EP4286245A1 - Vorrichtung zur erkennung von positionsinformationen - Google Patents

Vorrichtung zur erkennung von positionsinformationen Download PDF

Info

Publication number
EP4286245A1
EP4286245A1 EP23176460.6A EP23176460A EP4286245A1 EP 4286245 A1 EP4286245 A1 EP 4286245A1 EP 23176460 A EP23176460 A EP 23176460A EP 4286245 A1 EP4286245 A1 EP 4286245A1
Authority
EP
European Patent Office
Prior art keywords
position information
vehicle
information
data
rail
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP23176460.6A
Other languages
English (en)
French (fr)
Inventor
Yoshihiko Suzuki
Hiroyuki Kobayashi
Yusuke Takahashi
Tatsuya Oodake
Naoto Seto
Takuya FUTAGAMI
Takahisa Nakano
Wataru Asano
Yohei Hattori
Noriyasu Kato
Taisei SEGAWA
Hideaki Nameki
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toshiba Corp
Toshiba Infrastructure Systems and Solutions Corp
Original Assignee
Toshiba Corp
Toshiba Infrastructure Systems and Solutions Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toshiba Corp, Toshiba Infrastructure Systems and Solutions Corp filed Critical Toshiba Corp
Publication of EP4286245A1 publication Critical patent/EP4286245A1/de
Pending legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
    • 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

Definitions

  • Embodiments described herein relate generally to a position information detection device.
  • a position information detection device includes a receiver configured to receive a plurality of data in which a plurality of node coordinates arranged at regular intervals in such a manner as to correspond to left and right rails are correlated with position information; a generator configured to generate an edge image by using an input image from an imaging device disposed in a vehicle; a rail specifying unit configured to specify the data including second rail node string information that is the node coordinates that are most overlapping with a position of an edge included in the edge image; and a vehicle position acquisition unit configured to acquire second position information based on the specified data.
  • FIG. 1 is a diagram schematically illustrating an example of an overall configuration of a position information detection system including a position information detection device according to one embodiment.
  • the position information detection system illustrated in FIG. 1 includes a vehicle 1 and a central device 2.
  • the vehicle 1 is a vehicle included in a train that runs on rails, for example, according to a predetermined schedule. Note that in a case where a train includes a plurality of vehicles, it is not necessary that all vehicles include the functions described below.
  • the vehicle 1 is connected to the central device 2 and a satellite 3 via a network.
  • the vehicle 1 is, for example, a vehicle located forwardmost in a traveling direction of a train including a plurality of vehicles, and includes an antenna (not illustrated) that receives an electric wave from the satellite 3.
  • the antenna is, in design, disposed on a roof portion about 3 m backward from the frontmost position of the vehicle that is located forwardmost.
  • the position information of the vehicle 1 is based on the position at which the antenna is disposed.
  • the central device 2 is configured to be communicable with the vehicle 1 via a network, and manages the operational condition of, for example, a plurality of vehicles 1.
  • FIG. 2 is a block diagram illustrating an example of a configuration of the central device 2 according to one embodiment.
  • the central device 2 of the present embodiment includes a receiver 21, a controller 22, an input unit 23, an output unit 24, a storage unit 25, a transmitter 26, and a bus communication line BL1.
  • the bus communication line BL1 is connected to each of the structural components included in the central device 2.
  • the controller 22 can transmit and receive data to and from the other structural components included in the central device 2 via the bus communication line BL1.
  • the receiver 21 receives, from the vehicle 1, landmark information and information relating to an error corrected by the vehicle 1 (hereinafter referred to as "error information").
  • the error information includes, for example, at least one of a fact that an error exists in present position information of the vehicle 1 (hereinafter referred to as "first position information”) acquired by using GNSS position information; a fact that an error was corrected by position information of the vehicle 1 (hereinafter “second position information”) acquired by using an input image from a an imaging device 4 (to be described later); a fact that an error was corrected by using position information of the vehicle 1 (hereinafter “third position information") acquired by using landmark information; landmark information included in a corrected input image; a correction area estimated from the first position information; and rail node string information of a correction area that can be acquired from data of a map database.
  • the information included in the error information is not limited to the above. The details of the landmark information, the second position information and the third position information will be described later.
  • the controller 22 includes at least one of processors such as a CPU (Central Process Unit), an MPU (micro processing unit), a GPU (Graphics Processing Unit), and an FPGA (field-programmable gate array).
  • processors such as a CPU (Central Process Unit), an MPU (micro processing unit), a GPU (Graphics Processing Unit), and an FPGA (field-programmable gate array).
  • the controller 22 can implement various functions of the central device 2, based on programs, such as system software, application software or firmware, stored in an auxiliary storage unit 252.
  • the controller 22 compares, by referring to the position information of the vehicle 1, landmark information that is fed back from the vehicle 1, and landmark information included in the data of a map database stored in the storage unit 25. In a case where a landmark existing in a landmark candidate area included in the fed-back landmark information does not agree with a landmark existing in a landmark candidate area included in the landmark information of the map database, the controller 22 corrects the information as needed, and outputs the corrected information to the output unit 24.
  • the input unit 23 may include, for example, a user interface such as a mouse or a keyboard, and various kinds of sensors such as a microphone, a touch panel and a camera.
  • the input unit 23 transmits information, which is acquired by an operation of a user, to the controller 22 via the bus communication line BL1.
  • the output unit 24 may include, for example, display means such as a monitor, and sound output means such as a speaker. Note that the output unit 24 may be configured to be connected to an outside of a computer.
  • the output unit 24 displays information, which is output by the controller 22, on a monitor or the like as alarm information, or outputs the information by using sound output means such as a speaker.
  • the storage unit 25 includes, for example, a main storage unit 251 and an auxiliary storage unit 252.
  • the main storage unit 251 may include, for example, a ROM (read-only memory) and a RAM (random-access memory).
  • the ROM is a nonvolatile memory that is used for data read only, and can store data and various setting values, which are used by the controller 22 in executing various processes.
  • the RAM can be used as a so-called work area, in which the controller 22 temporarily stores data in executing various processes.
  • the main storage unit 251 of the present embodiment is, for example, a RAM, and is used as a memory.
  • the main storage unit 251 can temporarily store the data of the map database, a position information priority setting, error information, and the like.
  • the auxiliary storage unit 252 is a non-transitory computer-readable storage medium of a computer whose central component is the controller 22.
  • the auxiliary storage unit 252 is, for example, an EEPROM (trademark) (electric erasable programmable read-only memory), an HDD (hard disk drive), an SSD (solid state drive), or the like.
  • the auxiliary storage unit 252 can store data used by the controller 22 in executing various processes, and data or various setting values generated in the processing in the controller 22.
  • the auxiliary storage unit 252 is a memory that stores various kinds of information, and can store timetable (schedule) information, the data of the map database, position information priority setting, and error information. A concrete description of the position information priority setting will be given later.
  • the timetable (schedule) information includes information of the position and time of a vehicle, for example, information of a station at which the vehicle stops, a time at which the vehicle arrives at the station, and a time at which the vehicle leaves the station, in a running route of the vehicle 1.
  • the map database includes a plurality of sets of data, which are correlated and stored so as to correspond to the position information of the vehicle 1.
  • the map database includes, for example, a plurality of sets of data, such as position information (latitude, longitude, altitude), land undulations, rail shapes, location features, landmark information (number, size, coordinates, type), left rail node information (number, coordinates), and right rail node information (number, coordinates).
  • pieces of data are correlated with, for example, identifiers (for example, row numbers) that are added in the order of pieces of position information of positions over which the vehicle runs.
  • the data stored in the map database is not limited to the above. It is assumed that the data of the map database is acquired or updated in advance by a dedicated vehicle.
  • FIG. 3 is a view for describing an example of left-and-right rail node information included in the map database.
  • the coordinates in the left-and-right rail node information included in the map database are position coordinates of rails in a photographed image captured by the imaging device 4 while the vehicle 1 runs over a position of the position information (latitude, longitude, altitude).
  • the coordinates of a node are calculated by setting an upper left of an input image from the imaging device 4 (an upper left in a case of facing toward the traveling direction of the vehicle 1) as a reference 0 (origin), and setting the right in a horizontal direction from the reference as an x-axis positive value and the down side in a vertical direction from the reference as a y-axis positive value. It is assumed that the reference point and the axes are preset by a map database creator or the like. In addition, the same applies to the coordinates in the landmark information stored in the map database.
  • the rail node string information is composed of a plurality of node coordinates arranged at regular intervals, and is correlated with the position information (latitude, longitude, altitude) of the vehicle 1.
  • a shape substantially equal to the shape of a rail can be reproduced by connecting neighboring nodes (nodes with a least distance of node coordinates) included in the rail node string information by a straight line.
  • a shape substantially equal to the shape of the rail can similarly be reproduced by decreasing the distance between nodes as small as possible by creating a curved line in a pseudo-manner.
  • the transmitter 26 transmits the data of the map database to the vehicle 1 (a position information detection device 5 and a support control device 6 to be described later).
  • the data of the map database in the central device 2 may include data of two map databases of master data and vehicle instruction data.
  • the master data of the map database includes detailed map information of the entire running route
  • the vehicle instruction data of the map database is data including at least partial information of the master data and includes data in a running route for each vehicle according to the schedule (timetable).
  • the transmitter 26 Upon a request from the vehicle 1, or periodically, transmits at least the vehicle instruction data to the position information detection device 5 and the support control device 6.
  • FIG. 4 is a block diagram illustrating one configuration example of a vehicle in which a position information detection device according to one embodiment is mounted.
  • the bus communication line BL2 is connected to each of the structural components included in the vehicle 1.
  • a controller 52 included in the position information detection device 5, and a correction controller 62 included in the support control device 6 can communicate data with the other structural components included in the vehicle 1 via the bus communication line BL2.
  • the imaging device 4 is, for example, a stereo camera.
  • the imaging device 4 transmits a photographed image to the position information detection device 5 as an input image.
  • the imaging device 4 may be configured to transmit input images 30 times per second.
  • the frequency, at which the imaging device 4 transmits input images to the position information detection device 5, is not limited to the above, and may be changed as appropriate in accordance with the frame rate of the imaging device 4 and the frequency of electric wave reception from the satellite 3.
  • the receiver 61 receives the first position information from the antenna that receives an electric wave of the satellite 3.
  • the receiver 61 includes a function of receiving a plurality of data of the map database.
  • the receiver 61 receives, from the position information detection device 5, the second position information, the third position information, the rail node string information and the landmark information.
  • the correction controller 62 includes at least one of processors such as a CPU (Central Process Unit), an MPU (micro processing unit), a GPU (Graphics Processing Unit), and an FPGA (field-programmable gate array).
  • processors such as a CPU (Central Process Unit), an MPU (micro processing unit), a GPU (Graphics Processing Unit), and an FPGA (field-programmable gate array).
  • the correction controller 62 can implement various functions of the support control device 6, based on programs, such as system software, application software or firmware, stored in an auxiliary storage unit 632.
  • the correction controller 62 compares the first position information and the second position information, and executes a process corresponding to the comparison result. To be more specific, the correction controller 62 detects an error between the first position information and the second position information, and, in a case where the error exceeds a predetermined threshold, refers to a position information priority setting, and can correct the error by setting the first position information or the second position information as the present position information of the vehicle 1.
  • the correction controller 62 compares the first position information and the third position information, and executes a process corresponding to the comparison result.
  • the correction controller 62 compares the second position information and the third position information, and executes a process corresponding to the comparison result.
  • the storage unit 63 includes, for example, a main storage unit 631 and an auxiliary storage unit 632.
  • the main storage unit 631 can temporarily store the data of the map database, first position information, rail node string information, second position information, landmark information, third position information, position information priority setting, and information (error information) relating to an error corrected by the correction controller 62.
  • the position information priority setting is set based on the shape of the rail.
  • the shape of the rail can be discriminated by narrowing down the area from the first position information. For example, if the shape of the rail is straight, there is a case where rail node string information is similar. Thus, the possibility that correct position information cannot be acquired increases, and the priority to the second position information lowers.
  • the shape of the rail is a curved line, such as a curve, there is a case where the rail node string information becomes similar in a place at which the curvature does not vary, and therefore the priority to the second position information lowers.
  • the main storage unit 531 may include, for example, a ROM (read-only memory) and a RAM (random-access memory).
  • the ROM is a nonvolatile memory that is used for data read only, and can store data and various setting values, which are used by the controller 52 in executing various processes.
  • the RAM can be used as a so-called work area, in which the controller 52 temporarily stores data in executing various processes.
  • the main storage unit 531 of the present embodiment is, for example, a RAM, and is used as a memory.
  • the landmark detector 524 detects a landmark within the range of, or in the vicinity of, the landmark candidate area. If the landmark detector 524 detects a landmark within the range of, or in the vicinity of, the landmark candidate area, the landmark detector 524 detects an error between the landmark candidate area and the landmark detection area. Regardless of the presence or absence of the error, the landmark detector 524 specifies the data including the landmark information, from the landmark coordinates of the landmark detection area, and acquires the third position information based on the specified data (step 9).
  • the controller 52 compares the first position information and the second position information, and determines the present position information of the vehicle 1 (step 10).
  • the controller 52 compares the first position information and the third position information, based on the position information priority setting once again, and determines the present position information of the vehicle 1 (step 13).
  • the controller 52 determines, based on the position information priority setting, the first position information as the present position information of the vehicle 1 (step 13, NO), the controller 52 maintains the present vehicle position information as the first position information (step 14).
  • the controller 52 determines, based on the position information priority setting, the third position information as the present position information of the vehicle 1 (step 13, YES), the controller 52 updates the present vehicle position information to the third position information (step 15).
  • the controller 52 determines, based on the position information priority setting, the second position information as the present position information of the vehicle 1 (step 10, YES), the controller 52 updates the present vehicle position information to the second position information (step 12).
  • the controller 52 determines, based on the position information priority setting, the second position information as the present position information of the vehicle 1 (step 16, NO), the controller 52 maintains the present vehicle position information as the second position information (step 17).
  • the controller 52 causes the transmitter 54 to transmit the data including the present position information of the vehicle 1 to the support control device 6 (step 19), and terminates the process.
  • the controller 52 determines, based on the position information priority setting, the second position information as the present position information of the vehicle 1 (step 20, YES), the controller 52 updates the present vehicle position information to the second position information (step 22).
  • the controller 52 causes the transmitter 54 to transmit the data including the present position information of the vehicle 1 to the support control device 6 (step 23), and terminates the process.
  • the first position information is set as the reference, but the second position information or the third position information may be set as the reference. If the present position information of the vehicle 1 is updated, the process of the flowchart transitions by using this position information as the reference.
  • the vehicle position acquisition unit 523 is configured to select position information that is higher in the position information priority setting, next to the presently selected position information.
  • the predetermined thresholds are preset by an administrator or a user of the position information detection system.
  • the reference for the area determination is not limited to the first position information, and may be the second position information or the third position information.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Navigation (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
EP23176460.6A 2022-06-03 2023-05-31 Vorrichtung zur erkennung von positionsinformationen Pending EP4286245A1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2022090911A JP2023177938A (ja) 2022-06-03 2022-06-03 位置情報検知装置

Publications (1)

Publication Number Publication Date
EP4286245A1 true EP4286245A1 (de) 2023-12-06

Family

ID=86646635

Family Applications (1)

Application Number Title Priority Date Filing Date
EP23176460.6A Pending EP4286245A1 (de) 2022-06-03 2023-05-31 Vorrichtung zur erkennung von positionsinformationen

Country Status (3)

Country Link
EP (1) EP4286245A1 (de)
JP (1) JP2023177938A (de)
CN (1) CN117169922A (de)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014220778A1 (de) * 2014-10-14 2016-04-14 Robert Bosch Gmbh Verfahren zum Überwachen von Gleisabschnitten bei einem Schienenfahrzeug
EP3722182A1 (de) * 2019-04-12 2020-10-14 Thales Management & Services Deutschland GmbH Verfahren zum sicheren und autonomen bestimmen einer positionsinformation eines zuges auf einem gleis
WO2022018918A1 (ja) * 2020-07-20 2022-01-27 株式会社 東芝 鉄道線路情報取得装置、及び鉄道線路情報取得方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014220778A1 (de) * 2014-10-14 2016-04-14 Robert Bosch Gmbh Verfahren zum Überwachen von Gleisabschnitten bei einem Schienenfahrzeug
EP3722182A1 (de) * 2019-04-12 2020-10-14 Thales Management & Services Deutschland GmbH Verfahren zum sicheren und autonomen bestimmen einer positionsinformation eines zuges auf einem gleis
WO2022018918A1 (ja) * 2020-07-20 2022-01-27 株式会社 東芝 鉄道線路情報取得装置、及び鉄道線路情報取得方法
EP4183660A1 (de) * 2020-07-20 2023-05-24 Kabushiki Kaisha Toshiba Vorrichtung zur erfassung von eisenbahnlinieninformationen und verfahren zur erfassung von eisenbahnlinieninformationen

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
PETER HINTZE ET AL: ""Im Plan steht aber ein anderer Kilometer!" - Das Potenzial georeferenzierter Bahninfrastrukturdaten - "But that's not the kilometre in the plan!" - the potential of georeferenced railway infrastructure data", SIGNAL UND DRAHT: SIGNALLING & DATACOMMUNICATION, vol. 110, no. 11, 1 November 2018 (2018-11-01), DE, pages 6 - 15, XP055522312, ISSN: 0037-4997 *

Also Published As

Publication number Publication date
JP2023177938A (ja) 2023-12-14
CN117169922A (zh) 2023-12-05

Similar Documents

Publication Publication Date Title
US9989626B2 (en) Mobile robot and sound source position estimation system
CN108351217B (zh) 在全球定位系统拒绝访问的导航、追踪及定位的移动装置
EP2950292B1 (de) Fahrunterstützungsvorrichtung, fahrunterstützungsverfahren und aufzeichnungsmedium zur speicherung eines fahrunterstützungsprogramms
KR20190082068A (ko) 포인트 클라우드 데이터를 융합하기 위한 방법 및 장치
JP5716935B2 (ja) 交通状況監視システム、方法、およびプログラム
KR102263185B1 (ko) 차량의 위치 결정 방법
US9465099B2 (en) Method for measuring position of vehicle using cloud computing
US9307369B2 (en) Wireless position detection apparatus and storage medium
US20110213550A1 (en) Navigation system
US20190003840A1 (en) Map registration point collection with mobile drone
US10437260B2 (en) Systems and methods for controlling aerial vehicles
US10132915B2 (en) System and method for integrated navigation with wireless dynamic online models
CN109642955B (zh) 列车位置检测装置以及方法
JP4702800B2 (ja) Ｇｐｓ測位による位置算出装置
CN112601928A (zh) 位置坐标推定装置、位置坐标推定方法以及程序
US20190033886A1 (en) Systems and methods for controlling aerial vehicles
US11879983B2 (en) Location method using GNSS signals
EP4286245A1 (de) Vorrichtung zur erkennung von positionsinformationen
US20190033884A1 (en) Systems and methods for controlling aerial vehicles
JP2004144622A (ja) 斜面監視システム
KR101565485B1 (ko) 위치 오차 보정 장치 및 그 방법
EP4307252A1 (de) Musterunterscheidungsvorrichtung
KR20140048547A (ko) 선박 운항 항적 추적 시스템 및 방법
KR102205479B1 (ko) 센서의 탐지 정확도 평가를 위한 방법 및 그를 위한 장치
KR20140132959A (ko) 누적 헤딩 변화량을 이용한 맵매칭 시스템 및 방법

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20230531

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC ME MK MT NL NO PL PT RO RS SE SI SK SM TR