Obstacle extraction method based on camera data of train AEB system

An extraction method and obstacle technology, which is applied in the field of train operation safety guarantee system, can solve the problems of identification and emergency braking that cannot be brought into full play, and achieve the effects of shortening processing time, good stability, and eliminating distortion

Pending Publication Date: 2020-01-14
陕西九域通创轨道系统技术有限责任公司
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Problems solved by technology

This solution is only suitable for short-distance obstacle detection when the train is running at low speed,

Method used

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  • Obstacle extraction method based on camera data of train AEB system
  • Obstacle extraction method based on camera data of train AEB system
  • Obstacle extraction method based on camera data of train AEB system

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Embodiment Construction

[0038] A method for extracting obstacles based on camera data of the train AEB system, see figure 1 , figure 2 , image 3 as well as Figure 4 ,Specific steps are as follows:

[0039] S1. Real-time acquisition of RGB color images

[0040] Choose a monocular camera with optical image stabilization function and install it in front of the train. For the installation location, please refer to figure 2 as well as Figure 4 , so that the camera A acquires the scene RGB color image sequence in front of the train route in real time with a higher shutter speed during the train travel process, and its imaging area is B. In this embodiment, a CCD camera is preferably used, which has high sensitivity and high resistance. Strong light, small distortion, small size, long life, anti-vibration and other advantages. The storage device for collecting images is an on-board industrial computer: Advantech PPC-6150 industrial tablet computer is preferred.

[0041] S2. Perform grayscale, de...

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Abstract

The invention discloses an obstacle extraction method based on camera data of a train AEB system. The obstacle extraction method comprises the following steps: S1, acquiring an RGB color image in realtime; s2, performing graying, denoising and enhancement processing on the RGB color image; s3, carrying out image track positioning and obstacle crossing detection; s4, carrying out the primary detection of a central obstacle; s5, establishing a detection window; s6, carrying out secondary detection on the middle obstacle; and S7, calibrating the actual distance of the obstacle. An image sequenceon a track in front of a train advancing route is obtained through a monocular camera mounted in front of the train. A simple search algorithm and image morphology processing are used for positioninga rail and detecting a cross-over obstacle. A Canny edge operator extraction mode is used to carry out initial detection on an obstacle arranged in an orbit. A detection window is established, a graylevel co-occurrence matrix method is adopted to carry out secondary detection on a centrally-arranged obstacle, and finally, an IPM model is utilized to calibrate the distance between a train and theobstacle, so that data extraction of the obstacle is realized, and finally, automatic emergency braking of the train is realized.

Description

technical field [0001] The invention belongs to the technical field of train operation safety assurance systems, and in particular relates to an obstacle extraction method based on camera data of a train AEB system. Background technique [0002] Railway transportation is the main mode of transportation in my country. With the significant increase in the volume of railway passenger and cargo transportation, the number of trains receiving and departing from stations and the amount of shunting operations have also increased, which puts forward higher-level requirements for the safety and reliability of trains. . Different from the visibility of the braking range of traditional road vehicles, the average speed of trains in my country is as high as 200km / h, and the maximum speed can reach 480km / h. High-speed driving puts forward high requirements for emergency braking of sudden track intrusions. It is difficult to find obstacles ahead in time only relying on the traditional drive...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/32G06K9/46
CPCG06V20/58G06V10/25G06V10/40G06V10/44
Inventor 周吉荣刘永涛韩毅王庆丰巨洪
Owner 陕西九域通创轨道系统技术有限责任公司
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