Ground traffic signal recognition device, and signal indication recognition method of ground traffic signal

Abstract

To provide a ground traffic signal recognition device which improves the recognition accuracy of signal indication contents of a ground traffic signal and enhances safety for railways.SOLUTION: The ground traffic signal recognition device includes: a train position detection device that detects a position of a train; a ground traffic signal information storage device that stores installation positions of ground traffic signals along a track on which the train travels and information about the ground traffic signals; a photographing device that photographs an image ahead of the train; and a signal indication recognition device that recognizes signal indications of the ground traffic signals and inputs information about a preceding train of the train received from outside. The signal indication recognition device recognizes the signal indications of the ground traffic signals present in an advancing direction of the train by using the position of the train output by the train position detection device, the installation positions and information of the ground traffic signals output by the ground traffic signal information storage device, and information about the preceding train as auxiliary information that assists in the recognition of the images photographed by the photographing device and the signal indications of the ground traffic signals.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an apparatus and method for recognizing the signal aspect of a wayside signal. [Background technology]

[0002] In the railway industry, the need for automatic train operation is increasing. To realize an automatic train operation system for railways, a function to recognize the signal aspects of wayside signals installed along the tracks is necessary. More specifically, it is necessary to recognize the content of the signal aspects by comparing the information on the position of the train itself, the location and type of wayside signals with images of wayside signals acquired by cameras, etc.

[0003] As a technology similar to such recognition technology for the current signal contents of ground signals, for example, Patent Document 1 states that "the train is characterized by comprising an imaging device for taking pictures of the outside of the train, a GPS receiver for performing positioning using a satellite navigation system, a train position detection unit for obtaining the train position based on the positioning results of the GPS receiver, a wayside equipment data storage unit for retaining data on equipment positions and equipment images related to wayside equipment installed along the track, and a wayside equipment detection unit for detecting the approach of the train position to the equipment position, importing images taken by the imaging device at different approach positions, detecting the equipment images from the multiple images, and comparing the detection results to confirm the operation of the wayside equipment" (paragraph 0008). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2011-201426 A Summary of the Invention [Problem to be solved by the invention]

[0005] The technology described in Patent Document 1 is for monitoring the operational status of railway wayside facilities. In order to recognize the signal aspect of wayside signals, it is necessary to correctly recognize the color of the wayside signal lamps. In addition, the on / off state of the lamps and which lamps are on when the lamps are on can change depending on, for example, the position of the preceding train.

[0006] In contrast, the technology described in Patent Document 1 does not take into consideration a means for correctly recognizing the changing state of ground signals. Furthermore, for example, when using images captured by an optical camera, there may be situations where it is difficult to correctly capture the color of the lamp due to environmental conditions (the position of the sun depending on the time of day or night, weather such as rain or fog, etc.), but Patent Document 1 does not take such issues into consideration.

[0007] If a driver is unable to correctly recognize the signal status (such as whether the lights are on or off, or which lights are on when the lights are on) at the wayside, it could lead to dangerous incidents such as running beyond the stopping point.

[0008] Therefore, an object of the present invention is to provide a technology for improving the recognition accuracy of the signal indication contents of wayside signals and recognizing wayside signals for railways with increased safety. [Means for solving the problem]

[0009] In order to solve the above problems, one representative ground signal recognition device of the present invention comprises a train position detection device that detects the position of a train, a ground signal information storage device that stores the installation positions of ground signals along the tracks on which the train runs and information about the ground signals, a photographing device that takes images of the area ahead of the train, and a signal aspect recognition device that recognizes the signal aspects of ground signals and receives as input information about the train preceding the train from the outside, and the signal aspect recognition device recognizes the signal aspects of ground signals present in the direction of travel of the train using the train position output by the train position detection device, the installation positions and information of ground signals output by the ground signal information storage device, the images photographed by the photographing device, and information about the preceding train as auxiliary information to assist in recognizing the signal aspects of ground signals. Effect of the Invention

[0010] According to the present invention, when performing signal aspect recognition using images of ground signals captured by an optical camera or the like, even if the color of the lamp cannot be correctly recognized due to environmental conditions, a recognition process can be performed based on the signal aspect content of ground signals that have already been passed, thereby providing a safer ground signal recognition device and a method for recognizing the signal aspect of ground signals for railways. Problems, configurations and effects other than those described above will become apparent from the following description of the preferred embodiment of the invention. [Brief description of the drawings]

[0011] [Figure 1] 1 is a diagram showing a configuration of a ground signal recognition device according to a first embodiment of the present invention. [Diagram 2] FIG. 2 is a diagram showing the relationship between a train and signal aspects when the train passes through successive wayside signals. [Diagram 3] FIG. 2 is a diagram showing an example of the internal configuration of a signal aspect recognition device. [Figure 4] FIG. 11 is a diagram showing a configuration of a ground signal recognition device according to a second embodiment of the present invention. [Diagram 5] FIG. 11 is a diagram showing a configuration of a ground signal recognition device according to a third embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, as a mode for carrying out the present invention, examples 1 to 3 according to the present invention will be described with reference to the drawings. Note that the present invention is not limited to these examples. In addition, in the description of the drawings, the same parts are denoted by the same reference numerals. EXAMPLES

[0013] FIG. 1 is a diagram showing a configuration of a ground signal recognition device according to a first embodiment of the present invention. The wayside signal recognition device 1000 according to the first embodiment includes a train position detection device 1200, a wayside signal information storage device 1300, an image capture device 1400, a signal aspect recognition device 1500, and a signal aspect recording device 1600.

[0014] Among them, the signal aspect recognition device 1500 receives the following four pieces of information as input signals. (1) The position of the train itself (hereinafter referred to as “train position”) is received via the train position detection device 1200 from the positioning information received by the GPS receiver 1100. (2) For the ground signals to be detected that are installed along the tracks on which trains run, information indicating the installation location of the ground signal (hereinafter referred to as the "signal location") and the type and shape of the signal (hereinafter referred to as the "signal information") is received from the ground signal information storage device 1300. (3) Receive a photographed image of a wayside signal (hereinafter referred to as a “photographed image”) from the photographing device 1400. (4) Receive from the signal aspect recording device 1600 the signal aspect record information (hereinafter referred to as "aspect record information") of one or more ground signals that are located before the ground signal to be detected and through which a train has already passed.

[0015] The signal aspect recognition device 1500 performs recognition processing of the signal aspect of a wayside signal by comparing the signal position and signal information based on the train position with the captured image. In this case, for example, if the wayside signal is backlit as seen from the image capturing device 1400, it becomes difficult to capture a correct image of the wayside signal's illumination state, and the signal aspect may be recognized as incorrect. This is because the signal aspect recognition process is performed while taking into consideration only the wayside signal that is the detection target.

[0016] In order to avoid this erroneous recognition, the signal aspect recognition device 1500 uses the aspect recording information received from the signal aspect recording device 1600 as auxiliary information for the signal aspect recognition processing, and performs the signal aspect recognition processing of the ground signal by taking this auxiliary information into consideration as well.

[0017] FIG. 2 is a diagram showing an example of the relationship between a train and signal aspects when the train passes through successive wayside signals. FIG. 2 shows an example in which it is assumed that a train 2900 passes through ground signals 2810 to 2830 installed at positions P1 to P3 in the direction of travel, and the ground signal 2810 indicates a proceed signal (G; green), the ground signal 2820 indicates a caution signal (Y; yellow), and the ground signal 2830 indicates a stop signal (R; red).

[0018] Here, when the train 2900, after passing the wayside signal 2810 and the wayside signal 2820, heads toward the next wayside signal 2830, the target for which the train 2900 will perform signal aspect recognition is the wayside signal 2830.

[0019] When recognizing the signal aspect of the wayside signal 2830, for example, the photographing conditions may be poor and the lamp color (R in this case) may not be photographed correctly, and in some cases, it may be erroneously recognized as G. However, in addition to the wayside signal 2830 to be recognized, the signal aspect results of wayside signals 2810 and 2820 that have already passed are also recognized. As a result, if the line displays signals in the order of G → Y → R, it becomes possible to correctly recognize the signal aspect even if the lamp color cannot be photographed correctly. Also, even if R cannot be recognized, it becomes possible to control more safely, such as continuing the Y signal aspect immediately before the train passed.

[0020] FIG. 3 is a diagram showing an example of the internal configuration of the signal aspect recognition device 1500. The signal aspect recognition device 1500 is composed of a signal aspect recognition unit 3510, a signal aspect estimation unit 3520, and a signal aspect output unit 3530.

[0021] The signal aspect recognition unit 3510 uses the train position, signal position, signal information, and captured image to output the recognition probability for each signal aspect.

[0022] The signal aspect estimation unit 3520 uses the aspect record information, which is auxiliary information, to calculate an estimated probability for each signal aspect.

[0023] The signal aspect output unit 3530 outputs the signal aspect recognition result calculated from the recognition probability and the estimated probability for each signal aspect. For example, when the maximum value of the recognition probability is equal to or less than a predetermined value, the highest value obtained by multiplying the recognition probability by the estimated probability is set as the signal aspect recognition result. However, the calculation method for the signal aspect recognition is not limited to this.

[0024] As shown in Figures 1, 2 and 3, by performing signal aspect recognition processing that also uses the signal aspect results of wayside signals that the train has already passed as auxiliary information when recognizing signal aspects, it is possible to provide a wayside signal recognition device for railways that improves recognition accuracy and provides higher safety.

[0025] 1 and 3, when the signal aspect recognition device 1500 reaches the target ground signal and completes the signal aspect recognition process, it simultaneously outputs the recognition result together with a recording instruction to the signal aspect recording device 1600. This makes it possible to sequentially update the most recent signal aspect recognition result of the target ground signal. EXAMPLES

[0026] FIG. 4 is a diagram showing a configuration of a ground signal recognition device according to a second embodiment of the present invention. The ground signal recognition device 1000 according to the second embodiment does not include the signal aspect recording device 1600 according to the first embodiment, and the signal aspect recognition device 4500 according to the second embodiment receives information about the preceding train (such as the preceding train's position on the track, including when it is running, and its speed) via a communication device 4700 mounted on the train.

[0027] When performing signal aspect recognition processing, the signal aspect recognition device 4500 uses information about the preceding train (the preceding train's on-line position including when it is running and its speed, etc.) as auxiliary information in addition to the train position, signal position and signal information, and photographed image described in the first embodiment. As a result, even if the signal aspect recognition result based only on the photographed results due to the influence of environmental conditions, etc., results in the signal aspect being G or Y, it becomes possible to control the train more safely by taking into consideration information about the preceding train (at least the preceding train's on-line position including when it is running) as auxiliary information.

[0028] Moreover, in the internal configuration of the signal aspect recognition device 1500 of the first embodiment shown in FIG. 3, the signal aspect recognition device 4500 of the second embodiment can perform processing similar to the signal aspect recognition processing described in the first embodiment by converting auxiliary information into information related to the preceding train used in the second embodiment. EXAMPLES

[0029] FIG. 5 is a diagram showing a configuration of a ground signal recognition device according to a third embodiment of the present invention. The ground signal recognition device 1000 according to the third embodiment does not include the signal aspect recording device 1600 according to the first embodiment, and the signal aspect recognition device 5500 according to the third embodiment has a function of requesting and receiving, as auxiliary information, information on one or more ground signals that are installed farther in the traveling direction than the ground signal whose signal is to be recognized next from the ground signal information storage device 5300. Here, the requested information on the ground signal is, for example, the signal position and signal information shown in the first embodiment.

[0030] When performing signal aspect recognition processing, the signal aspect recognition device 5500 uses, in addition to the train position, signal position, signal information, and captured image described in the first embodiment, information on one or more ground signals that are installed farther in the direction of travel than the ground signal to be recognized.

[0031] 2, when the ground signal 2810 is the next target for signal aspect recognition, the signal aspect recognition device 5500 additionally requests information on the ground signals 2820 and 2830 as auxiliary information from the ground signal information storage device 5300. That is, when performing signal aspect recognition for the ground signal 2810, the recognition process is performed using information on the ground signals 2820 and 2830 that are installed farther in the traveling direction than the ground signal 2810. This improves the recognition accuracy of the signal aspect and makes it possible to control the train more safely even in a situation where the signal aspect state of the ground signal 2810 cannot be correctly photographed due to the photographing result of the ground signal 2810.

[0032] Furthermore, in the internal configuration of the signal aspect recognition device 1500 of the first embodiment shown in FIG. 3, the signal aspect recognition device 5500 of the third embodiment can convert the auxiliary information into information related to one or more ground signals installed farther in the direction of travel used in the third embodiment, and can perform processing similar to the signal aspect recognition processing described in the first embodiment.

[0033] Although the first to third embodiments have been described above, the present invention is not limited to these embodiments and includes various modified examples. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those having all of the configurations described. It is also possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, or to add the configuration of another embodiment to the configuration of one embodiment. It is also possible to add, delete, or replace a part of the configuration of each embodiment with another configuration.

[0034] In the above-described embodiments, a GPS receiver is used to measure the train position, but the present invention is not limited to this. Instead of the GPS receiver, an IMU (Inertial Measurement Unit), LiDAR (Light Detection and Ranging), UWB (Ultra Wide Band), or the like that can be used for position recognition can be used, or the GPS receiver can be used in combination with the IMU (Inertial Measurement Unit), LiDAR (Light Detection and Ranging), UWB (Ultra Wide Band), or the like.

[0035] Also, for the image capturing device 1400, an optical camera in the visible light range, an image capturing device in the non-visible light range (for example, an infrared camera), and the like can be applied, or they can be used in combination.

[0036] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications are possible without departing from the gist of the present invention. [Explanation of symbols]

[0037] 1000: Ground signal recognition device, 1100: GPS receiver, 1200...train position detection device, 1300, 5300...way signal information storage device, 1400...Photographing device, 1500, 4500, 5500...Signal phase recognition device, 1600: Signal aspect recorder, 2810, 2820, 2830: Ground signal, 2900...Train, 3510...Signal appearance recognition section, 3520...Signal appearance estimation section, 3530: Signal display output unit, 4700: Communication device

Claims

1. A train position detection device for detecting the position of a train; a wayside signal information storage device that stores information about wayside signals and their installation positions along the track on which the train runs; A photographing device for photographing an image of the front of the train; a signal aspect recognition device that recognizes the signal aspect of the wayside signal and receives information on the preceding train of the train from an external source as an input; Equipped with The signal aspect recognition device recognizes the signal aspect of the ground signal present in the travel direction of the train, using the position of the train output by the train position detection device, the installation position and the information of the ground signal output by the ground signal information storage device, the image captured by the photographing device, and information of the preceding train as auxiliary information for assisting in recognition of the signal aspect of the ground signal. A ground signal recognition device characterized by the above.

2. The ground signal recognition device according to claim 1, The information on the preceding train includes information on the location of the preceding train. A ground signal recognition device characterized by the above.

3. The ground signal recognition device according to claim 2, The information on the preceding train includes information on the location or speed of the preceding train when it is running. A ground signal recognition device characterized by the above.

4. The ground signal recognition device according to claim 2, The preceding train's location information is obtained using at least one of a GPS receiver, an IMU (Inertial Measurement Unit), a LiDAR (Light Detection and Ranging), and a UWB (Ultra Wide Band). A ground signal recognition device characterized by the above.

5. The ground signal recognition device according to any one of claims 1 to 3, The signal aspect recognition device calculates, for each signal aspect of the wayside signal present in the travel direction of the train, a recognition probability of the signal aspect from the position of the train, the installation position of the wayside signal, the information, and the image, and further calculates an estimated probability of the signal aspect based on the auxiliary information. When the maximum value of the recognition probability is equal to or less than a predetermined value, the one with the highest product of the recognition probability and the estimated probability is determined as the recognition result of the signal aspect. A ground signal recognition device characterized by the above.

6. A railway vehicle equipped with a wayside signal recognition device according to any one of claims 1 to 3.

7. A method for recognizing signal aspects of ground signals that are present in the direction of travel of a train, using the position of the train, the locations of ground signals along the track on which the train runs and information about the ground signals, a photographed image of the area ahead of the train, and information about the train preceding the train as auxiliary information to assist in recognizing the signal aspects of the ground signals.

8. A method for recognizing a signal aspect of a ground signal according to claim 7, a step of calculating a recognition probability of each signal aspect of the wayside signal present in the travel direction of the train from the position of the train, the installation position of the wayside signal, the information, and the photographed image, and calculating an estimated probability of the signal aspect based on the auxiliary information; when the maximum value of the recognition probability is equal to or smaller than a predetermined value, the product of the recognition probability and the estimated probability is determined as the highest recognition result of the signal aspect. A method for recognizing a signal aspect of a ground signal having the above-mentioned configuration.

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