Ground signal recognition device and ground signal indication recognition method

Abstract

This invention provides a ground signal recognition device that enhances safety for railway applications by improving the accuracy of recognizing the signal indications displayed on ground signals. [Solution] The ground signal recognition device comprises a train position detection device for detecting the position of a train, a ground signal information storage device for storing the installation locations of ground signals along the tracks on which the train is traveling and information related to said ground signals, a camera for taking images of the area in front of the train, and a signal indication recognition device for recognizing the signal indication of a ground signal. The signal indication recognition device uses the position of the train output by the train position detection device, the installation locations and information of the ground signals output by the ground signal information storage device, the images taken by the camera, and auxiliary information to assist in recognizing the signal indication of a ground signal, specifically the installation locations and information output by the ground signal information storage device for one or more ground signals further away in the direction of travel from the ground signal that is the target of signal indication recognition, to recognize the signal indication of a ground signal located in the direction of travel of the train.

Description

Technical Field

[0005] , , ,

[0001] The present invention relates to an apparatus and method for recognizing a signal indication of a ground signal.

Background Art

[0002] In the railway field, the need for automatic train operation has been increasing. To realize a train automatic operation system for railways, a function for recognizing the signal indication of ground signals installed along the line is required. More specifically, based on information such as the position of the train itself, the installation position and type of the ground signal, it is necessary to compare with the image of the ground signal acquired by a camera or the like to recognize the signal indication content.

[0003] As a technique similar to the technique for recognizing the signal indication content of such ground signals, for example, Patent Document 1 describes that "an imaging device for taking an image outside the vehicle, a GPS receiver for performing positioning by a satellite navigation system, a train position detection unit for obtaining a train position based on the positioning result of the GPS receiver, a line installation device data storage unit for storing device position and device image related to line installation devices installed along the track, and a line installation device detection unit for detecting the approach of the train position to the device position and capturing an image taken by the imaging device at different approach positions and detecting the device image from the plurality of images and comparing the detection results to confirm the operation of the line installation device" (paragraph 0008).

Prior Art Documents

Patent Documents

[0004] <00​​​​​​​​​​​​​​​To understand the signal indication of a ground signal, it is necessary to correctly recognize the color of the signal lamps. Furthermore, the state of the lamps (on and off) and which lamps are lit when they are on can change depending on factors such as the position of the preceding train.

[0006] In contrast, the technology described in Patent Document 1 does not consider means for correctly recognizing the changing state of ground signals. Furthermore, when using images captured by an optical camera, for example, situations may arise where it is difficult to correctly capture the color of the lamps due to environmental conditions (such as the position of the sun during the day and night, and weather conditions such as rain and fog), but Patent Document 1 does not consider such issues either.

[0007] If the status of the ground signals (such as whether the lamps are lit or unlit, or which lamps are lit when lit) is not correctly recognized, it could lead to dangerous incidents such as overshooting the stopping point.

[0008] Therefore, the present invention aims to improve the accuracy of recognizing the signal indications of ground signals and to provide a technology for railways that enables safer recognition of ground signals. [Means for solving the problem]

[0009] To solve the above problems, one representative ground signal recognition device of the present invention comprises a train position detection device for detecting the position of a train, a ground signal information storage device for storing the installation locations of ground signals along the railway line on which the train is traveling and information related to said ground signals, a camera for taking an image of the area in front of the train, and a signal indication recognition device for recognizing the signal indication of a ground signal. The signal indication recognition device uses the position of the train output by the train position detection device, the installation locations and information of the ground signals output by the ground signal information storage device, the image taken by the camera, and auxiliary information to assist in recognizing the signal indication of a ground signal, which includes the installation locations and information of one or more ground signals further away in the direction of travel from the ground signal that is the target of signal indication recognition, to recognize the signal indication of a ground signal located in the direction of travel of the train. [Effects of the Invention]

[0010] According to the present invention, when recognizing signal indications using images of ground signals captured by an optical camera or the like, even if the lamp color cannot be correctly recognized due to environmental conditions, the recognition process is performed based on the signal indications of ground signals that have already been passed. This provides a safer ground signal recognition device and a ground signal indication recognition method for railways. Other issues, configurations, and effects not mentioned above will be clarified by the descriptions in the embodiments for carrying out the invention below. [Brief explanation of the drawing]

[0011] [Figure 1] This figure shows the configuration of a ground signal recognition device according to Embodiment 1 of the present invention. [Figure 2] This diagram shows the relationship between a train and the signal indication when a train passes through a series of ground signals. [Figure 3] This figure shows an example of the internal configuration of a signal indication recognition device. [Figure 4] This figure shows the configuration of a ground signal recognition device according to Embodiment 2 of the present invention. [Figure 5]This figure shows the configuration of a ground signal recognition device according to Embodiment 3 of the present invention. [Modes for carrying out the invention]

[0012] Hereinafter, embodiments 1 to 3 of the present invention will be described with reference to the drawings as embodiments for carrying out the present invention. However, the present invention is not limited to these embodiments. Furthermore, in the drawings, the same parts are denoted by the same reference numerals. [Examples]

[0013] Figure 1 shows the configuration of a ground signal recognition device according to Embodiment 1 of the present invention. The ground signal recognition device 1000 according to Embodiment 1 consists of a train position detection device 1200, a ground signal information storage device 1300, a photography device 1400, a signal indication recognition device 1500, and a signal indication recording device 1600.

[0014] In this context, the signal indication 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 by the GPS receiver 1100 from the positioning information received via the train position detection device 1200. (2) Regarding ground signals to be detected that are installed along the railway line on which the train is running, the system receives information from the ground signal information storage device 1300 indicating the installation location of the ground signal (hereinafter referred to as "signal location") and the type and shape of the signal (hereinafter referred to as "signal information"). (3) The system receives the captured image of the ground signal (hereinafter referred to as "captured image") from the camera 1400. (4) The signal indication record information (hereinafter referred to as "indication record information") of one or more ground signals located before the ground signal to be detected and which have already been passed by a train is received from the signal indication record device 1600.

[0015] The signal indication recognition device 1500 performs recognition processing of the signal indication of the ground signal by comparing the signal position and signal information based on the train position with the captured image. At this time, for example, when the ground signal is in a backlight state as seen from the imaging device 1400, it becomes difficult to capture a correct image of the lighting state of this ground signal, and there is a possibility of recognizing it as an incorrect signal indication. This is because the signal indication recognition processing is performed considering only the ground signal that is the detection target.

[0016] To avoid this misrecognition, the signal indication recognition device 1500 uses the display record information received from the signal indication recording device 1600 as auxiliary information for the signal indication recognition processing, and performs the signal indication recognition processing of the ground signal by also considering this auxiliary information together.

[0017] Figure 2 is a diagram showing an example of the relationship between the train and the signal indication when the train passes through consecutive ground signals. In Figure 2, it is assumed that the train 2900 sequentially passes through the ground signals 2810 to 2830 installed from position P1 to P3 in the traveling direction, and an example is shown where the ground signal 2810 displays a proceed indication (G; green), the ground signal 2820 displays a caution indication (Y; yellow), and the ground signal 2830 displays a stop indication (R; red).

[0018] Here, when the train 2900 is heading towards the next ground signal 2830 after passing through the ground signals 2810 and 2820, the target for which the train 2900 performs signal indication recognition is the ground signal 2830.

[0019] When recognizing the signal indication of ground signal 2830, for example, if the shooting conditions are poor and the lamp color (in this case, R) cannot be photographed correctly, there is a possibility of misrecognition as G. However, in addition to the ground signal 2830 being recognized, the signal indication results of ground signals 2810 and 2820, which have already passed, are also recognized. As a result, on lines where the signal indications are G→Y→R, it becomes possible to correctly recognize the signal indication even if the lamp color cannot be photographed correctly. Furthermore, even if R cannot be recognized, it becomes possible to control the signal more safely by continuing with the Y signal indication that was displayed immediately before the train passed.

[0020] Figure 3 shows an example of the internal configuration of the signal indication recognition device 1500. The signal indication recognition device 1500 consists of a signal indication recognition unit 3510, a signal indication estimation unit 3520, and a signal indication output unit 3530.

[0021] The signal indication recognition unit 3510 outputs a recognition probability for each signal indication using the train position, signal position and signal information, and captured images.

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

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

[0024] As shown in Figures 1, 2, and 3 above, by performing signal indication recognition processing that also uses the signal indication results of ground signals that the train has already passed as auxiliary information, it is possible to improve recognition accuracy and provide a safer ground signal recognition device for railways.

[0025] Furthermore, in Figures 1 and 3, when the signal indication recognition device 1500 reaches the ground signal to be detected and completes the signal indication recognition process, it simultaneously outputs the recognition result to the signal indication recording device 1600 along with a recording instruction. This makes it possible to sequentially update the most recent signal indication recognition result of the ground signal to be detected. [Examples]

[0026] Figure 4 shows the configuration of a ground signal recognition device according to Embodiment 2 of the present invention. The ground signal recognition device 1000 according to Embodiment 2 does not include the signal indication recording device 1600 of Embodiment 1, and the signal indication recognition device 4500 of Embodiment 2 receives information about the preceding train (such as the position and speed of the preceding train, including when it is running) via a communication device 4700 mounted on the train.

[0027] When the signal indication recognition device 4500 performs signal indication recognition processing, in addition to the train position, signal position and signal information, and captured image described in Example 1, it also uses information about the preceding train (such as the preceding train's position on the track, including while it is running, and its speed) as auxiliary information. As a result, even if the signal indication recognition result based solely on the captured image results in the influence of environmental conditions, etc., resulting in a signal indication of G or Y, it becomes possible to control the train more safely by taking into account information about the preceding train (at least the preceding train's position on the track, including while it is running) as auxiliary information.

[0028] Furthermore, the signal indication recognition device 4500 of Example 2, in the internal configuration of the signal indication recognition device 1500 of Example 1 shown in Figure 3, can perform the same signal indication recognition processing as described in Example 1 by using auxiliary information related to the preceding train used in Example 2. [Examples]

[0029] Figure 5 shows the configuration of a ground signal recognition device according to Embodiment 3 of the present invention. The ground signal recognition device 1000 according to Embodiment 3 does not include the signal indication recording device 1600 of Embodiment 1. The signal indication recognition device 5500 of Embodiment 3 has the function of additionally requesting and receiving information as auxiliary information from the ground signal information storage device 5300 regarding one or more ground signals installed further in the direction of travel than the ground signal to be recognized next. Here, the information regarding the ground signals to be requested is, for example, the signal location and signal information shown in Embodiment 1.

[0030] When the signal indication recognition device 5500 performs signal indication recognition processing, in addition to the train position, signal position and signal information and captured image described in Example 1, it also uses information from one or more ground signals that are located further in the direction of travel than the ground signal to be recognized.

[0031] Using the example shown in Figure 2, when ground signal 2810 is the next signal indication to be recognized, the signal indication recognition device 5500 additionally requests information on ground signals 2820 and 2830 from the ground signal information storage device 5300 as auxiliary information. That is, when recognizing the signal indication of ground signal 2810, the recognition process also uses information on ground signals 2820 and 2830, which are installed further in the direction of travel than ground signal 2810. This improves the accuracy of signal indication recognition and makes it possible to control trains more safely, even if the signal indication state of ground signal 2810 cannot be correctly captured based on the image results of ground signal 2810.

[0032] Furthermore, the signal indication recognition device 5500 of Example 3, in the internal configuration of the signal indication recognition device 1500 of Example 1 shown in Figure 3, can perform the same signal indication recognition processing as described in Example 1 by using auxiliary information related to one or more ground signals installed further away in the direction of travel used in Example 3.

[0033] Although Examples 1 to 3 have been described above, the present invention is not limited to these examples and includes various modifications. For example, each of the above-described examples has been described in detail to make the present invention easier to understand, and is not necessarily limited to having all of the described configurations. Furthermore, it is possible to replace a part of the configuration of one example with the configuration of another example, or to add the configuration of another example to the configuration of one example. In addition, it is possible to add, delete, or replace parts of the configuration of each example with other configurations.

[0034] In the embodiments described above, a GPS receiver is used to determine the train's position, but this is not the only option. The GPS receiver can be replaced with an IMU (Inertial Measurement Unit), LiDAR (Light Detection and Ranging), or UWB (Ultra Wide Band), which are suitable for position recognition, or they can be used in combination.

[0035] Furthermore, the imaging device 1400 can also be an optical camera in the visible light range, an imaging device in the non-visible light range (for example, an infrared camera), or a combination of these.

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

[0037] 1000...Ground signal recognition device, 1100...GPS receiver, 1200...Train position detection device, 1300, 5300...Ground signal information storage device, 1400... Imaging device, 1500, 4500, 5500... Signal indication recognition device, 1600... Signal indication recording device, 2810, 2820, 2830... Ground signal, 2900… Train, 3510… Signal display recognition department, 3520… Signal display estimation department, 3530… Signal display unit, 4700… Communication unit

Claims

1. A train position detection device that detects the position of a train, A ground signal information storage device that stores the installation location of ground signals along the railway line on which the aforementioned train runs and information related to said ground signals, A camera for taking images of the front of the aforementioned train, A signal indication recognition device that recognizes the signal indication of the ground signal device and Equipped with, The signal indication recognition device uses the position of the train output by the train position detection device, the installation location and information of the ground signal output by the ground signal information storage device, the image captured by the camera, and auxiliary information to assist in the recognition of the signal indication of the ground signal, which includes the installation location and information of one or more ground signals further away in the direction of travel of the train from the ground signal that is the target of signal indication recognition, output by the ground signal information storage device, to recognize the signal indication of the ground signal located in the direction of travel of the train. A ground signal recognition device characterized by the following features.

2. A ground signal recognition device according to claim 1, The signal indication recognition device calculates the probability of recognizing a signal indication for each signal indication of the ground signal located in the direction of travel of the train, based on the position of the train, the installation location of the ground signal, the information, and the image. Furthermore, it calculates an estimated probability of the signal indication based on the auxiliary information. If the maximum value of the recognition probability is less than or equal to a predetermined value, the signal indication with the highest product of the recognition probability and the estimated probability is recognized as the signal indication recognition result. A ground signal recognition device characterized by the following features.

3. A railway vehicle equipped with the ground signal recognition device according to claim 1 or 2.

4. A method for recognizing the signal indication of a ground signal, which uses the position of a train, the installation location of a ground signal along the track on which the train is traveling and information related to said ground signal, a photograph taken in front of the train, and auxiliary information to assist in recognizing the signal indication of the ground signal, including the installation location and information of one or more ground signals located further away in the direction of travel of the train from the ground signal that is the target of signal indication recognition.

5. A method for recognizing the signal indication of a ground signal as described in claim 4, For each signal indication of the ground signal located in the direction of travel of the train, the probability of recognizing the signal indication is calculated from the position of the train, the installation location of the ground signal, the information and the captured image, and the estimated probability of the signal indication is calculated based on the auxiliary information. If the maximum value of the recognition probability is less than or equal to a predetermined value, the step of selecting the one with the highest product of the recognition probability and the estimated probability as the recognition result for the signal indication. A method for recognizing the signal indication of a ground signal having the following characteristics.

Images