Method and System for Monitoring a Routing of Guided Vehicles at a Node of a Railway Network

This application claims the priority, under 35 U.S.C. § 119, of European Patent Application EP 25305295.5, filed Mar. 6, 2025; the prior application is herewith incorporated by reference in its entirety.

The present invention concerns the monitoring of traffic of guided vehicles over a railway network. The term “guided vehicle” should be understood as any rail transport means configured for moving on tracks of a railway network, the guided vehicle typically running on at least one rail configured for supporting one or several wheels of said guided vehicle or using at least one rail as guiding means for guiding the guided vehicle along a trajectory defined by said rail. Said rail transport means or rail-borne vehicles are for instance public transport means like subways, trains or train units, etc., as well as load transporting means such as, for example, freight trains, for which safety is a very important factor.

The traffic of guided vehicles over a railway network is usually monitored via maps that represent current routes followed by guided vehicles. Said routes are based on a timetable which defines, for each guided vehicle moving on the railway network, arrival and/or departure times at reference positions. The latter comprise for instance the position of a station, and/or of a depot, and/or of a platform, and/or of a headshunt, and/or of a point, and/or of an entry on a given track section, and/or of an exit from a given track section, etc. Current solutions for mapping the routes or paths followed by guided vehicles are not ideal. For instance, no solution provides a clear and understandable monitoring of temporally successive routes that are followed at a node of the railway network. A “node” is typically a position or location within the railway network that comprises a railway infrastructure connecting different track sections for creating, at said position or location, diverging routes for the guided vehicles. In other words, a node comprises or is thus an intersection of tracks of the railway network. Said railway infrastructure is for instance a switch, or a junction, or a crossing, or any railway infrastructure enabling several routes to intersect at the node position, defining several possible routes for a guided vehicle that has to pass the node. At a node, there are at least two different routes that are possible for passing the node. In state-of-the-art railway network traffic monitoring, there is usually only a current route that is shown for a given node and with respect to a guided vehicle moving at a time T0, while the temporally next routes that will be followed by guided vehicles at said node at times t>T0 are not available or not represented. This prevents an early and easy identification of locations, like a node, wherein a potentially conflictual situation may exist. Therefore, the monitoring of temporally successive routes followed by guided vehicles at a node of the railway network is important for determining which guided vehicle crosses first the node and for detecting potential conflictual situations.

An object of the present invention is to propose a method and a system for simultaneously monitoring temporally successive routes followed by guided vehicles at a node of a railway network, wherein the method and the system enable an identification of an order according to which guided vehicles are going to pass a node, making it possible, for instance, to detect, notably visually, potentially conflicting situations.

v v v v u v acquiring a timetable for said guided vehicles, said timetable comprising departure and/or arrival times of the guided vehicles at reference positions R′of said railway network and enabling to determine, for each guided vehicle, a corresponding route on said railway network and a passing time at each node N′comprised within said route, wherein said route is notably defined as a temporal succession of reference positions; i v v v u u u v i the different MLS (indices i, j, k); u reference positions R′and their respective map reference position Ru (index u); and v v the nodes N′and their respective node positions N(index v); acquiring a map of said railway network, said map comprising map line segments S—called hereafter “MLS” representing the track sections of the railway network, map node positions Ncorresponding each to a respective node N′of the railway network and representing, on the map, the position of the node N′with respect to the railway network, and, optionally, map reference positions Rcorresponding each to a respective reference position R′and representing, on the map, the position of R′within the railway network, wherein, at each node position N, at least three MLS Sare interconnected or connected to represent an intersection or connection of corresponding track sections of the railway network. According to the present notation, the indices “i”, “j”, “k”, “u” and “v” represent positive integers used for identifying on the map: v v i j i j v v for each node position N, automatically determining, e.g. periodically or continuously, from the timetable and with respect to an initial time T0, the temporally successive X next paths that are or will be followed by guided vehicles that will successively pass the node N′from the initial time T0, wherein X is a positive integer strictly greater than 1 representing the number of said successive next paths that are automatically determined, e.g. X=3 or 4 or 5, said temporally successive X next paths forming a group or set of X paths, wherein said X paths are preferentially temporally ordered in said group according to the corresponding guided vehicle passing time at the node for each of said X next paths (e.g. the first position in the group is assigned to the path characterized by the earliest passing time and the last position to the path characterized by the latest passing time, other paths being arranged in between according to increasing passing time), wherein each of said X paths is defined as a couple (S, S) of MLS S, S, that connect or intersect at the node position N, with i≠j (i.e. it connects two different MLS among the MLS that interconnect at the node position N); v v automatically representing said X next paths simultaneously on the map for at least one, preferentially each, node position N, wherein the temporal succession of said X next paths at the concerned node position Nis encoded in a distance separating the considered next path from at least one of said MLS. Said representation might be a dynamic representation, e.g. by periodically or respectively continuously updating the map in function of the time according to the periodically or respectively continuously determined temporally successive X next paths for times greater or smaller than T0; and v v displaying the map comprising said X next paths. For instance, the X next paths might be displayed on said map for said at least one node position N, or preferentially the X next paths determined for each node position Nis displayed on said map. With the above and other objects in view there is provided, in accordance with the invention, a method for simultaneously monitoring or representing temporally successive routes followed by guided vehicles at a node of a railway network, wherein each node N′of the railway network represents a railway infrastructure connecting different track sections for creating, at the node N′, diverging routes (i.e. an intersection of routes) for the guided vehicles passing the node N′, said railway infrastructure being for instance a switch, or junction, or crossing, and enabling thus several guided vehicle routes to intersect at said node N′. The method according to the invention comprises the following method steps:

v v v v The present invention concerns also a system for simultaneously monitoring or representing, on a railway network map, temporally successive routes followed by guided vehicles at a node of a railway network, wherein each node N′of the railway network comprises a railway infrastructure connecting different track sections for creating, at said node N′, diverging routes (i.e. an intersection of routes) for the guided vehicles passing the node N′of the railway network, said railway infrastructure being for instance a switch, or junction, or crossing, that enables several routes to intersect at said node N′, said system comprising a processor, a memory and/or database, and a device, like a display or screen, for visually representing said map of said railway network, said system being configured for performing the steps of the method described herewith, which can typically be a computer-implemented method. In particular, the system may comprise an input interface for receiving as input said timetable and said map of the railway network, and an output interface for outputting said map comprising, for each node position of the map, the X next paths simultaneously represented on the map.

v The method and the system as described enable notably to visually identify, on the map, and without any doubts, an order according to which guided vehicles are going to pass a node of the railway network. Advantageously, the mapping of the railway network traffic according to the invention enables an operator to quickly visualize, on said map, a location of a potential conflictual situation. In particular, the system and method described therein are able to automatically detect whether a conflictual situation may happen with respect to a passing order of guided vehicles at a node N′, and may preferentially automatically alert an operator, by providing for instance a visual alert on the map (using for instance a special color, or a flashing light for the node position for which said conflictual situation has been detected). Therefore, the system and method may detect an inconsistency in the order of guided vehicles passing a node, which enables to correct said inconsistency, notably before it happens in the reality, given that the map may show the next X paths with respect to a time T0, which might be a current time or a time in the future, or any other time for the purpose of analysis of the guided vehicle traffic on the railway network.

i j i j M,i i M′,j j M,i M′,j M,i i M′,j j k M,k M,k k v 1 2 3 1 2 2 1 2 3 M,k k M,k k M,k k v v v Preferentially, the next X paths (S, S) are each represented as a succession of path line segments—hereafter PLS—, said succession of PLS comprising, for each of said X paths (S, S), a main PLS Sparallel to S, a main PLS Sparallel to S, and one or several connection points for connecting Sto S, with M,M′∈{1, . . . , X}, i.e. 1≤M≤X and 1≤M′≤X, wherein M,M′ are positive integers. According to said representation, Sis preferentially disjoint from S, and Sis preferentially disjoint from S. Whatever the index k, i.e. ∀k, if the group formed by said X paths comprises a same MLS Sthat appears in several paths of said group, then its corresponding main PLS Sare represented according to the closest the main PLS Sto the MLS S, the temporally earliest with respect to the temporal succession of said X paths at the node N′. As explained earlier, i, j, k are positive integers used for identifying the different MLS that interconnect at a node position. For instance, if i=1, j=2, and k=3 for a given node position, then the MLS are S, S, S, and couples of MLS can be (S,S) or (S,S) or (S,S), or any other combination of two different of said MLS. Preferentially, said corresponding main PLS Sare represented below the MLS Swhen considering a map wherein a horizontal direction is chosen as a main direction for representing the railway network. Preferentially, all X next paths of the map are represented below the map line segments of the map. Of course, other representations of the paths, like for instance with the corresponding main PLS Srepresented above the MLS Sand accordingly all paths represented above MLS on said map, might be chosen by the skilled person. Preferentially, the respective main PLS Sthat are parallel to a same MLS Sare separated from each other by a distance D that might be predefined and constant. In particular, said automatic detection of a conflictual situation at a node might be realized by the system by identifying a connection problem between one of said X next paths defined for the node position Nand at least another path that is part of another group of X next paths defined for another node position, and/or between different PLS at a node position, notably when automatically constructing said X next paths on the map. Said conflictual situation might be then visually represented on the map for alerting an operator. In particular, the system is configured for automatically checking, for each node position N, whether a temporal order according to which guided vehicles are reaching (i.e. are going to pass) the node and a temporal order according to which said guided vehicles are leaving the node position N(i.e. just after having passed the node) are identical, and if it is not the case, the system is configured for automatically generating an alert. In other words, the system according to the invention is configured for automatically controlling that the order of the guided vehicles at the “entrance” of the node (i.e. according to which they are temporally entering the node one after the other) is the same as the temporal order of said guided vehicles at the “exit” of the node.

v v i j i j j i Preferentially, each connection point is located on an intersection between a first line and a second line, wherein the first line is parallel to one of the MLS connecting at the node position Nand the second line is parallel to another one of the MLS connecting at said node position N. Preferentially, if one of said X next paths is (S, S), then at least one among said first line and said second line is parallel to either to Sor S, and, preferentially, the other one among said first line and said second line is then parallel either to Sor Srespectively.

v v v v v v v v v In particular, if among the MLS connecting at the node position Nthere are more than one MLS that are part of several paths among all possible paths that can be implemented (i.e. technically realized or followed by the guided vehicles) at the node N′, then, for said node N′, and for each of the X paths of the group, the position on said map of said one or several connection points of the PLS representing the concerned path is configured for encoding, with respect to the position of the one or several connection points of the PLS representing the other one(s) of said X paths at the node position N, and notably relatively to the node position Non said map, said temporal succession (i.e. a temporal order) of guided vehicles passing the node N′by temporally ordering, notably within an area surrounding the node position N, the path line segments of each of said X paths according to the path line segment the closest to the node position N, the temporally earliest. In particular, it is considered that in said area surrounding the node position N, no guided vehicle may pass another guided vehicle.

v k v i j v. Preferentially, said encoding is obtained by aligning at least one connection point of each of the X paths on a temporal encoding line passing by the node position Nand disjoint from any of the MLS Sintersecting at the node position N, wherein said temporal encoding line is preferentially a bisector of the angle made by two of the MLS SSat the node position N

v Preferentially, the system according to the invention uses a reference grid of equidistant points (resp. lines) for representing said X paths on the map, wherein for each node position N, one or several versions of said reference grid are used, wherein each of said versions is an identical copy of the reference grid, but with an orientation configured for having said points (resp. lines) being aligned with one of the MLS intersecting at the node position so that each MLS intersecting at the node position be parallel to points (resp. lines) of at least one of said reference grid versions, and wherein each of said X paths is constructed by connecting points of said grid versions (or resp. points that are each on one of said equidistant lines of at least one of said grid versions).

In particular, the system according to the invention is configured for storing in a database, types of nodes, and for each type of node, further storing all combinations of X temporally successive paths that can be successively followed by a guided vehicle at a node of said type, and, for each of said combination, storing a representation of said X paths. Said representation is typically configured for being displayed on said map of the railway network. Storing all said representations of X paths enables the system to rapidly respond to timetable changes by automatically updating the map according to changes that occurred with respect to the different paths represented on said map.

v v v In particular, “automatically representing said X paths” may comprise automatically determining, by the system according to the invention, a type of node corresponding to the node position N, automatically selecting, by the system according to the invention and among the stored combinations, the combination matching the determined X next paths, and using, by the system according to the invention, the representation associated to the matching combination for representing said X next paths on the map. Preferentially, the system according to the invention may store in said database, and for each type of node, all possible paths that can be implemented at a node of said type, wherein each type of node is defined in function of said railway infrastructure equipping the concerned node. Preferentially, the method further comprises assigning, by the system according to the invention, to each node position Nof the map a type of node in function of the railway infrastructure equipping the node N′. In particular, said “all combinations of X temporally successive paths” is automatically determined by the system, for each type of node and based on said all possible paths defined for the concerned type of node, and is then automatically stored in the database.

Preferentially, the system is configured for repeating said determination of the temporally successive X next paths with respect to other times (typically, future times with respect to T0) for creating a dynamic representation of the map in function of the time, wherein said map is (e.g. continuously or periodically) updated with successive representations of the X next paths.

Other features which are considered as characteristic for the invention are set forth in the appended claims.

Although the invention is illustrated and described herein as embodied in a method and system for monitoring a routing of guided vehicles at a node of a railway network, it is nevertheless not intended to be limited to the details shown, since various modifications and structural changes may be made therein without departing from the spirit of the invention and within the scope and range of equivalents of the claims.

The construction and method of operation of the invention, however, together with additional objects and advantages thereof will be best understood from the following description of specific embodiments when read in connection with the accompanying drawings.

Like numbers and symbols designate the same features throughout the drawing figures.

1 FIG. 1 FIG. 100 100 121 126 111 112 101 101 100 111 112 131 133 131 133 131 133 100 131 133 u u Referring now to the figures of the drawing in detail and first, in particular, tothereof, there is shown a schematic illustration of a railway networkaccording to the invention. Said railway networkcomprises tracks or track sections-interconnected with each other at nodes,to form a network. A node according to the invention might be a switch, or a crossing, or any other railway infrastructure that interconnects at least three track sections, creating therefore different possible routes for a guided vehicle, i.e. diverging routes. Said guided vehiclemight be any rail vehicle or rail-borne vehicle, such as a train, or metro, or any other vehicle configured for moving on the tracks of said railway network. Said guided vehicles may therefore follow different routes at said nodes,, depending on an itinerary defined in a timetable. In particular, said timetable comprises, for reference positions R′-of the railway network, with u=1 . . . 3 in the example illustrated by, departure and/or arrival times, or passing times, for the guided vehicle with respect to the concerned reference position-. Said reference positions R′-are for instance stations, or depots, or any other relevant position within the railway network, notably a position wherein a guided vehicle may cross or pass another guided vehicle. In particular, each guided vehicle route or itinerary might be defined as a temporal succession of said reference positions-.

150 100 101 100 150 151 152 153 100 node node node A systemis configured for receiving, as input, said timetable as well as a map of the railway network, and for determining, from said input, temporal successive routes that are followed by the guided vehiclesat said nodes. The system is configured for simultaneously monitoring and/or representing, notably in function of the time, said temporally successive routes at the nodes of the railway network. The systemcomprises a processor, a memory and/or database, and a device, e.g. a screen or display, for visually representing said map of said railway network, wherein for each node, the different routes that are successively followed by guided vehicles at said node are simultaneously represented on said map, providing therefore not only a visual representation of a route followed by a first guided vehicle passing the node at a time T, but also, at the same time, at least one other route, that is the route followed by a next guided vehicle passing said node at a time T′>T. This enables to provide, at an initial time T0 that is the time at which a “picture” of the railway network is taken (at said time T0, said picture shows all future routes (i.e. remaining partial or complete itinerary of a guided vehicle when considering times >T0) of the guided vehicles of the railway network), a view of the next itineraries or routes that will be followed by guided vehicles at the different nodes of the railway network. As will be explained afterwards, the present invention enables to simultaneously represent, for a same node, several next routes in an understandable way for an operator by visually encoding a temporal succession of said next routes with respect to at least one of the MLS, preferentially all MLS, by notably encoding said temporal succession with respect to the intersection of said MLS, i.e., the node position, enabling an early detection of any temporal ordering of guided vehicles having to pass a same node.

2 FIG. 3 6 FIG.- 2 FIG. 200 This will be better understood with the help oftogether with the illustrations of.shows a preferred embodiment of a methodaccording to the invention.

201 150 At step, the systemreceives or acquires a timetable for the guided vehicles of the railway network. In particular, said timetable associates to different reference positions of the railway network, either said crossing time indicating at what time the guided vehicle (e.g. the front of the guided vehicle) crosses the reference position, or an arrival time and a departure time indicating the time at which the guided vehicle (e.g. its front) reaches the reference position, and the time at which it leaves (e.g. its front) said reference position.

202 201 150 100 150 100 300 321 326 121 126 100 311 111 100 312 112 100 300 300 331 333 131 133 100 311 312 121 126 300 300 3 FIG. 3 FIG. 3 FIG. 1 FIG. 1 6 1 2 v v u u u v i v v At step, which can take place before, after, or simultaneously to step, the systemacquires or receives a map of said railway network. Said map enables the systemto determine the position of the different tracks, reference positions, node positions, etc., of the railway networkrelatively to each other, and thus to determine the different routes followed by the guided vehicles according to said timetable. Such a mapis schematically illustrated atand is known in the art in the field of railway. It comprises for instance MLS S-S-that represent the track sections-(also simply called tracks) of the railway network, map node position Nthat corresponds to the nodeof the railway networkand another map node position Nthat correspond to another nodeof said railway network, each node N′of the railway network being thus represented, on the map, by a corresponding map node position N, with v=1,2 in the illustration of. The mapmay further comprise map reference positions R-, with u=1, . . . ,3 in the example illustrated by, wherein each map reference position Rcorresponds to a respective reference position R′-of the railway networkas shown in. At each node position N,, at least three MLS Sare interconnected with each other for creating an intersection that represents the intersection of corresponding track sections-of the railway network at the node N′. Preferentially, the mapis free of any right angle between MLS intersecting at node positions N. For instance, if the maphas, as main direction for the representation of the MLS (i.e. most of the MPS are aligned with said main direction) a horizontal direction, then there is no vertical MLS.

203 150 300 101 150 300 311 v v i j 1 3 4 2 4 2 1 2 6 5 4 5 6 5 v v v i j 1 3 4 2 4 2 1 2 6 5 4 5 6 5 i j j i 4 FIG. At step, the systemautomatically determines, for each node position Nof the mapand from the timetable, the temporally successive X next paths that are followed by guided vehiclesthat will successively pass the node N′from an initial time T0. Said initial time T0 might be a current time (i.e. the time at which said determination takes place), or a future time, or a past time, or any time: it can be used for instance, by the system according to the invention, for testing a new timetable or for testing a change in a timetable, or for testing a past timetable, by running the method according to the invention, and enabling therefore to verify whether conflictual situations might happen at some nodes within a time frame starting at the initial time T0.presents an example, wherein the temporally successive 3 next paths are determined by the systemand represented on the map. Whatever the number X of said next paths is determined, each of said X paths is defined as a couple (S, S) of MLS. For example, for the node position N, the 3 temporally successive next paths are (S,S), (S,S), (S,S). For the node position N, the 3 temporally successive next paths are (S,S), (S,S), (S,S). For each node position N, a set or group Gof the temporally successive X next paths might be created by the system, with G={(S, S)}, wherein within said group, the X paths might be preferentially ordered according to a guided vehicle passing time of the node (e.g. by increasing passing time with respect to T0) when following the considered path. Otherwise said, they are preferentially ordered according to a temporal order according to which the guided vehicles pass the node. We have for instance G={(S,S), (S,S), (S,S)} and G={(S,S), (S,S), (S,S)}. Preferentially, for each defined path, (S, S)=(S, S), i.e. the direction of travel of the guided vehicle when passing the node is not relevant and not taken into account by the system according to the invention for the map representation purpose of the path.

204 150 300 300 300 v v 4 FIG. At step, the systemautomatically represents on the map, and for each node position N, said X next paths that have been determined for the concerned node. Said X next paths are simultaneously represented on the map, as shown in, providing therefore a visual understanding of the temporal passing order of the guided vehicles at each node N′of the railway network for an operator. Preferentially, said representation of the X next paths is continuously updated or periodically updated for different times, creating therefore a dynamic mapwhich continuously or periodically shows the next X paths for each node position of the map.

205 150 300 300 150 v At step, the systemdisplays the mapcomprising, for each node N, said representation of the X temporally successive next paths that are followed by guided vehicles. Typically, the mapmight be displayed by the systemon one or several screens.

4 FIG. 1 1 3 4 2 4 2 1 2 2 6 5 4 5 6 5 402 404 405 401 402 403 A typical result of such representation is shown in, wherein for the node position N, the first path that is followed by a guided vehicle passing the node N′is the path (S,S) represented by a dash-dot line, then the path (S,S) represented by a dash-dash-dot-dot-dot line, and finally the path (S,S) represented by a dash-dash-dot line. For the node position N, the first path followed by a guided vehicle passing the node N′is (S,S) represented by a dashed line, followed by (S,S) represented by a dash-dot line, and finally followed by the path (S,S) represented by a dash-dot-dot line.

4 FIG. 6 FIG. 6 FIG. 150 150 150 300 610 611 612 612 i j M,i i M′,j j M,i M′,j 1 2 3 1 1 1 1 2 1 3 1 2 1 v 1 1 For achieving such a representation as illustrated in, the systemis configured for representing each path (S, S) as a succession of PLS comprising a main PLS Sparallel to S(but disjoint from the latter), a main PLS Sparallel to S(but disjoint from the latter), and one or several connection points for connecting Sto S. This is better illustrated in, wherein three MLS, namely S, S, and Sintersect at a node position N. For the node N′, the systemhas determined the three temporally successive next paths, which are given by the group G={(S,S), (S,S), (S,S)}, wherein the paths are temporally ordered according to increasing guided vehicle passing time at the node N′. Of course, this is optional. In particular, the systemis configured for automatically encoding the temporal succession of the paths on the map(i) in a distance separating the concerned path from at least one MLS, and, (ii) at nodes and preferentially, in a distance separating the concerned path from the intersection of all MLS intersecting at the concerned node, i.e. in a distance separating the concerned path from the node position N. Typically, this encoding is based on a distance separating the path from the MLS for parts where said path is parallel to the MLS (typically outside of a so-called node position surrounding area). Preferentially, within said area surrounding the node position, said encoding is based on a centripetal distance (i.e. measured in a direction toward the node position taken as a center) separating said path from the node position. This is schematically illustrated by the three concentric circles,,ofthat surround the node position Nand which temporally rule the succession of the paths for the node position N. The largest circletypically defines such a surrounding area, wherein outside of said surrounding area, said temporal succession is encoded by a distance separating the concerned path from the MLS to which it is parallel, said distance being measured perpendicularly to the MLS, while within the node position surrounding area, said encoding is preferentially based on a centripetal distance with respect to the node position. In particular, the system is then configured for constructing each path while satisfying guided vehicle temporal succession encoding rules that ensure that everywhere on the map where there might be an ambiguity with respect to the order of guided vehicles passing a node or moving on a track section, then the respective distances separating the concerned X next paths from at least one of the MLS encode the passing order of the guided vehicles.

1 2 1,1 1 1,2 2 1 3 2,1 1 1,3 3 1 2 3,1 1 2,2 2 M,k k 1 1,1 2,1 3,1 2 3 6 FIG. 150 For instance, the first path (S,S) comprises a main PLS Sparallel to S, a main PLS Sparallel to S, and one connection point, wherein, in, connection points are each schematically represented by a square. The second path (S,S) comprises a main PLS Sparallel to S, a main PLS Sparallel to S, and two connection points. The third path (S,S) comprises also a main PLS Sparallel to S, a main PLS Sparallel to S, and two connection points. The systemis configured for representing the main PLS that are parallel to a same MLS according to the closest the main PLS Sto the MLS S, the temporally earliest with respect to the passing time of the guided vehicle. This means that for the MLS S, the path comprising the main PLS Sis the temporally first to be followed by a guided vehicle, then the path comprising the main PLS S, and finally the path comprising the PLS S. The same applies mutatis mutandis to the other MLS S, and S. In particular, the PLS that are parallel to a same MLS are separated from each other by a distance D, which is preferentially the same everywhere on the map.

150 v v i j i j i j M,i M′,i 1 2 1,1 1 1,2 1 v v 6 FIG. Then, the systempreferably creates or defines, notably automatically, each connection point as an intersection between a first line and a second line, wherein the first line is parallel to one of the MLS connecting at the node position Nand the second line is parallel to another one of the MLS connecting at said node position N. Preferentially, said creation or definition of the connection point is configured for satisfying said encoding of the temporal succession of the paths with respect to the centripetal distance separating the path, and thus, of the connection point from the node position. Preferentially, for a path (S, S), at least one among said first line and said second line is parallel to either Sor respectively S, and, preferentially, is a line aligned with S, or respectively S. In other words, and preferentially, said first line comprises the main PLS Sand/or said second line comprises said main PLS S. This is better illustrated in, wherein for the representation of the path (S,S), the connection point is defined at the intersection of a first line that corresponds to an extension of the main PLS Stowards the node position Nand of a second line that corresponds to an extension of the main PLS Stowards said node N. Said visual encoding, for each node position N, of the temporal succession of the paths followed by guided vehicles passing the node N′enables an operator to have a direct understanding of the temporal succession of said paths at a single glance to the map.

150 410 410 150 v v 1 paths 2 4 2 1 3 4 3 1 1 2 2 5 5 6 4 5 1 1 2 4 3 1 1 4 FIG. 4 FIG. 6 FIG. Preferentially, the systemis configured for performing said encoding only for node positions Nfor which there are more than one MLS that are part of several paths among all possible paths that can be realized at the node N′. This if for instance the case for the node position Nof, wherein the set of all possible paths is given by S={(S,S), (S,S) (S,S) (S,S)} and comprises thus more than one MLS, e.g. Sand S, that are part of several paths. This is not the case for the node position N, wherein only Sis part of several paths among all possible paths that can be realized at the node N′. This means that the temporal succession of the paths with respect to Sand Sis ruled or constraint by the temporal succession of the paths with respect to S, and therefore, a temporal encoding is not mandatory (i.e. for this node position, there is no ambiguity in the temporal order of the X next paths), but of course, such temporal encoding might be used for providing a clearer view of the succession of the paths. For the node Nof, the temporal encoding is required and automatically applied by the system (e.g. by applying said guided vehicle temporal succession encoding rules) for distinguishing for instance whether the path (S,S) temporally takes place before or after the path (S,S). Preferentially, rules may require aligning at least one connection point of each of the three paths surrounding the node position Non a temporal encoding linepassing by the node position Nfor encoding said temporal succession. Said alignment on such a temporal encoding linepreferentially applies to each node, as shown also in. Said rules according to the invention might be stored in a memory of the system.

M,k k v v v M,k M,k 1 1,1 2,1 3,1 1,2 2,2 3,2 1,3 2,3 3,3 i j M,i M′,j 6 FIG. 612 150 300 Preferentially, each main PLS Scomprises an extremity extending (parallel to S) in direction of the node position Nand ending at a predefined distance (defined for instance by a boundary of said area surrounding the node position N) from said node position Nwith an ending point C(defined for instance as the intersection of Swith said boundary). This is illustrated in, wherein, instead of the largest circle, another area A (see the dotted line) surrounding the node position Nis automatically defined by the system, resulting in the different ending points C, C, C, C, C, CC, C, C. The systemis then configured for automatically creating a path (S, S) on the mapby connecting the ending point Cto the ending point Cvia the one or several connection points.

v v v v v In particular, for each node position N, if the number of MLS intersecting at said node position Nis P and P is even, then P/2 couples of MLS have their MLS aligned with one another (i.e. for each couple, the MLS forming said couple are aligned with each other), otherwise, if P is odd, then (P−1)/2 couples of MLS have their MLS aligned with one another (i.e. if there is an even number of MLS intersecting at the node position N, then each MLS is aligned with another MLS (creating therefore P/2 intersecting lines); If there is an odd number of MLS intersecting at the node position N, then among the (P−1) MLS, each is aligned with another MLS at said node position N).

150 500 501 300 501 500 500 150 510 520 530 500 510 520 530 500 510 520 530 510 520 530 510 530 520 150 500 500 5 FIG. 6 FIG. 6 FIG. 6 FIG. 6 FIG. v 1 3 2 v 1 v i v v v v v Preferentially, the systemuses a reference gridof equidistant points, or of equidistant lines that are parallel to each other, for representing all MLS of the map, and preferentially, for the construction of all PLS of the map. The alignment of said pointsforms lines that are parallel and that form the lines of the grid. Said reference gridis preferentially a two-dimensional (2D) Cartesian grid. Such a reference gridis illustrated inand is used by the systemfor creating the representation of the temporal succession of paths is illustrated in, wherein for each node position N, one or several versions,,of said reference gridare shown. Each of said versions,,is an identical copy of the reference grid, but with an orientation automatically selected by the system and configured for aligning the equidistant points (resp. lines) parallel with one of the MLS intersecting at the node position so that each MLS intersecting at the node position be parallel to points (resp. lines) of at least one of said reference grid versions,,. For enabling a better distinction between the different reference grid versions,,of, the points of each reference grid version have been represented with a different shape, namely a square for the reference grid versionthat is aligned with the MLS S, a triangle for the reference grid versionthat is aligned with the MLS S, and a disk for the reference grid versionaligned with the MLS S. As illustrated by, each of said reference grid versions comprises one of its points coinciding with the node position N, namely Nin, and is aligned with (i.e. has its points (resp. lines) aligned with or parallel to) at least one of the MLS intersecting at the node N. Each MLS Sextends thus parallel to the points (resp. lines) of one of said versions of the reference grid. In other words, for each node position N, the systemis configured for making a point of the reference gridcoinciding with the node position N, then for rotating the reference gridaround the node position N(that is taken as rotation center) in order to create a respective reference grid version for each of the MLS intersecting at said node position N, so that each MLS intersecting at said node position Nbe parallel to the points (resp. lines) of at least one of said reference grid versions.

150 300 150 150 150 510 530 i M,i i i i i j v M,i v M′,j v M,i M′,j M,i M′,j M,i M′,j v i j 2 4 4 1 1 8 8 14 M,i i v v v v v v v v v 1 3 6 FIG. 6 FIG. Preferentially, the systemis configured for automatically constructing or creating each path of the map. In particular, it automatically creates, for each MLS S, X main PLS Sthat are each parallel to S, disjoint, located on a same side of S, and preferentially each aligned with a series of points (resp. lines) of the reference grid version whose points (resp. lines) are parallel to S. Then, for each of the X paths (S, S) determined for the node position N, the system automatically connects the corresponding main PLS Sextremity that extends towards the node position Nto the main PLS Sextremity that extends toward said node position N. For this purpose, connection points are automatically created that satisfy the guided vehicle temporal succession encoding rules, and line segments passing by said connection points and connecting the respective extremities of Sand Sare traced for creating a continuous path made of line segments from Sto S. The respective other extremities of said main PLS Sand S, i.e. the extremity that extends away from the node position N, is then connected to the extremity of another PLS depending on the complete path that is defined for the guided vehicle at said initial time T0. Indeed, said complete path at the initial time T0 is the itinerary that is followed by a guided vehicle, indicating all next positions (e.g. node positions, reference positions) that will be passed by the guided vehicle, and might be defined as a succession of paths (S, S), e.g. “itinerary=(S,S)-(S,S)-(S,S)-(S,S)”, wherein each path shall satisfy said guided vehicle temporal succession encoding rules. For a same itinerary, as soon as one of its paths is not part of the X next paths that have been determined by the system, then the itinerary stops and is not further shown on the map. It preferentially stops at the intersection of two lines, each one of a different grid. By this way, the systemis thus capable of automatically constructing guided vehicle paths on said map by connecting, between them, the different main PLS that are part of the paths of a same itinerary, so as to create a continuous route representing said itinerary. As explained, each main PLS Sis in particular aligned with the points (resp. lines) of the reference grid version that is aligned with S, comprising for instance one or several of said reference grid version points. Preferentially, the distance between the equidistant points (resp. lines) of the reference grid is D. Preferentially, with respect to a node position N, the first line is a line passing through the points of one of said reference grid versions (resp. is a line of one of said reference grid versions) used for said node position Nand the second line is a line passing through the points of another one of said reference grid versions (resp. is a line of another one of said reference grid versions) used for said node position N. This enables notably the systemto encode coordinates of each connection point in a coordinate system based on the reference grid versions used for a node positions N, wherein the coordinate system unit is D, wherein the node position Nrepresents, for each grid version, an origin of the coordinate system. Thanks to such coordinate system, the position of each connection point is uniquely determined by the systemfrom the reference grid versions used at the node position N. Preferentially, each connection point has a first coordinate that represents its distance, measured perpendicularly and in number of distance D (D being taken as the unit of the coordinate system), to one of the MLS intersecting at the node position N(called the first coordinate MLS), and a second coordinate that represents its distance, measured perpendicularly and in number of distance D, to another one of the MLS intersecting at the node position N(called the second coordinate MLS), wherein the first coordinate MLS is not aligned with the second coordinate MLS. We considered here that two reference grid versions are used for the coordinate system centered at each node position N, reference grid versions that are aligned with one another being merged together, as it would be the case with the reference grid versionandof. For instance, the coordinates of the connection points that are part of the path (S, S) ofare, from the left to the right, (−2,−2), and (−1,−2). According to the present invention, the coordinates of a connection point represent therefore two distances, the first coordinate is the distance separating the connection point from one of the MLS and calculated with respect to the reference grid version parallel to said MLS, and a second coordinate that is the distance separating said connection point from another MLS and calculated with respect to the reference grid version parallel to said another MLS. This enables the system to encode the position of each connection point and to use it for representing each of the X paths.

v v v v v v v v v v 150 Preferentially, at each node position Nand among all MLS intersecting at said node position N, two MLS are aligned with each other, preferentially horizontally on the map, and called hereafter “the couple of straight MLS” (they represent typically the straight tracks in a railroad switch), and at least one other MLS makes a non-zero angle with said couple of straight MLS, and is called hereafter the “diverging” MLS (it represents typically the diverging track in said railroad switch). In particular, the system according to the invention preferentially uses a construction rule, wherein a reference axis, preferentially vertical on said map, is assigned by the systemto each node position N, passing through the node position N, and wherein none of the MLS is parallel to the reference axis. In particular, an orientation of said reference axis might be defined by an operator for visually encoding possible paths at each node position N, wherein a guided vehicle can only move from a MLS to another MLS if they are located on either side of the reference axis. This means that a guided vehicle moving in direction of the node N'on a track section represented by one of said MLS (called the “MLS A”) intersecting at the node position Ncannot, after having reached the node N′, continue its moving directly on another track section that is represented by another one of said MLS intersecting at the node position Nthat is on the same side of the reference axis as the MLS A. The application, by the system, of said construction rule for monitoring the routing of guided vehicles at the different node positions of the map provides a direct visual understanding for an operator about the possible paths at a node position N.

v v v Preferentially, at each node position N, there is at least one couple of straight MLS (i.e. that are aligned with each other), wherein said reference axis and said couple of straight MLS define, for said node position N, four quadrants in the map, said four quadrants separating said area surrounding the node position Nin four parts. This enables a simple and clear representation of the map of the railway network together with the temporally successive X next paths at each node position.

150 406 300 7 FIG. 6 FIG. 4 FIG. 7 FIG. M,i i M,i 3,2 2,3 3,3 As explained earlier, the systemis preferentially configured for connecting, based on the timetable, the X paths determined for a node position to the X paths determined for another node position, in order to create, on the map, a continuous path for one or several guided vehicles, wherein, for a given guided vehicle, its itinerary or route is continuous as long as the successive paths forming said itinerary are within the X next paths determined by the system. A result is illustrated in. In particular, for each node position, X main PLS Sare parallel to each MLS Sintersecting at said node position, but only the ending point Cthat are part of one of the temporally successive X next paths are connected to a connection point, the other being free of any connection as shown for the main PLS S, S, and Sin, or as illustrated by the dotted linesin, or as represented infor each itinerary that terminates in an area surrounding a node position. This means that the itinerary or continuous path of a guided vehicle might stop within the surrounding area of a given node position, because at said node position, its path is not anymore part of the X next paths determined by the system. By dynamically updating the mapfor representing a new set of the temporally successive X next paths with respect to a time T1>T0, part of said ending points that were free of connection will become connected to a respective other ending point, defining therefore new paths for the node positions, and changing the itineraries displayed on the map.

150 150 300 300 Preferentially, the systemis further configured for automatically identifying or detecting a connection problem when constructing the representation of the temporally successive X next paths for each node position and for automatically alerting, e.g. an operator, about a potential conflictual situation at the node position for which said connection problem has been detected. Typically, the systemmay visually represent, on said map, a position of said conflictual situation by highlighting one or several main PLS for which a connection failed, or making them flashing for instance. This enables an operator to rapidly locate on the mapa problem with respect to the temporal succession of paths at a node position. In other words, the system is configured for automatically identifying, during the construction of said map, any node for which the construction of the X next paths fails, i.e. typically node positions for which a connection of connection points for creating one of said X next path breaks said guided vehicle temporal succession encoding rules. Preferentially, the system is configured for automatically highlighting, in the timetable, a time (e.g. departure and/or arrival time) and at least one guided vehicle that are at the origin of said breaking of the guided vehicle temporal succession encoding rules.

300 150 300 150 150 150 Preferentially, for each mapreceived as input, the systemis configured for assigning to each node position of the mapa type of node among predefined types of nodes stored in a database or memory of the system. For each type of nodes, it preferentially stores all combinations of X temporally successive paths, and for each combination, an associated representation of said X temporally successive paths. This enables the system to determine a single time all said combinations and associated representations for each type of node, and then to use said already determined representations for any new map and/or timetable received as input, making the systemvery efficient for outputting a map comprising temporally successive X next paths. Indeed, from the timetable and the map received as input, the systemwill search in its database, for each node position, the X next path representation that matches the temporal succession of X next paths determined from the timetable received as input and the node type corresponding to said node position.

To conclude, the present invention proposes a new system and method for monitoring a routing of guided vehicles at a node of a railway that enable to automatically and efficiently represent, on a map of said railway network, the temporally successive X next paths that are followed by guided vehicles at each node of the railway network. This highly improves the monitoring of guided vehicle traffic on a railway network.