Ferries depart hourly between Romanshorn and Friedrichshafen, carrying both foot passengers and cars. The ferry dock is a very short walk from the train station -- in fact, the pictures you see were taken from a train window. This can be a fun way to "avoid" Austria if you're traveling from Zurich to Munich. While you don't save a whole lot of time or money, you get a nice boat ride in the middle of your journey (to get to Munich from Friedrichshafen, go to the "Friedrichshafen Fähre" railway station for the quick shuttle train to Friedrichshafen Stadt. From there, take the IRE train to Ulm, then transfer to a fast train headed to Munich).
FARES: As of 2008, foot passengers pay EUR 7 or CHF 11.40. Bikes and motorcycles cost EUR 4.50 or CHF 7.40 to bring aboard. To bring your car, you'll pay between EUR 16 / CHF 26 and EUR 22.50 / CHF 36, depending on length. Railpasses covering both Germany and Switzerland (e.g., Eurail Selectpass) are valid (for foot passage), while Swisspass will get you a 50% discount. Travel time is about 40 minutes.
Romanshorn is easy to get to by rail. It's also very easy to transfer between the various lake boats and the train station, as the dock and station are only about 100 meters (yards) apart. The most common rail connections are the S-3 between Schaffhausen and St Gallen, the S-7 between Rorschach and Weinfelden, the S-8 between Rorschach and Kreuzlingen, the InterRegio to Luzern via Arth-Goldau, and the InterCity to Brig via Zurich, Bern, and Visp (change in Bern or Spiez to get to Interlaken or Kandersteg; change in Visp for the train to Zermatt or the bus to Saas-Fee).
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