阅读说明：本技术 车辆高度控制方法及相关车辆 (Vehicle height control method and related vehicle ) 是由 桑晨·道索埃 埃里克·伯南 于 2019-08-08 设计创作，主要内容包括：本发明涉及车辆高度控制方法及相关车辆。本发明涉及用于控制车辆(10)的车厢(14)的地板相对于站台(11)的高度。车厢(14)包括设置有距离传感器(26)的车体(16)、至少一个转向架(20)以及转向架(20)与车体(16)之间的至少一个副悬架(22)。该方法包括以下步骤：经由距离传感器26测量距离传感器26与站台11之间的距离(D),根据测得的距离(D)计算站台的高度(H<Sub>q</Sub>)与地板的高度(H<Sub>pla</Sub>)之间的差,以及基于该差调整副悬架的高度。(The invention relates to a vehicle height control method and a related vehicle. The invention relates to a method for controlling the height of the floor of a carriage (14) of a vehicle (10) relative to a platform (11). The carriage (14) comprises a body (16) provided with a distance sensor (26), at least one bogie (20) and at least one secondary suspension (22) between the bogie (20) and the body (16). The method comprises the following steps: the distance (D) between the distance sensor 26 and the platform 11 is measured by the distance sensor 26, and the height (H) of the platform is calculated on the basis of the measured distance (D) q ) Height from floor (H) pla ) And adjusting the height of the secondary suspension based on the difference.)

1. A method for controlling a height of a floor (18, 118) of a car (14, 114) of a vehicle (10, 110) relative to a platform (11, 111), the car (14, 114) comprising: -a vehicle body (16, 116) comprising the floor (18, 118), -at least one bogie (20, 120), and-at least one secondary suspension (22, 122) interposed between the bogie (20, 120) and the vehicle body (16, 116), -the vehicle body (16, 116) being provided with a distance sensor (26, 126), the sensor (26, 126) being able to measure a distance (D) between the sensor (16, 126) and a platform (11, 111) when the vehicle is parked at the platform (11, 111),

the method comprises the following steps:

measuring a distance (D) between the distance sensor (26, 126) and the platform (11, 111) via the distance sensor (26, 126);

according to the distance sensor (26, 126) and theThe measured distance (D) between the stations (11, 111) and the height (H) of the stations are calculated_q) Height (H) from the floor_pla) Difference between, height of said platform (H)_q) Height (H) from the floor_pla) Obtained relative to the same reference point; and

adjusting the height (H) of the secondary suspension based on the difference_sec)。

2. The control method according to claim 1, wherein the distance sensor (26, 126) is placed higher than the platform in a height direction of the platform, regardless of a height of the secondary suspension.

3. The control method according to claim 1 or 2, wherein the height (H) of the secondary suspension is calculated_sec) So that the height (H) of the floor is adjusted_pla) Is substantially equal to the height (H) of the platform_q)。

4. The control method according to claim 1 or 2, wherein the vehicle comprises a processor (46, 146), the processor (46, 146) being capable of calculating the height (H) of the platform from the measured distance (D)_q) Height (H) from the floor_pla) During the driving step, said processor being activated for controlling the height (H) of said secondary suspension_sec) And (3) a drive device (42, 142) for the device (36, 136).

5. Control method according to claim 4, wherein the secondary suspension (22, 122) comprises at least one cushion (34, 134) and the device for controlling the height (H) of the secondary suspension_sec) The apparatus (36, 136) comprising: at least one solenoid valve (40, 140) connected to the drive means (42, 142) that can be driven by the processor (46, 146), the solenoid valve (40, 140) being capable of introducing fluid into the cushion (34, 134) and/or discharging fluid from the cushion (34, 134).

6. The control method according to claim 1 or 2, comprising the steps of:

additionally varying the height (H) of the floor relative to the adjusting step_pla)；

-calculating the additional change from at least one additional measurement value, which is different from the measurement value of the distance (D) between the distance sensor (126) and the station (111); and

height (H) for implementing the secondary suspension_sec) To compensate for the additional change.

7. A control method according to claim 6, wherein the additional measurement values are obtained by means of a sensor (150) for measuring the height of the secondary suspension, and/or by means of a sensor for measuring a change in the height of the secondary suspension, and/or by means of a load sensor (152) of the vehicle body.

8. The control method according to claim 6, wherein the steps of additional changing, calculating additional changing and additional adjusting are performed when the distance sensor (126) capable of measuring the distance (D) between the sensor (126) and the station (111) is not capable of measuring the distance (D).

9. The control method according to claim 6, wherein measuring a distance (D) between the distance sensor (126) and the platform (111) via the distance sensor (126), calculating a height (H) of the platform are performed when the vehicle (110) enters the platform_q) Height (H) from the floor_pla) Difference between and adjusting the height (H) of the secondary suspension_sec) And which performs the steps of additional changing, calculating additional changing and additional adjusting while the vehicle (110) is parked at the platform.

10. A vehicle (10, 110) comprising at least one compartment (14, 114), the compartment (14, 114) comprising: -a vehicle body (16, 116) comprising a floor (18, 118), -at least one bogie (20, 120), and-at least one secondary suspension (22, 122) interposed between the bogie (20, 120) and the vehicle body (16, 116), -the vehicle body (16, 116) being provided with a distance sensor (26, 126), -the distance sensor (26, 126) being able to measure a distance (D) between the distance sensor (26, 126) and a platform (11, 111) when the vehicle (10, 110) is parked at the platform (11, 111), -the vehicle (10, 110) being able to manipulate the height of the floor (18, 118) relative to the platform (11, 111) according to a control method according to claim 1 or 2.

[ technical field ] A method for producing a semiconductor device

The invention relates to a method for controlling the height of the floor of a carriage of a vehicle relative to a platform, the carriage comprising: the vehicle comprises a vehicle body including a floor, at least one bogie, and at least one secondary suspension interposed between the bogie and the vehicle body.

[ background of the invention ]

In the passenger transport sector, in particular in the railway transport sector, multiple stops of the vehicle at a station or railway station are required to allow passengers and/or objects to exit or enter.

The entrance and exit of passengers and/or objects into and out of the carriages is carried out at the floor of the carriages, which is usually located opposite the platform of the station.

However, for some users, particularly those with impaired mobility, the possible height difference between the floor and the platform may prove to be unacceptable. In particular, the ADA (american disability act) standard requires a height difference between the platform and the floor of less than 16 millimeters (mm).

The height difference may further make it difficult to transfer bulky and/or heavy items from the platform to the vehicle body and vice versa.

It is then necessary to adapt the height of the floor to the height of the platform. However, the height of a station may vary from station to station. Furthermore, the height of the access floor may vary significantly under the influence of various parameters. These parameters include, in particular, the value of the load of the cabin, in particular corresponding to the amount of passengers and baggage occupying the cabin, the distribution of the load or the wear of the wheels. Therefore, a scheme that does not take these parameters into account cannot make it comply with the ADA standard.

Document FR 3,053,301 proposes a method for controlling the height of the floor relative to the platform, in particular so that ADA standards can be met, in which the height of the secondary suspension is adjusted to suit the height of the floor. The adjustment of the height of the secondary suspension is made based on an estimate of the height of the bogie chassis vertex, which estimate depends mainly on internal parameters of the vehicle.

However, the internal parameters may evolve with the use of the rail vehicle, so that they no longer correspond to the initial configuration. The adjustment of the parameters is for example made by measurements during the maintenance operation or due to estimations, which complicates the method and/or may make the maintenance operation longer.

[ summary of the invention ]

It is therefore an object of the present invention to propose a method which makes it possible to simply vary the height of a transport vehicle, in particular ensuring easy access for the user of the vehicle.

To this end, the invention relates to a control method of the aforementioned type, in which the vehicle body is provided with a distance sensor capable of measuring the distance between said sensor and the platform when the vehicle is parked on said platform,

the method comprises the following steps:

the distance between the distance sensor and the platform is measured via the distance sensor,

calculating the difference between the height of the platform and the height of the floor based on the distance measured between the distance sensor and the platform, the height of the platform and the height of the floor being obtained relative to the same reference point, and

adjusting the height of the secondary suspension according to the difference.

The presence of the distance sensor makes it possible to readjust the calculation of the difference from the direct measurement and the external environment. The adjustment of the secondary suspension is therefore as close to actual as possible. Thus, the height between the platform and the floor is minimized. The height between the platform and the floor is less than 16mm, more particularly less than 5mm, as specified by the ADA standard.

According to a particular embodiment of the invention, the method comprises one or more of the following features according to any technically possible combination:

the distance sensor is located above the platform in the height direction of the platform, independently of the height of the secondary suspension, the distance sensor preferably being a laser, ultrasonic or optical sensor;

calculating an adjustment of the height of the secondary suspension so that the height of the floor is substantially equal to the height of the platform,

the vehicle comprises a processor capable of calculating the difference between the height of the platform and the height of the floor from the measured distance, the processor activating the drive means of the means for controlling the height of the secondary suspension;

the secondary suspension comprises at least one cushion and the means for controlling the height of the secondary suspension comprises at least one solenoid valve connected to a drive means that can be activated by the processor, the solenoid valve being able to introduce and/or drain fluid into and/or from the cushion;

the method comprises the following steps:

with respect to the additional change of the height of the floor in the adjustment step,

calculating the additional change from at least one additional measurement value, which is different from the measurement value of the distance between the distance sensor and the station, an

Additional adjustment of the height of the secondary suspension, to compensate for said additional change,

the additional measurement is carried out by a sensor for measuring the height of the secondary suspension and/or by a sensor for measuring the change in height of the secondary suspension and/or by a load sensor of the vehicle body,

performing steps for additional changes, calculation of additional changes and additional adjustments when a distance sensor capable of measuring the distance between the sensor and the platform is no longer capable of measuring the distance,

performing steps for measuring a distance between the distance sensor and the platform via the distance sensor, calculating a difference between a height of the platform and a height of the floor, and adjusting a height of the secondary suspension when the vehicle enters the platform, and performing steps for additional change, calculation of the additional change, and additional adjustment when the vehicle is parked at the platform,

during adjustment, the floor moves substantially perpendicular to the platform;

after adjustment, the entire floor has a height approximately equal to the height of the platform;

after adjustment, the floor and the platform extend approximately in the same plane.

The invention also relates to a vehicle comprising at least one compartment, the compartment comprising: the vehicle comprises a body comprising a floor, at least one bogie and a secondary suspension interposed between the bogie and the body, the body being provided with a distance sensor capable of measuring the distance between said distance sensor and a station when the vehicle is parked at said station, the vehicle being capable of manipulating the height of the floor with respect to the station according to a control method of the aforementioned type.

[ description of the drawings ]

The invention will be better understood by reading the following description, provided as an example, with reference to the accompanying drawings, in which:

FIG. 1 is a simplified cross-sectional view of a vehicle car on a track adjacent a platform according to a first embodiment of the present invention;

FIG. 2 is a simplified side view of a portion of the cars, tracks, and platforms of FIG. 1;

FIG. 3 is a schematic diagram of elements of a vehicle related to a control method according to a first embodiment of the invention;

FIG. 4 is a simplified view of a cabin similar to that of FIG. 2 in accordance with a second embodiment of the present invention; and

fig. 5 is a schematic view similar to fig. 3 in relation to a control method according to a second embodiment of the invention.

[ detailed description ] embodiments

In this specification, the terms "vertical" and "horizontal" are defined with respect to a rail vehicle. Thus, the horizontal plane is substantially parallel to the rolling plane of the vehicle, and the vertical or height direction is substantially perpendicular to the rolling plane. Further, the word "high" labeled H and the word "low" labeled B are generally defined in the vertical direction.

The term "longitudinal" is defined relative to the direction in which the rail vehicle extends and corresponds to the direction of travel of the rail vehicle, and the term "transverse" is defined as a direction that is substantially perpendicular to the longitudinal direction and the vertical direction.

The drawing shows a coordinate system in which the longitudinal direction is denoted by the reference X, the transverse direction by the reference Y, and the height direction by the reference Z.

A vehicle 10 according to a first embodiment of the invention is shown in fig. 1 to 3.

The vehicle 10 is for example a bus or a rail vehicle, such as a trolley bus, a tram, a subway or a train, moving on a rail 12.

The vehicle can travel and stop at a station comprising a platform 11, which platform 11 extends at a distance from the rolling plane of the vehicle.

Here, the height refers to a size of the object in the height direction Z or a distance between the element and the reference level in the height direction Z, depending on the context. In the illustrated example, the reference level corresponds to a vertex of the track. However, especially in case the vehicle does not move on a track, the reference level may be another reference, e.g. the level of a road. In other words, the reference level corresponds to the rolling plane of the rail vehicle.

The vehicle 10 includes at least one cabin 14. In a known manner, each car 14 comprises a body 16, at least one bogie 20 and at least one secondary suspension 22 interposed between the bogie 20 and the body 16.

More specifically, the vehicle 10 includes a plurality of cars 14 and a plurality of trucks 20, with each body 16 resting on at least two trucks 20. Outside the ends of the vehicle, each bogie 20 extends, for example, between two adjacent vehicle bodies, each of which rests partially on the bogie.

The vehicle body 16 includes an interior space 24 that can accommodate people and/or items. The body 16 has a floor 18, the floor 18 allowing access to an interior space 24 by persons and/or items.

Height H of floor_plaWill refer to the distance between the floor 18 and the reference level in the height direction Z.

The vehicle body 16 is provided with a distance sensor 26.

Height H of sensor_capWill refer to the distance between the sensor 26 and the floor 18 in the height direction Z. This is a determined value related to the vehicle layout.

When the vehicle 10 stops at the platform 11, the distance sensor 26 is able to measure the distance D between the sensor 26 and the platform 11.

Height H of platform_qIt will refer to the distance in the height direction Z between the surface on which the passengers of the platform 11 move and the reference level.

The distance sensor 26 is capable of measuring the distance to the first obstacle in a measuring direction, which is chosen such that when the vehicle is parked at the platform, the distance sensor 26 measures the distance between the sensor and said surface of the platform 11 when there is no intermediate obstacle.

Here, the distance sensor 26 has a light beam in the measuring direction, so that measurements can be made in said measuring direction. The distance sensor 26 is, for example, a laser, ultrasonic or optical sensor.

The sensor is positioned such that it is at the height of the secondary suspension, the height of the sensor relative to the apex of the track being greater than the height of the platform relative to the apex of the track. The height of the sensor relative to the apex of the track is for example greater than 1 metre.

In other words, the distance sensor 26 is placed above the platform in the height direction of the platform, regardless of the height of the secondary suspension.

Thus, the distance D has mainly a vertical component.

The distance sensor 26 has an accuracy of 2 mm.

The measuring direction along which the light beam of the distance sensor 26 extends forms an angle α, for example with the height direction Z, the angle α being between 8 ° and 15 °, as shown in fig. 1.

Marked H in fig. 1_ΔSuch that the cosine of α is equal to the difference divided by the distance D, or cos α H, in the height direction between the sensor 26 and the surface of the docking station 11_Δ/D.

The angle α is fixed, so equation H can be used_ΔThe difference H is calculated from the measured value of the distance D, D × cos α_Δ。

Height H of platform_qHeight H from floor_plaThe difference between is equal to the height H of the sensor_capDifference in height H from_ΔA difference therebetween, or H_q-H_pla＝H_cap-H_ΔOr H_q-H_pla＝H_capD × cos α if the floor is below the platform, the difference is negative, if the floor is above the platform, the difference is positive.

The bogie 20 includes: at least one shaft 28, more particularly two shafts; a bogie chassis 30; and at least one primary suspension 32 interposed between each axle 28 and the bogie chassis 30.

The main suspension 32 has a stiffness K. More specifically, here the primary suspension comprises at least one spring 33, the spring 33 extending substantially in height direction between the axle 28 and the bogie chassis 30. A plurality of springs may be provided, in which case the springs are placed parallel to each other. The stiffness of each spring 33 is approximately equal to K divided by the number of springs.

The secondary suspension 22 extends more specifically between the bogie chassis 30 and the vehicle body 14.

When the bogie 20 is located at the junction between the two bodies 14, the vehicle comprises at least one first secondary suspension between the bogie 20 and the first body, and at least one second secondary suspension between the bogie 20 and the second body.

The secondary suspension 22 comprises, for example, at least one suspension system 34 and a control device 36 for controlling the height of the secondary suspension 22. Here, the height H of the sub-suspension 22_secIs the distance between the vehicle body 14 and the bogie 20 in the height direction of the secondary suspension 22, as shown in fig. 2.

The suspension system 34 is, for example, an air cushion.

In this case, the control device 36 for controlling the height of the secondary suspension includes: a container 38 connected to the air mattress 34, a solenoid valve 40 between the container 38 and the mattress 34, and a drive device 42.

The container 38 is a fluid container, more particularly for compressed air.

The solenoid valve 40 is capable of introducing fluid from the reservoir 38 into the cushion 34 and/or discharging fluid from the cushion 34. More specifically, the solenoid valve 40 has at least three positions: at least one introduction location, at least one discharge location and at least one maintenance location.

When the solenoid valve is in the introduction position, fluid is introduced into the cushion 34 from the reservoir 38.

Here, the solenoid valve 40 has a plurality of induction positions, where an induction position corresponds to all positions between the maintenance position and a maximum induction position, which corresponds to a maximum fluid flow rate being induced into the mat 34.

When the solenoid valve is in the exhaust position, fluid is exhausted from the cushion 34.

Here, the solenoid valve 40 has a plurality of discharge positions, where the plurality of discharge positions correspond to all positions between the maintenance position and a maximum discharge position corresponding to a maximum fluid flow rate discharged from the cushion 34.

When the solenoid valve is in the maintenance position, the solenoid valve does not allow fluid circulation.

The drive device 42 is connected to the solenoid valve 40 and is capable of driving the solenoid valve, and more specifically, of moving the solenoid valve 40 between a plurality of positions.

Alternatively, the introduction and discharge of fluid into and from the cushion is performed by two different solenoid valves driven by the same drive means or two separate drive means.

Alternatively, the secondary suspension 22 is completed by another system, such as a jack controlled by a controller.

The vehicle 10 also includes a processing unit 44, the processing unit 44 including a processor 46 and a memory 48.

The processor 46 is capable of performing calculations, receiving distance measurements from the sensors 26, executing programs stored in the memory 48, and controlling the drive 42.

The program stored in the memory 48 includes an algorithm that makes it possible to calculate, for example, by performing the following: h_capD × cos α to calculate the height H of the platform from the distance D_qHeight H from floor_plaThe difference between them.

The height of the floor of such a vehicle relative to the platform may be controlled according to a control method as described below.

The method comprises the following successive steps:

measuring a distance D between the sensor 26 and the platform 11 via the sensor 26;

calculating the height H of the platform from the distance D measured between the sensor 26 and the platform 11_qHeight H from floor_plaThe difference between them; and

adjusting the height H of the secondary suspension based on the difference_sec。

More specifically, the measured value of distance D is sent to the processor 46, and the processor 46 executes a program stored in the memory 48.

The processor 46 thus calculates the height of the platform and the height of the floor H_plaThe difference between them.

When the difference is zero, the height H of the secondary suspension_secRemain unchanged.

When the difference is positive, i.e. the floor 18 is lower than the platform 11, the processor 46 controls the drive means 42 so as to increase the height H of the secondary suspension_sec. Here, the processor 46 startsThe actuator 42 is actuated and the actuator 42 moves the solenoid valve 40 to the introduction position to introduce fluid into the cushion 34. The volume of the cushion 34 increases, whereby the height H of the secondary suspension_secIncrease, and therefore the height H of the floor 18_plaAnd (4) increasing.

When the difference is negative, i.e. the floor 18 is higher than the platform 11, the processor 46 controls the drive means 42 so as to lower the height H of the secondary suspension_sec. Here, the processor 46 activates the actuator 42 and the actuator 42 moves the solenoid valve 40 to the exhaust position to exhaust fluid from the cushion 34. The volume of the cushion 34 is reduced, whereby the height H of the secondary suspension_secLowered, and thus the height H of the floor 18_plaAnd decreases.

Calculating the height H of the secondary suspension_secSo that the height H of the floor_plaApproximately equal to the height H of the platform_qMore specifically, the absolute value of this distance is made smaller than 16mm, preferably smaller than 2 mm.

During adjustment, the floor 18 moves substantially perpendicular to the platform 11, more precisely, perpendicular to the surface of the platform. The floor 18 is for example moved in translation perpendicular to the surface.

After adjustment, the entire floor 18 has a height H from the platform_qSubstantially equal height H_pla. The floor 18 extends approximately in the same plane as the platform 11.

The steps of measuring the distance D by the sensor 26, calculation of the difference and adjustment of the height of the secondary suspension are performed, for example, at least each time the vehicle 10 enters a platform.

The measurement of the sensor 26 makes it possible to adjust the height of the floor 18 to different platform 11 heights. This makes it possible, in particular, to adjust the height of the floor 18 at each parking place in the case of a vehicle parking at a platform having a different height.

In the measurement, the measurement of the sensor 26 takes into account all the parameters inside the vehicle that may affect the floor level, in particular the weight carried by the car 14, the wear of the wheels, the primary and/or secondary suspension.

People and/or items may enter and/or exit the car when the vehicle is at the dock. As a result, the weight carried by the car may vary, resulting in a change in the height of the floor at the platform, for example, an increase or decrease in the floor height by a distance between 0mm and 25 mm. More specifically, the variation is due, on the one hand, to the elongation or compression of the main suspension by the at least one spring 33 by a distance comprised between 0mm and 20mm, and, on the other hand, to the distance comprised between 0mm and 5mm of the neutral range of the pneumatic suspension.

However, in the case of a large flow, a person may be located in the measuring direction of the distance sensor and distort the measurement, so that the control method as described above cannot be repeated in order to adjust the level of the floor again.

A car 114 of a vehicle 110 according to a second embodiment of the invention is shown in fig. 4 and 5 and provides an improvement over the first embodiment so that the height can be adjusted in the event of high traffic when the vehicle is at a platform.

Elements of the second embodiment that are similar to elements of the first embodiment are denoted in increments of 100 below and are not described again below.

In addition to the previously described, the vehicle 110 also includes at least one additional sensor 150, 152.

More specifically, here, the vehicle 110 includes a sensor 150 for measuring the height of the secondary suspension, and/or a load sensor 152 of the vehicle body.

Each additional sensor 150, 152 is capable of obtaining an additional measurement that is different from the measurement of the distance D between the distance sensor 126 and the platform 111.

The additional measurement here is a measurement that is independent of the platform 111, and more particularly relates to a measurement that is specific to the car 114.

The sensor 150 for measuring the height of the secondary suspension here is a sensor having a measuring direction extending substantially in the height direction Z. For example, the sensor 150 includes a laser, ultrasonic, or optical sensor.

As an alternative to the sensor 150 for measuring the height of the secondary suspension, the vehicle 110 comprises a sensor for measuring the change in height of the secondary suspension.

Here, the load sensor 152 is a pressure sensor configured to measure the internal pressure of the mat(s) 134. From these pressure measurements, the load sensor 152 can infer a measurement of the load P exerted by the vehicle body 116 on the bogie 120.

The processor 146 is also capable of receiving measurements from additional sensors 150, 152.

The program stored in memory 148 includes additional algorithms so that changes in floor height can be calculated from additional measurements and additional adjustments manipulated to counteract the changes.

The height of the floor of such a vehicle 110 relative to the platform may be controlled according to a control method as described below.

The steps for measuring the distance D via the sensor 126, calculating the difference and adjusting the height of the secondary suspension as described in connection with the first embodiment are performed at least once.

The method comprises the following successive steps:

measuring a distance D between the distance sensor 126 and the platform 111 via the distance sensor 126;

calculating the difference between the platform height and the floor height according to the distance D;

adjusting the height of the secondary suspension based on the calculated difference;

additionally changing the height of the floor relative to the adjusting step;

calculating the additional change based on additional measurements; and

an additional adjustment of the height of the secondary suspension is performed to compensate for the additional change.

The steps for measuring the distance D, calculating the difference between the height of the platform and the height of the floor, and adjusting the height of the secondary suspension based on the calculated difference are similar to those described according to the first embodiment.

Additional change Δ H_plaFor example, due to changes in the load present in the vehicle body 116.

The variation in load being particularly responsible for the height H of the secondary suspension_secChange Δ H of_secAnd/or height H of the main suspension_primChange Δ H of_primThe additional change in floor height beingA combination of these two height variations, or Δ H_pla＝ΔH_sec+ΔH_prim。

The sensor for measuring the height of the secondary suspension 150 makes it possible to calculate the change Δ H in the height of the secondary suspension_sec。

The load sensor 152 makes it possible to measure the load P exerted by the vehicle body 116 on the bogie 120.

The load Q on the primary suspension is equal to the load P applied to the bogie 120 by the vehicle body 116 and the suspension mass M between the primary and secondary suspension stages_suspAnd (4) summing. The suspension mass has a predetermined value and depends on the configuration of the bogie. Thus it can be written as: q is P + M_susp。

Height H of the primary suspension_primBased on the load Q exerted on the primary suspension, more specifically using the following relationship: h_prim＝H_prim ⁰-Q/K, wherein H_prim ⁰Is the reference height of the main suspension. Reference height H of main suspension_prim ⁰Which here corresponds to the height of the main suspension when there is no weight in the body 116. The reference height is measured, for example, during an inspection or maintenance operation.

This then yields the following relationship: h_prim＝H_prim ⁰-(P+M_susp)/K。

Therefore, the change in the height of the primary suspension is related to the change in the load P applied by the vehicle body 116 on the bogie 120 as measured by the load sensor 152 due to the following relationship: Δ H_prim＝-ΔP/K。

Thus, additional changes in floor height can be calculated by the following relationship: Δ H_pla＝ΔH_sec- Δ P/K, wherein Δ H_secObtained due to the additional sensor 150, Δ P is obtained due to the additional sensor 152, and K is a constant parameter of the bogie.

Accordingly, the processor 146 calculates additional changes based on the additional measurements.

Alternatively, there is only one additional measurement corresponding to a measurement of the height between the axle 128 and the vehicle body 116. The measurement is made, for example, due to a first beacon placed on the axle 128 and a second beacon placed on the vehicle body 116, the second beacon being aligned with the first beacon along the height direction Z, the additional sensor measuring the distance between the two beacons.

The processor 146 then controls the drive 142 of the secondary suspension 122 to compensate for the additional change.

If the addition changes to zero, the secondary suspension H_secIs kept constant.

When the additional change corresponds to the lowering of the floor relative to the platform 111, the processor 146 controls the drive device 142 so as to adjust the height H of the secondary suspension_secThe given value is increased. The set point is here equal to the absolute value of the calculated additional change. This therefore makes it possible to compensate for the additional changes. Here, the processor 146 activates the actuator 142 and the actuator 142 moves the solenoid valve 140 to the introduction position to introduce fluid into the cushion 134. The volume of the cushion 134 increases, whereby the height H of the secondary suspension_secIncrease, and thus the height H of the floor 118_plaAnd (4) increasing.

When the additional change corresponds to the floor being raised relative to the platform 111, the processor 146 controls the drive arrangement 142 so as to adjust the height H of the secondary suspension_secThe given value is decreased. The set value is here equal to the absolute value of the calculated additional change. This therefore makes it possible to compensate for the additional changes. Here, the processor 46 activates the drive 142 and the drive 142 moves the solenoid valve 140 to the exhaust position to exhaust fluid from the cushion 134. The volume of the cushion 134 is reduced, whereby the height H of the secondary suspension_secLowered, thus the height H of the floor 118_plaAnd decreases.

During the additional change, the floor 118 moves substantially perpendicular to the platform 111, more precisely, to the surface of the platform. The floor 118 moves in translation, for example, perpendicular to the surface.

After adjustment, the entire floor 118 has a height H from the platform_qSubstantially equal height H_pla. The floor 118 extends approximately in the same plane as the docking station 111.

The steps for additional changes, calculating additional changes and additional adjustments make it possible to readjust the height of the floor 118 relative to the platform 111 without the need to again use the distance sensor 126 capable of measuring the distance D.

More specifically, the steps for additional changes, calculating additional changes and additional adjustments are performed when a distance sensor 126 capable of measuring the distance D between the sensor 126 and the platform 111 is no longer capable of measuring the distance D.

In the first variant, the steps of measuring the distance between the sensor 126 and the platform 111 via the distance sensor 126, calculating the difference between the height of the platform and the height of the floor and adjusting the height of the secondary suspension are performed as soon as the vehicle enters the platform, i.e. as soon as the vehicle approaches the platform and is parked there. That is, this makes it possible to adjust the floor height in particular to the height of the platform. When the vehicle enters the platform, the passenger stands for safety reasons backwards from the platform edge without forming an intermediate obstacle between the distance sensor 126 and the platform 111 in the measuring direction. Once the vehicle is parked and the passenger is authorized to enter and/or exit, the passenger may interfere with the measurement of distance D by sensor 126. Thus, when the vehicle is parked at the platform, additional changes are calculated, and additional adjustment steps are performed. The additional steps are performed at regular intervals of between 100 milliseconds (ms) and 500ms, for example, when the vehicle is parked at a platform. These additional steps make it possible to continue to adjust the height of the floor based on load changes without the presence of the sensor 126, the measurement of which is distorted.

In the second modification, once the vehicle enters the platform, and when no intermediate obstacle is detected while the vehicle is parked, the steps of measuring the distance between the sensor 126 and the platform 111 via the distance sensor 126, calculating the difference between the height of the platform and the height of the floor, and adjusting the height of the secondary suspension are performed. For example, when the distance sensor 126 records a significant change in the distance D in a short time, it may be considered that an intermediate obstacle is detected, which will correspond to an intermediate obstacle placed in the measurement direction or to the movement of the obstacle. A significant change is a change in the measured value of more than 100mm, wherein the change due to load change is generally significantly below this value. When an intermediate obstacle is detected, the steps for additional changes, calculating additional changes and additional adjustments are performed so that the height of the floor can continue to be adjusted. The additional step is performed, for example, at regular intervals of 20 to 60 seconds, as long as an intermediate obstacle is detected.

The control method according to the invention, whether in the first embodiment or in the second embodiment, in particular makes it possible to readjust the calculation of the difference from the external environment measured directly as a result of the distance sensors 26, 126. The adjustment of the secondary suspension is therefore as realistic as possible in order to minimize the height difference between the platform and the floor.

The control method takes into account the possibility of having stations of variable height, such as along a path passing through a plurality of stations, the wear of the vehicle and the weight carried by the vehicle, for example at least when the vehicle enters the station.

The second embodiment also allows additional adjustments when the distance sensor cannot be used.

The control method according to the different embodiments of the invention thus allows a better adjustment of the floor height with respect to the platform, which makes it possible in particular to facilitate the entry and exit of the vehicle.