings can also be avoided if the sensor signals from each transport vehicle include identification information. In this way, the reliability of the collision warning is further improved.

The sensor signals of the transport vehicles are particularly preferably modulated differently with an individual modulation signal, so that sensor signals from a specific transport vehicle can be clearly assigned to this.

With the help of the data additionally impressed on the sensor signal, in addition to the identity of the transport vehicle, the oncoming transport vehicle can also be given information about technical properties and parameters, such as the type of charge, the speed, the braking distance, etc. This data can be used when countermeasures against a collision are initiated in order to keep the inconvenience for both vehicles as low as possible. In the case of two or more tracks, the signal can also provide information about the line used Contain track and thus enable a distinction between a safe encounter or an impending collision.

In a variant of the method according to the invention, after the detection of an oncoming transport vehicle, automated communication is carried out between the first and the second transport vehicle in order to coordinate reactions of the transport vehicles to avoid a collision. By negotiating the braking strategies between the transport vehicles, possible damage, in particular personal injury, as a result of a necessary braking maneuver can be kept as small as possible. For the communication between the individual transport vehicles, the transport vehicles can have suitable communication systems, which are preferably used automatically by the collision warning systems of the transport vehicles, so that coordination can take place with a minimal delay.

• die Geschwindigkeit des Transportfahrzeugs,
• die Masse des Transportfahrzeugs,
• die Art der Ladung des Transportfahrzeugs,
• Bremscharakteristiken des Transportfahrzeugs.

The coordination is preferably carried out as a function of vehicle data, which include one of the following parameters:

• the speed of the transport vehicle,
• the mass of the transport vehicle,
• the type of cargo of the transport vehicle,
• Braking characteristics of the transport vehicle.

The variables mentioned can be incorporated into an automated optimization process in which an optimal braking behavior is determined for both transport vehicles. This minimizes damage and inconvenience when the two oncoming vehicles have to brake.

• eine Kamera,
• eine Radareinrichtung
• eine Lidareinrichtung,
• eine Ultraschallsensoreinrichtung,
• eine Schallsensoreinrichtung.

Sensor systems which comprise at least one of the following types of functional units are particularly preferably used in the method according to the invention for scanning and transmitting the sensor signals:

• a camera,
• a radar device
• a lidar device,
• an ultrasonic sensor device,
• a sound sensor device.

A camera offers the advantage of high resolution and easy clarity of the image information captured by the camera. A camera can also be used in addition to the detection of the sensor signals for an image representation of a route area for a transport vehicle.

With the help of a radar device, oncoming vehicles can still be detected even in poor visibility. Furthermore, distances and speeds of oncoming objects can be determined with radar systems.

A lidar device has a laser with which a directed light beam can be emitted. With such a lidar device, the scanning area can be defined very precisely, so that interference from the sensor signals caused by exposure to the surroundings can be avoided.

Acoustic sensor systems have sensor shafts that can also prepare around curves or corners, so that oncoming transport vehicles can be detected even in confusing areas.

A combination of several of the sensor systems mentioned can also be used for the collision warning system according to the invention in order to combine the advantages of the different types of detection with one another.

FIG 1

eine schematische Darstellung eines streckengebundenen Transportsystems gemäß einem Ausführungsbeispiel der Erfindung,

FIG 2

ein Flussdiagramm, welches ein Verfahren zur Detektion von entgegenkommenden Transportfahrzeugen in einem streckengebundenen Transportsystem 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

1 shows a schematic illustration of a route-bound transport system according to an embodiment of the invention,

FIG 2

a flowchart illustrating a method for the detection of oncoming transport vehicles in a route-bound transport system according to an embodiment of the invention.

In FIG. 1 a section of a transport system 10, in this case a single-track railway line, is shown. The section comprises a railway track 8 on which two trains 1, 2 approaching each other on the same track are located. A first train 1 comprises a sensor unit 9a on its front side and transmits sensor signals 3 (shown in dashed lines as a sensor beam cone) in the direction of travel. A second train 2 coming towards the first train 1 on the same track 8 also has a sensor unit 9b, which emits sensor signals 4 (also shown in dashed lines as a sensor beam cone) in the direction of the first train 1. The sensor signals 3 of the first train 1 are detected by the sensor unit 9b of the second train 2, which also has a sensor signal reception function, and evaluated in an evaluation unit (not shown).

In the in FIG. 1 The embodiment shown is based on a signal modulated on the sensor signal 3 of the first train 1, which is demodulated and analyzed in the evaluation unit of the second train 2, on the identity of the first train 1, so that an automated assistance system of the second train is now aware that the first train 1 approaches the second train 2 at the maximum detection distance d ₂ . Here, the maximum detection distance d ₂ corresponds to twice the conventional maximum detection distance d _{1 of} a sensor unit, in which the emitted sensor signals are reflected by an object 5 to be detected and are detected again by the emitting sensor unit. Likewise, the first train 1 uses the sensor signal 4 of the second train 2 recognizes that the second train 2 approaches the first train 1 at a maximum detection distance d ₂ . On the basis of the information recorded at an early stage that they are on a collision course, the two trains 1, 2 now have sufficient time to coordinate, react to the situation and thus avoid a collision.

In FIG 2 A flowchart is shown which illustrates a method for the detection of oncoming vehicles in a track-bound transport system according to an exemplary embodiment of the invention.

In step 2.I, detectable sensor signals 3 are emitted by a first transport vehicle 1, for example a train, located on a route. In step 2.II, a route region lying in the forward direction is scanned by a second transport vehicle 2, for example likewise a train, which is on the route and is approaching the first transport vehicle 1, using a passive sensor function PS. Furthermore, in step 2.III, the sensor signals 3 emitted by the first transport vehicle 1 are detected by the second transport vehicle 2.

In step 2.IV, the detected sensor signals 3 are evaluated by an evaluation unit of the second transport vehicle 2, the first transport vehicle 1 being identified and, for example on the basis of the detected signal amplitude of the sensor signals, determined that the first transport vehicle 1 is at the time the first detection must be approximately within the maximum range d _{2 of} the detectability of the sensor signals 3 of the first transport vehicle 1. In step 2.V, communication takes place between the first transport vehicle 1 and the second transport vehicle 2, it being automatically coordinated with one another which transport vehicle should show which reaction to what extent to avoid a collision. Finally, at Step 2.VI of each of the two transport vehicles 1, 2 initiated a braking maneuver BM which was coordinated with one another and with the requirements of the individual trains 1, 2, thereby avoiding a collision between the two transport vehicles 1, 2.

Finally, it is pointed out once again that the above-described methods and devices are merely preferred exemplary embodiments of the invention and that the invention can be varied by a person skilled in the art without leaving the scope of the invention, insofar as it is specified by the claims. The method and the device were primarily explained in connection with the monitoring of the route of trains. However, the above-mentioned method and the collision warning system described are not limited to use on trains, but can also be used in other route-bound means of transport. For the sake of completeness, it is also pointed out that the use of the indefinite articles "a" or "an" does not preclude the fact that the relevant features can also be present more than once. Likewise, the term "unit" does not rule out the fact that it consists of several components, which may also be spatially distributed.

Claims (12)

1. Method for detecting oncoming transport vehicles (1, 2) in a track-bound transport system (10), having the steps:

   - actively transmitting detectable sensor signals (3) by way of a first transport vehicle (1) situated on a track,

   - scanning a track section lying in the forward direction by way of a second transport vehicle (2) which is situated on the track and is approaching the first transport vehicle (1),

   - detecting the sensor signals (3) transmitted by the first transport vehicle (1) by way of the second transport vehicle (2), wherein in order to perform the method an ADAS system is used, which is supplemented by an identifying of sensor signals (3, 4) from oncoming transport vehicles (1, 2).
2. Method according to claim 1, wherein the first transport vehicle (1) additionally also scans a track section lying in the forward direction and the second transport vehicle (2) additionally transmits actively detectable sensor signals (4).
3. Method according to claim 1 or 2, wherein in the event of an oncoming transport vehicle (1, 2) being detected, the drivers of both transport vehicles are warned and/or a braking procedure is implemented by an automatic system.
4. Method according to one of claims 1 to 3, wherein the transmitting of the sensor signals (3, 4) and the scanning procedure for different transport vehicles (1, 2) take place at the same frequency.
5. Method according to one of claims 1 to 4, wherein the sensor signals (3, 4) of the transport vehicles (1, 2) are modulated differently with an individual modulation signal, so that sensor signals (3, 4) from a transport vehicle (1, 2) are able to be allocated to said transport vehicle in an unambiguous manner.
6. Method according to one of claims 1 to 5, wherein after the detecting of an oncoming transport vehicle (1, 2), an automated communication is performed between the first and the second transport vehicle (1, 2) in order to coordinate responses of the transport vehicles (1, 2) in order to avoid a collision.
7. Method according to claim 6, wherein the coordination takes place as a function of vehicle data, which comprises one of the following characteristic variables:

   - velocity of the transport vehicles (1, 2),

   - mass of the transport vehicles (1, 2),

   - type of load of the transport vehicles (1, 2),

   - braking characteristics of the transport vehicles (1, 2).
8. Method according to one of claims 1 to 7, wherein for the scanning and transmitting of the sensor signals, sensor systems are used which comprise at least one of the following types of functional units:

   - a camera,

   - a radar facility,

   - a lidar facility,

   - an ultrasound sensor facility.
9. Collision warning system for a track-bound transport system (10), having:

   - an active sensor unit (9a) arranged on a first transport vehicle (1) for actively transmitting detectable sensor signals (3),

   - a passive sensor unit (9b) arranged on a second transport vehicle (2) for scanning a track region lying in the forward direction,

   - an evaluation unit arranged on the second transport vehicle (2) for establishing an oncoming vehicle (1) on the basis of the sensor signals (3) captured by the passive sensor unit (9b) and transmitted by the first transport vehicle (1), wherein the passive sensor unit is part of an ADAS system, which is supplemented by an identifying of sensor signals from oncoming transport vehicles.
10. Track-bound transport system (10), having a plurality of transport vehicles (1, 2) with a collision warning system according to claim 9.
11. Computer program product with a computer program, which is able to be loaded directly into a memory facility of a collision warning system of a transport vehicle (1, 2), with program sections in order to carry out all steps of a method according to one of claims 1 to 8, when the computer program is executed in the transport vehicle (1, 2).
12. Computer-readable medium, on which program sections which can be read and executed by a computer unit are stored, in order to carry out all steps of a method according to one of claims 1 to 8, when the program sections are executed by the computer unit.

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