EP2280859B1 - Route monitoring system for a vehicle and method for operating the same - Google Patents

Route monitoring system for a vehicle and method for operating the same Download PDF

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Publication number
EP2280859B1
EP2280859B1 EP09742058A EP09742058A EP2280859B1 EP 2280859 B1 EP2280859 B1 EP 2280859B1 EP 09742058 A EP09742058 A EP 09742058A EP 09742058 A EP09742058 A EP 09742058A EP 2280859 B1 EP2280859 B1 EP 2280859B1
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EP
European Patent Office
Prior art keywords
vehicle
route
video data
display device
monitoring system
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Not-in-force
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EP09742058A
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German (de)
French (fr)
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EP2280859A1 (en
Inventor
Andreas Kister
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Siemens AG
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Siemens AG
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
    • B61L23/041—Obstacle detection

Definitions

  • the invention relates to a route monitoring system having the features according to the preamble of claim 1.
  • a route monitoring system is known from PCT Publication WO 2005/058668 A2 known.
  • the invention has for its object to provide a route monitoring system, which ensures an even greater degree of safety during operation of the vehicle than previous route monitoring systems.
  • control device adaptively adapts the display of the video data to the respective vehicle location and the respective vehicle speed, in such a way that at a higher speed, a track section further ahead in the direction of travel is displayed than at a comparatively lower speed.
  • a significant advantage of the track monitoring system according to the invention is the fact that this utilizes operational data that are supplied by a vehicle control and / or operation control system for the operation of the vehicle.
  • the essence of the invention is therefore to link route monitoring systems with existing for vehicle operation vehicle control and / or operations control systems in order to optimize the route monitoring based on the operational data can.
  • control device is configured such that it displays the video data on the display device before the route section is visible from the vehicle. If the display device is arranged inside the vehicle, then the route monitoring system visually expands the visibility of the vehicle driver.
  • the control device has an image processing device which adapts the image detail and / or viewing angle displayed on the display device to the respective vehicle location and the respective vehicle speed adapts.
  • the image processing device has an electronic zoom function with which a zooming effect is effected by computation by converting the image information.
  • the camera has a zoom function, be it an electronic or an optical zoom function
  • the control device controls the zoom function of the camera in such a way that the camera zooms in front of the camera depending on the respective speed of the vehicle picks up a stretch of roadway before the vehicle reaches the respective stretch of road and / or the particular stretch of road is visible from the vehicle.
  • the control device preferably controls the zoom function in such a way that, at a greater speed, a section of track further ahead in the direction of travel is displayed than at a comparatively lower speed. In this embodiment, too, a location-dependent and speed-dependent display on the display device can be achieved and the risk of accidents reduced.
  • the route monitoring system has a plurality of cameras arranged on the track side, which are arranged one after the other along the route which can be traveled by the vehicle and record successive route sections of the route, wherein the control device is designed such that it transmits the video data of the cameras displayed on the display device as a function of the respective vehicle location and the respective vehicle speed in chronological succession, each switching from one camera to the next, before the vehicle reaches the respective route section and / or the respective route section is visible from the vehicle. Switching allows continuous route monitoring to be achieved.
  • the cameras and / or the image processing device can also be equipped with an electronic or optical Be equipped zoom function in the periods between a switch, in which so the image of a single camera is used to perform an adjustment of the image angle and the image section location and speed dependent.
  • the control device is preferably switched from one camera to the next in such a way that, at a higher speed, a section of track further ahead in the direction of travel is displayed than at a lower speed, on the other hand.
  • the at least one display device can be arranged in the driver's cab of the vehicle and / or in a trackside monitoring center.
  • the invention further relates to a method for recording and displaying video data relating directly or indirectly to a section of a vehicle which can be traveled by a vehicle, wherein in the method video data is recorded with at least one camera and the video data is displayed on a display device ,
  • FIG. 1 In the FIG. 1 can be seen a vehicle 10, which runs along a predetermined direction of travel F on a route 20. The distance ahead in the direction of travel F of the vehicle 10 is designated by the reference numeral 30.
  • a track monitoring system 40 is installed having a plurality of trackside cameras.
  • FIG. 1 are representative of two of the cameras shown and designated by the reference numerals 50 and 60.
  • a control device 70 which is equipped for image processing with an image processing device 80.
  • the image processing device 80 is also connected to a vehicle control and / or operation control system 100, which transmits operational data B relating to the operation of the vehicle 10 on the route 20 to the image processing device 80.
  • the control device 70 is equipped with a radio device 110 which is in a radio link 120 with a radio device 130 of the vehicle 10. To the radio device 130, a vehicle-side display device 140 is connected.
  • the image processing device 80 takes into account when forming the display signal A the respective location of the vehicle 10 on the route 20 and the speed of the vehicle 10, in such a way that always in the direction of travel F ahead lying section 30 is displayed on the display device 140. If the vehicle 10 has a high speed, the image processing device 80 will display a section of the road ahead in the direction of travel F and at a lower speed display a section less far or closer to the vehicle. Preferably, a preceding route section is displayed, before which can be stopped in the context of emergency braking.
  • the cameras 50 and 60 are each equipped with a zoom function, which is an electronic zoom or an optical zoom can.
  • a zoom function which is an electronic zoom or an optical zoom can.
  • the zooming effect of the camera 60 is symbolized by way of example with viewing angles ⁇ 1 and ⁇ 2.
  • the camera 60 can be set, for example, so that a relatively close stretch of the distance is detected with the angle of view ⁇ 1.
  • the camera 60 may also be operated so that a relatively far-flung section is taken by the camera 60 in an angle of view that is directed far forward.
  • the image processing device 80 is thus able, with the aid of the control signal ST, to individually control the cameras 50 and 60 in such a way that a lying in front of the vehicle in the direction of travel section depending on the respective vehicle location and the respective vehicle speed is displayed. This allows a driver to early detect any dangers on the forward Steckenabêt and cause, for example, an emergency stop.
  • the operational data B supplied by the vehicle control and / or operation control system 100 may, as already mentioned, be the respective vehicle location and the respective speed of the vehicle 10.
  • other operational data of the vehicle control and / or operation control system 100 can be utilized: It is possible, for example, the distance to the nearest station, to possible danger points, to tunnel entrances, to platform edges, to curves or to sections behind curve areas to take into account in the selection of the image data displayed on the display device 140 and to display separately or highlight particularly hazardous or hazardous sections on the display device.
  • the cameras 50 and 60 are mounted on the track side only.
  • the video data acquired on the vehicle 10 can be transmitted via the radio link 120 to the control device 70 and thus to the image processing device 80, so that there image selection and image processing - as described - depending on the routing data B can be performed.
  • control device 70 and the image processing device 80 in the vehicle 10 and to transmit the data required for the operation of the route monitoring system 40 to the control device 70 via the radio link 120.
  • the video data V as well as the operational data B would be transmitted via the radio link 120 to the vehicle 10, in which the control device 70 with the image processing device 80 is located, in order to generate the video data V and the operational data B for the purpose of generating the video data V To evaluate display signal A.
  • FIG. 2 A second embodiment of a route monitoring system 40 is shown.
  • the route monitoring system 40 according to FIG. 2 there is a plurality of cameras 200 to 205 arranged on the track side, which are arranged one behind the other along the track 20 which can be driven by the vehicle 10 and which record successive track sections of the plug 20.
  • the orientation of the cameras is shown by way of example with reference to the camera 200, of which in US Pat FIG. 2 the recorded angle of view ⁇ 1 is symbolized.
  • the controller 70 is according to the embodiment FIG. 2 such that it displays the video data V of the cameras 200 to 205 on the display device 140 in chronological succession as a function of the respective vehicle location and the respective vehicle speed and in each case by a camera, for example the camera 200, to the respective next camera, here the camera 201, toggles before the vehicle 10 reaches the respective route section and / or the respective route section is visible from the vehicle 10.
  • FIG. 3 A third embodiment of a route monitoring system is shown.
  • the route monitoring system according to FIG. 3 essentially corresponds to the embodiment according to FIG. 1 ,
  • the display device 140 is not arranged on the vehicle 10, but the track side, so that a radio link between the vehicle 10 and the control device 70 is not required.
  • this can be connected to the control device 70, for example, by wire.
  • a wireless connection between the trackside control device 70 and the trackside display device 140 may be present.
  • FIG. 4 a fourth embodiment of a route monitoring system is shown. This corresponds essentially to the embodiment according to FIG. 2 with the exception that the display device 140 is not arranged on the vehicle 10, but on the track side.
  • the connection the trackside display device 140 to the trackside controller 70 may be wired, as shown in the FIG. 4 is shown, or alternatively wirelessly.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Traffic Control Systems (AREA)

Description

Die Erfindung bezieht sich auf ein Streckenüberwachungssystem mit den Merkmalen gemäß dem Oberbegriff des Anspruchs 1. Ein derartiges Streckenüberwachungssystem ist aus der PCT-Offenlegungsschrift WO 2005/058668 A2 bekannt.The invention relates to a route monitoring system having the features according to the preamble of claim 1. Such a route monitoring system is known from PCT Publication WO 2005/058668 A2 known.

Der Erfindung liegt die Aufgabe zugrunde, ein Streckenüberwachungssystem anzugeben, das ein noch größeres Maß an Sicherheit während des Betriebs des Fahrzeugs gewährleistet als bisherige Streckenüberwachungssysteme.The invention has for its object to provide a route monitoring system, which ensures an even greater degree of safety during operation of the vehicle than previous route monitoring systems.

Diese Aufgabe wird erfindungsgemäß durch ein Streckenüberwachungssystem mit den Merkmalen gemäß Patentanspruch 1 gelöst. Vorteilhafte Ausgestaltungen des erfindungsgemäßen Streckenüberwachungssystems sind in Unteransprüchen angegeben.This object is achieved by a route monitoring system with the features of claim 1. Advantageous embodiments of the track monitoring system according to the invention are specified in subclaims.

Danach ist u. a. vorgesehen, dass die Steuereinrichtung die Anzeige der Videodaten an den jeweiligen Fahrzeugort und die jeweilige Fahrzeuggeschwindigkeit adaptiv anpasst, und zwar derart, dass bei einer größeren Geschwindigkeit ein in Fahrtrichtung weiter vorn liegender Streckenabschnitt angezeigt wird als bei einer demgegenüber geringeren Geschwindigkeit. Durch die Anpassung der Anzeige an Fahrzeugort und Geschwindigkeit lässt sich erreichen, dass Hindernisse oder Gefahren auf der Strecke so frühzeitig erkannt werden können, dass das Fahrzeug noch Gelegenheit hat, rechtzeitig zu bremsen und ggf. einen Unfall, beispielsweise einen Zusammenstoß mit einer auf der Strecke befindlichen Person, zu vermeiden.Thereafter, inter alia, it is provided that the control device adaptively adapts the display of the video data to the respective vehicle location and the respective vehicle speed, in such a way that at a higher speed, a track section further ahead in the direction of travel is displayed than at a comparatively lower speed. By adjusting the display to the vehicle location and speed can be achieved so that obstacles or hazards on the track can be detected so early that the vehicle has still opportunity to brake in time and possibly an accident, such as a collision with one on the track person to avoid.

Ein wesentlicher Vorteil des erfindungsgemäßen Streckenüberwachungssystems ist darin zu sehen, dass dieses betriebliche Daten verwertet, die von einem Fahrzeugsteuerungs- und/oder Betriebsleitsystem für den Betrieb des Fahrzeugs geliefert werden. Der Kern der Erfindung besteht also darin, Streckenüberwachungssysteme mit für den Fahrzeugbetrieb sowieso vorhandenen Fahrzeugsteuerungs- und/oder Betriebsleitsystemen zu koppeln, um die Streckenüberwachung basierend auf den betrieblichen Daten optimieren zu können. Durch diese Kopplung der beiden Systeme, also des Streckenüberwachungssystems einerseits und des Fahrzeugsteuerungs- und/oder Betriebsleitsystems andererseits, wird ein Synergieeffekt erreicht, so dass Kosten für den Aufbau und den Unterhalt des Streckenüberwachungssystems eingespart werden können.A significant advantage of the track monitoring system according to the invention is the fact that this utilizes operational data that are supplied by a vehicle control and / or operation control system for the operation of the vehicle. The essence of the invention is therefore to link route monitoring systems with existing for vehicle operation vehicle control and / or operations control systems in order to optimize the route monitoring based on the operational data can. By this coupling of the two systems, ie the route monitoring system on the one hand and the vehicle control and / or operations control system on the other hand, a synergy effect is achieved, so that costs for the construction and maintenance of the route monitoring system can be saved.

Vorzugsweise ist die Steuereinrichtung derart ausgestaltet, dass sie die Videodaten auf der Anzeigeeinrichtung anzeigt, bevor der Streckenabschnitt vom Fahrzeug aus sichtbar ist. Ist die Anzeigeeinrichtung innerhalb des Fahrzeugs angeordnet, so erweitert das Streckenüberwachungssystem anschaulich beschrieben die Sichtweite des Fahrzeugführers.Preferably, the control device is configured such that it displays the video data on the display device before the route section is visible from the vehicle. If the display device is arranged inside the vehicle, then the route monitoring system visually expands the visibility of the vehicle driver.

Um zu erreichen, dass Gefahren besonders einfach und schnell auf der Anzeigeinrichtung erkannt werden können, wird es als vorteilhaft angesehen, wenn die Steuereinrichtung eine Bildbearbeitungseinrichtung aufweist, die den auf der Anzeigeeinrichtung angezeigten Bildausschnitt und/oder Blickwinkel an den jeweiligen Fahrzeugort und die jeweilige Fahrzeuggeschwindigkeit adaptiv anpasst. Beispielsweise weist die Bildbearbeitungseinrichtung eine elektronische Zoomfunktion auf, mit der durch Umrechnung der Bildinformationen ein Zoomeffekt auf rechnerischem Wege bewirkt wird.In order to ensure that dangers can be recognized particularly easily and quickly on the display device, it is considered advantageous if the control device has an image processing device which adapts the image detail and / or viewing angle displayed on the display device to the respective vehicle location and the respective vehicle speed adapts. For example, the image processing device has an electronic zoom function with which a zooming effect is effected by computation by converting the image information.

Auch wird es als vorteilhaft angesehen, wenn die Kamera eine Zoomfunktion, sei es eine elektronische oder eine optische Zoomfunktion, aufweist und die Steuereinrichtung die Zoomfunktion der Kamera derart steuert, dass die Kamera in Abhängigkeit von der jeweiligen Geschwindigkeit des Fahrzeugs nach vorne zoomt und dabei jeweils einen Streckenabschnitt aufnimmt, bevor das Fahrzeug den jeweiligen Streckenabschnitt erreicht und/oder der jeweilige Streckenabschnitt vom Fahrzeug aus sichtbar ist. Vorzugsweise steuert die Steuereinrichtung die Zoomfunktion derart an, dass bei einer größeren Geschwindigkeit ein in Fahrtrichtung weiter vorn liegender Streckenabschnitt angezeigt wird als bei einer demgegenüber geringeren Geschwindigkeit. Auch bei dieser Ausgestaltung lässt sich also eine orts- und geschwindigkeitsabhängige Anzeige auf der Anzeigeeinrichtung erreichen und die Unfallgefahr reduzieren.It is also considered advantageous if the camera has a zoom function, be it an electronic or an optical zoom function, and the control device controls the zoom function of the camera in such a way that the camera zooms in front of the camera depending on the respective speed of the vehicle picks up a stretch of roadway before the vehicle reaches the respective stretch of road and / or the particular stretch of road is visible from the vehicle. The control device preferably controls the zoom function in such a way that, at a greater speed, a section of track further ahead in the direction of travel is displayed than at a comparatively lower speed. In this embodiment, too, a location-dependent and speed-dependent display on the display device can be achieved and the risk of accidents reduced.

Gemäß einer weiteren besonders bevorzugten Ausgestaltung ist vorgesehen, dass das Streckenüberwachungssystem eine Mehrzahl an streckenseitig angeordneten Kameras aufweist, die entlang der vom Fahrzeug befahrbaren Strecke hintereinander angeordnet sind und aufeinanderfolgende Streckenabschnitte der Strecke aufnehmen, wobei die Steuereinrichtung derart ausgestaltet ist, dass sie die Videodaten der Kameras auf der Anzeigeeinrichtung in Abhängigkeit von dem jeweiligen Fahrzeugort und der jeweiligen Fahrzeuggeschwindigkeit zeitlich aufeinander folgend anzeigt und dabei jeweils von einer Kamera auf die jeweils nächste umschaltet, bevor das Fahrzeug den jeweiligen Streckenabschnitt erreicht und/oder der jeweilige Streckenabschnitt vom Fahrzeug aus sichtbar ist. Durch das Umschalten lässt sich eine kontinuierliche Streckenüberwachung erreichen. Die Kameras und/oder die Bildbearbeitungseinrichtung können dabei auch mit einer elektronischen oder optischen Zoomfunktion ausgestattet sein, um in den Zeitabschnitten zwischen einem Umschalten, in denen also das Bild einer einzigen Kamera verwertet wird, eine Anpassung des Bildwinkels und des Bildausschnitts ort- und geschwindigkeitsabhängig durchzuführen.According to a further particularly preferred embodiment, it is provided that the route monitoring system has a plurality of cameras arranged on the track side, which are arranged one after the other along the route which can be traveled by the vehicle and record successive route sections of the route, wherein the control device is designed such that it transmits the video data of the cameras displayed on the display device as a function of the respective vehicle location and the respective vehicle speed in chronological succession, each switching from one camera to the next, before the vehicle reaches the respective route section and / or the respective route section is visible from the vehicle. Switching allows continuous route monitoring to be achieved. The cameras and / or the image processing device can also be equipped with an electronic or optical Be equipped zoom function in the periods between a switch, in which so the image of a single camera is used to perform an adjustment of the image angle and the image section location and speed dependent.

Vorzugsweise wird die Steuereinrichtung jeweils von einer Kamera auf die jeweils nächste derart umschalten, dass bei einer größeren Geschwindigkeit ein in Fahrtrichtung weiter vorn liegender Streckenabschnitt angezeigt wird als bei einer demgegenüber geringeren Geschwindigkeit.The control device is preferably switched from one camera to the next in such a way that, at a higher speed, a section of track further ahead in the direction of travel is displayed than at a lower speed, on the other hand.

Die zumindest eine Anzeigeeinrichtung kann im Führerstand des Fahrzeugs und/oder in einer streckenseitigen Überwachungszentrale angeordnet sein.The at least one display device can be arranged in the driver's cab of the vehicle and / or in a trackside monitoring center.

Die Erfindung bezieht sich darüber hinaus auf ein Verfahren zum Aufnehmen und Anzeigen von Videodaten, die sich auf einen von einem Fahrzeug befahrbaren Streckenabschnitt mittelbar oder unmittelbar beziehen, wobei bei dem Verfahren Videodaten mit zumindest einer Kamera aufgenommen werden, und die Videodaten auf einer Anzeigeeinrichtung angezeigt werden.The invention further relates to a method for recording and displaying video data relating directly or indirectly to a section of a vehicle which can be traveled by a vehicle, wherein in the method video data is recorded with at least one camera and the video data is displayed on a display device ,

Bezüglich eines solchen Verfahrens sind erfindungsgemäß die Merkmale gemäß Anspruch 9 vorgesehen.With regard to such a method, the features according to claim 9 are provided according to the invention.

Bezüglich der Vorteile des erfindungsgemäßen Verfahrens sei auf die obigen Ausführungen im Zusammenhang mit dem erfindungsgemäßen Streckenüberwachungssystem verwiesen, da die Vorteile des Verfahrens denen des Streckenüberwachungssystems im Wesentlichen entsprechen. Vorteilhafte Ausgestaltungen des erfindungsgemäßen Verfahrens sind in Unteransprüchen angegeben.With regard to the advantages of the method according to the invention, reference is made to the above statements in connection with the route monitoring system according to the invention, since the advantages of the method essentially correspond to those of the route monitoring system. Advantageous embodiments of the method according to the invention are specified in subclaims.

Die Erfindung wird nachfolgend anhand von Ausführungsbeispielen näher erläutert: Dabei zeigen beispielhaft

Figur 1
ein erstes Ausführungsbeispiel für ein erfindungsgemäßes Streckenüberwachungssystem, bei dem Kameras mit einer optischen Zoomfunktion ausgestattet sind und eine Anzeigeeinrichtung im Führerstand des Fahrzeugs angeordnet ist,
Figur 2
ein zweites Ausführungsbeispiel für ein erfindungsgemäßes Streckenüberwachungssystem, bei dem eine adaptive Anpassung des Bildausschnitts und/oder des Blickwinkels in einer Bildbearbeitungseinrichtung durchgeführt wird, wobei die Anzeigeeinrichtung im Führerstand des Fahrzeugs angeordnet ist,
Figur 3
ein drittes Ausführungsbeispiel für ein erfindungsgemäßes Streckenüberwachungssystem, bei dem eine Anzeigeeinrichtung in einer streckenseitigen Überwachungszentrale angeordnet ist, und
Figur 4
ein viertes Ausführungsbeispiel für ein erfindungsgemäßes Streckenüberwachungssystem mit einer Anzeigeeinrichtung in einer streckenseitigen Überwachungszentrale.
The invention will be explained in more detail by means of exemplary embodiments
FIG. 1
a first embodiment of an inventive route monitoring system, in which cameras are equipped with an optical zoom function and a display device is arranged in the cab of the vehicle,
FIG. 2
a second exemplary embodiment of a route monitoring system according to the invention, in which an adaptive adaptation of the image detail and / or the viewing angle is carried out in an image processing device, wherein the display device is arranged in the driver's cab of the vehicle,
FIG. 3
a third embodiment of an inventive route monitoring system, in which a display device is arranged in a track-side monitoring center, and
FIG. 4
A fourth embodiment of an inventive route monitoring system with a display device in a trackside monitoring center.

In den Figuren werden der Übersicht halber für identische oder vergleichbare Komponenten stets dieselben Bezugszeichen verwendet.For the sake of clarity, the same reference numbers are always used in the figures for identical or comparable components.

In der Figur 1 erkennt man ein Fahrzeug 10, das entlang einer vorgegebenen Fahrtrichtung F auf einer Strecke 20 fährt. Der in Fahrtrichtung F des Fahrzeugs 10 vorausliegende Streckenabschnitt ist mit dem Bezugszeichen 30 gekennzeichnet.In the FIG. 1 can be seen a vehicle 10, which runs along a predetermined direction of travel F on a route 20. The distance ahead in the direction of travel F of the vehicle 10 is designated by the reference numeral 30.

Entlang der Strecke 20 ist ein Streckenüberwachungssystem 40 installiert, das eine Vielzahl an streckenseitigen Kameras aufweist. In der Figur 1 sind stellvertretend zwei der Kameras dargestellt und mit den Bezugszeichen 50 und 60 gekennzeichnet. Mit den Kameras steht eine Steuereinrichtung 70 in Verbindung, die zur Bildbearbeitung mit einer Bildbearbeitungseinrichtung 80 ausgestattet ist. Die Bildbearbeitungseinrichtung 80 ist außerdem an ein Fahrzeugsteuerungs- und/oder Betriebsleitsystem 100 angeschlossen, das betriebliche Daten B, die sich auf den Betrieb des Fahrzeugs 10 auf der Strecke 20 beziehen, zu der Bildbearbeitungseinrichtung 80 übermittelt.Along track 20, a track monitoring system 40 is installed having a plurality of trackside cameras. In the FIG. 1 are representative of two of the cameras shown and designated by the reference numerals 50 and 60. Connected to the cameras is a control device 70, which is equipped for image processing with an image processing device 80. The image processing device 80 is also connected to a vehicle control and / or operation control system 100, which transmits operational data B relating to the operation of the vehicle 10 on the route 20 to the image processing device 80.

Die Steuereinrichtung 70 ist mit einer Funkeinrichtung 110 ausgestattet, die in einer Funkverbindung 120 mit einer Funkeinrichtung 130 des Fahrzeugs 10 steht. An die Funkeinrichtung 130 ist eine fahrzeugseitige Anzeigeeinrichtung 140 angeschlossen.The control device 70 is equipped with a radio device 110 which is in a radio link 120 with a radio device 130 of the vehicle 10. To the radio device 130, a vehicle-side display device 140 is connected.

Das Streckenüberwachungssystem 40 gemäß Figur 1 lässt sich beispielsweise wie folgt betreiben:

  • Die Kameras 50 und 60 erzeugen Videodaten V, die zu der Bildbearbeitungseinrichtung 80 gelangen. Die Bildbearbeitungseinrichtung 80 wertet die Videodaten V sowie die betrieblichen Daten B des Fahrzeugsteuerungs- und/oder Betriebsleitsystems 100 aus und erzeugt ein Anzeigesignal A, das über die Funkverbindung 120 zu der Anzeigeeinrichtung 140 übertragen und dort angezeigt wird.
The route monitoring system 40 according to FIG. 1 can be operated, for example, as follows:
  • The cameras 50 and 60 generate video data V which comes to the image processing device 80. The image processing device 80 evaluates the video data V and the operational data B of the vehicle control and / or operation control system 100 and generates an indication signal A via the radio link 120 is transmitted to the display device 140 and displayed there.

Die Bildbearbeitungseinrichtung 80 berücksichtigt bei der Bildung des Anzeigesignals A den jeweiligen Ort des Fahrzeugs 10 auf der Strecke 20 sowie die Geschwindigkeit des Fahrzeugs 10, und zwar derart, dass stets ein in Fahrtrichtung F vorausliegender Streckenabschnitt 30 auf der Anzeigeeinrichtung 140 angezeigt wird. Weist das Fahrzeug 10 dabei eine große Geschwindigkeit auf, so wird die Bildbearbeitungseinrichtung 80 einen in Fahrtrichtung F weiter vorn liegenden Streckenabschnitt anzeigen und bei einer geringeren Geschwindigkeit einen weniger weit bzw. näher am Fahrzeug liegenden Streckenabschnitt zur Anzeige bringen. Vorzugsweise wird ein vorausliegender Streckenabschnitt angezeigt, vor dem im Rahmen einer Notbremsung noch angehalten werden kann.The image processing device 80 takes into account when forming the display signal A the respective location of the vehicle 10 on the route 20 and the speed of the vehicle 10, in such a way that always in the direction of travel F ahead lying section 30 is displayed on the display device 140. If the vehicle 10 has a high speed, the image processing device 80 will display a section of the road ahead in the direction of travel F and at a lower speed display a section less far or closer to the vehicle. Preferably, a preceding route section is displayed, before which can be stopped in the context of emergency braking.

Um in Abhängigkeit vom jeweiligen Ort des Fahrzeugs 10 und der jeweiligen Geschwindigkeit den optimalen Streckenabschnitt 30 auswählen und anzeigen zu können, sind die Kameras 50 und 60 jeweils mit einer Zoomfunktion ausgestattet, bei der es sich um einen elektronischen Zoom oder auch um einen optischen Zoom handeln kann. In der Figur 1 ist die Zoomwirkung der Kamera 60 beispielhaft mit Blickwinkeln α1 und α2 symbolisiert. Man erkennt, dass sich mit dem Steuersignal ST die Kamera 60 beispielsweise so einstellen lässt, dass ein relativ naher Streckenabschnitt mit dem Bildwinkel α1 erfasst wird. Alternativ kann die Kamera 60 auch so betrieben werden, dass ein relativ fern liegender Streckenabschnitt in einem Blickwinkel, der weit nach vorn gerichtet ist, von der Kamera 60 aufgenommen wird. Die Bildbearbeitungseinrichtung 80 ist also zusammengefasst in der Lage, mit Hilfe des Steuersignals ST die Kameras 50 und 60 individuell derart anzusteuern, dass ein in Fahrtrichtung vor dem Fahrzeug liegender Streckenabschnitt in Abhängigkeit von dem jeweiligen Fahrzeugort und der jeweiligen Fahrzeuggeschwindigkeit angezeigt wird. Dies ermöglicht es einem Fahrzeugführer, eventuelle Gefahren auf dem vorausliegenden Steckenabschnitt frühzeitig zu erkennen und beispielsweise eine Notbremsung zu veranlassen.In order to be able to select and display the optimum route section 30 as a function of the respective location of the vehicle 10 and the respective speed, the cameras 50 and 60 are each equipped with a zoom function, which is an electronic zoom or an optical zoom can. In the FIG. 1 the zooming effect of the camera 60 is symbolized by way of example with viewing angles α1 and α2. It can be seen that with the control signal ST, the camera 60 can be set, for example, so that a relatively close stretch of the distance is detected with the angle of view α1. Alternatively, the camera 60 may also be operated so that a relatively far-flung section is taken by the camera 60 in an angle of view that is directed far forward. The image processing device 80 is thus able, with the aid of the control signal ST, to individually control the cameras 50 and 60 in such a way that a lying in front of the vehicle in the direction of travel section depending on the respective vehicle location and the respective vehicle speed is displayed. This allows a driver to early detect any dangers on the forward Steckenabschnitt and cause, for example, an emergency stop.

Bei den betrieblichen Daten B, die von dem Fahrzeugsteuerungs- und/oder Betriebsleitsystem 100 geliefert werden, kann es sich - wie bereits erwähnt - um den jeweiligen Fahrzeugort und die jeweilige Geschwindigkeit des Fahrzeugs 10 handeln. Darüber hinaus können jedoch auch weitere betriebliche Daten des Fahrzeugsteuerungs- und/oder Betriebsleitsystems 100 verwertet werden: So ist es zum Beispiel möglich, die Entfernung zum jeweils nächsten Bahnhof, zu möglichen Gefahrenpunkten, zu Tunneleinfahrten, zu Plattformkanten, zu Kurven oder zu Streckenabschnitten hinter Kurvenbereichen bei der Auswahl der auf der Anzeigeeinrichtung 140 angezeigten Bilddaten zu berücksichtigen und besonders gefährdete bzw. gefährliche Abschnitte gesondert darzustellen oder auf der Anzeigeeinrichtung graphisch hervorzuheben.The operational data B supplied by the vehicle control and / or operation control system 100 may, as already mentioned, be the respective vehicle location and the respective speed of the vehicle 10. In addition, however, other operational data of the vehicle control and / or operation control system 100 can be utilized: It is possible, for example, the distance to the nearest station, to possible danger points, to tunnel entrances, to platform edges, to curves or to sections behind curve areas to take into account in the selection of the image data displayed on the display device 140 and to display separately or highlight particularly hazardous or hazardous sections on the display device.

Bei dem Ausführungsbeispiel gemäß Figur 1 sind die Kameras 50 und 60 ausschließlich streckenseitig angebracht. Darüber hinaus ist es möglich, auch auf dem Fahrzeug 10 weitere Kameras anzubringen und deren Videodaten zusätzlich zu berücksichtigen. Beispielsweise können die Videodaten, die auf dem Fahrzeug 10 erfasst werden, über die Funkverbindung 120 zur Steuereinrichtung 70 und damit zur Bildbearbeitungseinrichtung 80 übertragen werden, damit dort eine Bildauswahl und Bildverarbeitung - wie beschrieben - in Abhängigkeit von den berieblichen Daten B durchgeführt werden kann.In the embodiment according to FIG. 1 the cameras 50 and 60 are mounted on the track side only. In addition, it is possible to install on the vehicle 10 more cameras and their video data in addition to take into account. For example, the video data acquired on the vehicle 10 can be transmitted via the radio link 120 to the control device 70 and thus to the image processing device 80, so that there image selection and image processing - as described - depending on the routing data B can be performed.

Auch ist es möglich, die Steuereinrichtung 70 und die Bildbearbeitungseinrichtung 80 im Fahrzeug 10 anzuordnen und die für den Betrieb des Streckenüberwachungssystems 40 erforderlichen Daten über die Funkverbindung 120 zu der Steuereinrichtung 70 zu übertragen. Bei einer solchen Ausführungsform würden also die Videodaten V sowie auch die betrieblichen Daten B über die Funkverbindung 120 zu dem Fahrzeug 10 übertragen werden, in dem sich die Steuereinrichtung 70 mit der Bildbearbeitungseinrichtung 80 befindet, um die Videodaten V und die betrieblichen Daten B zwecks Erzeugung des Anzeigesignals A auszuwerten.It is also possible to arrange the control device 70 and the image processing device 80 in the vehicle 10 and to transmit the data required for the operation of the route monitoring system 40 to the control device 70 via the radio link 120. In such an embodiment, therefore, the video data V as well as the operational data B would be transmitted via the radio link 120 to the vehicle 10, in which the control device 70 with the image processing device 80 is located, in order to generate the video data V and the operational data B for the purpose of generating the video data V To evaluate display signal A.

Darüber hinaus ist es auch möglich, Kameras nicht nur vorne am Fahrzeug 10, sondern auch hinten am Fahrzeug 10 anzubringen, um eine Sicherung des Streckenabschnitts hinter dem Fahrzeug zu ermöglichen.Moreover, it is also possible to mount cameras not only on the front of the vehicle 10, but also on the rear of the vehicle 10, to enable a backup of the stretch behind the vehicle.

In der Figur 2 ist ein zweites Ausführungsbeispiel für ein Streckenüberwachungssystem 40 gezeigt. Bei dem Streckenüberwachungssystem 40 gemäß Figur 2 ist eine Mehrzahl an streckenseitig angeordneten Kameras 200 bis 205 vorhanden, die entlang der vom Fahrzeug 10 befahrbaren Stecke 20 hintereinander angeordnet sind und aufeinander folgende Streckenabschnitte der Stecke 20 aufnehmen. Die Ausrichtung der Kameras ist beispielhaft anhand der Kamera 200 gezeigt, von der in der Figur 2 der aufgenommene Bildwinkel α1 symbolisiert ist.In the FIG. 2 A second embodiment of a route monitoring system 40 is shown. In the route monitoring system 40 according to FIG FIG. 2 there is a plurality of cameras 200 to 205 arranged on the track side, which are arranged one behind the other along the track 20 which can be driven by the vehicle 10 and which record successive track sections of the plug 20. The orientation of the cameras is shown by way of example with reference to the camera 200, of which in US Pat FIG. 2 the recorded angle of view α1 is symbolized.

Die Steuereinrichtung 70 ist bei dem Ausführungsbeispiel gemäß Figur 2 derart ausgestaltet, dass sie die Videodaten V der Kameras 200 bis 205 auf der Anzeigeeinrichtung 140 in Abhängigkeit von dem jeweiligen Fahrzeugort und der jeweiligen Fahrzeuggeschwindigkeit zeitlich aufeinander folgend anzeigt und jeweils von einer Kamera, beispielsweise der Kamera 200, auf die jeweils nächste Kamera, hier also die Kamera 201, umschaltet, bevor das Fahrzeug 10 den jeweiligen Streckenabschnitt erreicht und/oder der jeweilige Streckenabschnitt vom Fahrzeug 10 aus sichtbar ist.The controller 70 is according to the embodiment FIG. 2 such that it displays the video data V of the cameras 200 to 205 on the display device 140 in chronological succession as a function of the respective vehicle location and the respective vehicle speed and in each case by a camera, for example the camera 200, to the respective next camera, here the camera 201, toggles before the vehicle 10 reaches the respective route section and / or the respective route section is visible from the vehicle 10.

Durch das Umschalten der Kameras in Abhängigkeit von dem Fahrzeugort und der Fahrzeuggeschwindigkeit ist es möglich, dem Fahrzeugführer des Fahrzeugs 10 auf der Anzeigeeinrichtung 140 zusätzliche Bilddaten anzuzeigen, die ihm vom Führerstand aus sonst nicht zugänglich wären. In dieser Weise ist es also möglich, frühzeitig Gefahren zu erkennen und ggf. eine Notbremsung auszulösen.By switching the cameras as a function of the vehicle location and the vehicle speed, it is possible for the driver of the vehicle 10 to display additional image data on the display device 140 that would otherwise not be accessible to him from the driver's cab. In this way, it is thus possible to detect dangers at an early stage and, if necessary, to trigger emergency braking.

In der Figur 3 ist ein drittes Ausführungsbeispiel für ein Streckenüberwachungssystem gezeigt. Das Streckenüberwachungssystem gemäß Figur 3 entspricht im Wesentlichen dem Ausführungsbeispiel gemäß Figur 1. Im Unterschied zur Figur 1 ist die Anzeigeeinrichtung 140 jedoch nicht auf dem Fahrzeug 10 angeordnet, sondern streckenseitig, so dass eine Funkverbindung zwischen dem Fahrzeug 10 und der Steuereinrichtung 70 nicht erforderlich ist. Im Falle einer streckenseitigen Anordnung der Anzeigeeinrichtung 140 kann diese beispielsweise drahtgebunden an die Steuereinrichtung 70 angeschlossen werden. Selbstverständlich kann alternativ auch eine drahtlose Verbindung zwischen der streckenseitigen Steuereinrichtung 70 und der streckenseitigen Anzeigeeinrichtung 140 vorhanden sein.In the FIG. 3 A third embodiment of a route monitoring system is shown. The route monitoring system according to FIG. 3 essentially corresponds to the embodiment according to FIG. 1 , In contrast to FIG. 1 However, the display device 140 is not arranged on the vehicle 10, but the track side, so that a radio link between the vehicle 10 and the control device 70 is not required. In the case of a trackside arrangement of the display device 140, this can be connected to the control device 70, for example, by wire. Of course, alternatively, a wireless connection between the trackside control device 70 and the trackside display device 140 may be present.

In der Figur 4 ist ein viertes Ausführungsbeispiel für ein Streckenüberwachungssystem dargestellt. Dieses entspricht im Wesentlichen dem Ausführungsbeispiel gemäß Figur 2 mit der Ausnahme, dass die Anzeigeeinrichtung 140 nicht auf dem Fahrzeug 10 angeordnet ist, sondern streckenseitig. Der Anschluss der streckenseitigen Anzeigeeinrichtung 140 an die streckenseitige Steuereinrichtung 70 kann drahtgebunden erfolgen, wie dies in der Figur 4 dargestellt ist, oder alternativ auch drahtlos.In the FIG. 4 a fourth embodiment of a route monitoring system is shown. This corresponds essentially to the embodiment according to FIG. 2 with the exception that the display device 140 is not arranged on the vehicle 10, but on the track side. The connection the trackside display device 140 to the trackside controller 70 may be wired, as shown in the FIG. 4 is shown, or alternatively wirelessly.

Claims (13)

  1. Route monitoring system (40) for a vehicle (10),
    - having at least one camera (50, 60, 200-205) arranged on the route for recording video data (V) which relate indirectly or directly to a route section (30) on which the vehicle can travel,
    - having at least one display device (140) for displaying the recorded video data, and
    - having a control device (70) which is connected indirectly or directly to the at least one camera and to the at least one display device and which is designed such that it displays the video data recorded by the camera on the display device,
    - wherein the control device is connected to a vehicle control and/or operations management system (100) for the operation of the vehicle and receives from the vehicle control and/or operations management system operational data (B) from which it is possible to ascertain the respective vehicle location of the vehicle, and
    - wherein the control device is designed such that it displays the video data on the display device on the basis of the respective vehicle location,
    characterized in that
    the control device is designed such that it adaptively matches the display of the video data to the respective vehicle location and the respective vehicle speed, specifically such that at a relatively high speed the route section displayed is further ahead in the direction of travel than at a contrastingly lower speed.
  2. Route monitoring system according to Claim 1,
    characterized in that
    the control device is designed such that it displays the video data on the display device before the route section is visible from the vehicle.
  3. Route monitoring system according to one of the preceding claims,
    characterized in that
    the control device has an image editing device which is designed such that it adaptively matches the image detail and/or viewing angle displayed on the display device to the respective vehicle location and the respective vehicle speed.
  4. Route monitoring system according to one of the preceding claims,
    characterized in that
    - the camera and/or the image editing device has a zoom function, and
    - the control device is designed such that it controls the zoom function such that the respective speed of the vehicle is taken as a basis for zooming forwards and displaying zoomed video data on the display device.
  5. Route monitoring system according to Claim 4,
    characterized in that
    the control device is designed such that it controls the zoom function such that at a relatively high speed the route section displayed is further ahead in the direction of travel than at a contrastingly lower speed.
  6. Route monitoring system according to one of the preceding claims,
    characterized in that
    - the route monitoring system has a plurality of cameras arranged on the route which are arranged in succession along the route on which the vehicle can travel and which record successive route sections of the route,
    - wherein the control device is designed such that it displays the video data from the cameras on the display device in chronological succession on the basis of the respective vehicle location and the respective vehicle speed and in so doing respectively switches from one camera to the next before the vehicle reaches the respective route section and/or the respective route section is visible from the vehicle.
  7. Route monitoring system according to Claim 6,
    characterized in that
    the control device is designed such that it respectively switches from one camera to the next such that at a relatively high speed the route section displayed is further ahead in the direction of travel than at a contrastingly lower speed.
  8. Route monitoring system according to one of the preceding claims,
    characterized in that
    at least one display device is arranged in the driver's cab of the vehicle or in a monitoring control center on the route.
  9. Method for recording and displaying video data (V) which relate indirectly or directly to a route section (30) on which a vehicle (10) can travel, wherein the method involves video data being recorded with at least one camera (50, 60, 200-205) and the video data being displayed on a display device (140), wherein the video data are displayed on the basis of the respective vehicle location of the vehicle,
    characterized in that
    the display is adaptively matched to the respective vehicle location and the respective vehicle speed, specifically such that at a relatively high speed the route section displayed is further ahead in the direction of travel than at a contrastingly lower speed.
  10. Method according to Claim 9,
    characterized in that
    the video data are displayed before the route section is visible from the vehicle.
  11. Method according to one of the preceding Claims 9-10,
    characterized in that
    the displayed image detail and/or the displayed viewing angle is adaptively matched to the respective vehicle location and the respective vehicle speed.
  12. Method according to one of the preceding Claims 9-11,
    characterized in that
    a zoom function on the camera or a zoom function on an image editing device is controlled such that the respective speed of the vehicle is taken as a basis for zooming forwards to form zoomed video data and displaying the zoomed video data.
  13. Method according to one of the preceding Claims 9-12,
    characterized in that
    - a plurality of cameras (200-205) arranged on the route are operated which are arranged in succession along the route on which the vehicle can travel and which record successive route sections of the route, and
    - the video data from the cameras are displayed on the display device in chronological succession on the basis of the respective vehicle location and the respective vehicle speed and in so doing there is a respective switch from one camera to the next before the vehicle reaches the respective route section and/or the respective route section is visible from the vehicle.
EP09742058A 2008-05-09 2009-05-05 Route monitoring system for a vehicle and method for operating the same Not-in-force EP2280859B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008023504A DE102008023504A1 (en) 2008-05-09 2008-05-09 Track monitoring system for a vehicle and method for its operation
PCT/EP2009/055415 WO2009135840A1 (en) 2008-05-09 2009-05-05 Route monitoring system for a vehicle and method for operating the same

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EP2280859A1 EP2280859A1 (en) 2011-02-09
EP2280859B1 true EP2280859B1 (en) 2012-10-31

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DK (1) DK2280859T3 (en)
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CN102015411A (en) 2011-04-13
ES2393844T3 (en) 2012-12-28
DE102008023504A1 (en) 2009-11-19
EP2280859A1 (en) 2011-02-09
US20110058041A1 (en) 2011-03-10
WO2009135840A1 (en) 2009-11-12
BRPI0912430A2 (en) 2016-03-15

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