EP4676804A1

EP4676804A1 - Railway map generation apparatus and railway map generation method

Info

Publication number: EP4676804A1
Application number: EP23926289.2A
Authority: EP
Inventors: Aman Shrestha; Kenji Imamoto; Kiwamu Sato
Original assignee: Hitachi Ltd
Current assignee: Hitachi Ltd
Priority date: 2023-03-08
Filing date: 2023-03-08
Publication date: 2026-01-14
Also published as: JP2026506668A; WO2024185077A1

Abstract

A railway map generation apparatus 1 includes: a map design reading module 10 configured to read the map design document 2 indicating an object present along a railway track and extract railway map information; a railway map data creation module 20 configured to create railway map data based on the railway map information; a sensing data acquisition module 30 configured to acquire sensing data indicating sensing result of the object sensed by the sensor 3; a railway map data matching module 40 configured to compare the sensing data with the railway map data; and a railway map data update module 50 configured to update the railway map based on the result of comparison by the railway map data matching module 40.

Description

RAILWAY MAP GENERATION APPARATUS AND RAILWAY MAP GENERATION METHOD

The present invention relates to an apparatus and a method of generating a railway map.

In railway systems, devices for traffic control such as signals and infrastructure devices are present along railway lines of railway networks. Since information provided by these devices is vital for train drivers, location information of the devices along railway lines is required. Based on this situation, a technology enabling automatic generation of a railway map indicating locations of the devices along railway lines has been researched conventionally.

The following PTL 1 is known as a prior art of the present invention. PTL 1 discloses a method to produce a map of a railway line from a database of a railway network containing position and elevation information of signaling devices and infrastructure devices of the railway network.

EP 3992056 A1

According to PTL 1, preparing the database containing position and elevation information of the devices is necessary to generate the map. However, the locations of the devices are not publicly known and therefore the database does not exist generally, it is difficult to prepare the database. It may be possible to prepare the database manually, but many time and costs are required.

The present invention has been conceived in consideration of problems such as those described above, and its principal object is to generate a railway map for train operation with less time and costs.

SOLUTION TO TECHNICAL PROBLEM

A railway map generation apparatus according to the present invention comprises: a map design reading module configured to read a map design document indicating an object present along a railway track and extract railway map information relating a positional relationship between a specific point on the railway track and the object; a railway map data creation module configured to create railway map data based on the railway map information; a sensing data acquisition module configured to acquire sensing data indicating sensing result of the object sensed by a sensor mounted on a train running on the railway track; a railway map data matching module configured to compare the sensing data with the railway map data; and a railway map data update module configured to update the railway map based on the result of comparison by the railway map data matching module.
A railway map generation method according to the present invention comprises: reading a map design document indicating an object present along a railway track; extracting railway map information relating a positional relationship between a specific point on the railway track and the object; creating railway map data based on the railway map information; acquiring sensing data indicating sensing result of the object sensed by a sensor mounted on a train running on the railway track; comparing the sensing data with the railway map data; and updating the railway map based on the result of comparison.

According to the present invention, it is possible to generate a railway map for train operation with less time and costs.

Fig. 1 is a figure showing functional blocks of a railway map generation apparatus according to a first embodiment of the present invention. Fig. 2 is a figure showing hardware configuration of the railway map generation apparatus of the first embodiment. Fig. 3 is a flowchart of processing performed by the railway map generation apparatus of the first embodiment. Fig. 4 is a figure showing an example of a situation in which a sensing data acquisition module acquires the sensing data from a sensor. Fig. 5 is a figure showing an example of the positional relationships between the objects detected by the sensor in the situation illustrated in Fig. 4. Fig. 6 is a figure showing functional blocks of a railway map generation apparatus according to a second embodiment of the present invention. Fig. 7 is a flowchart of processing performed by the railway map generation apparatus of the second embodiment.

(First Embodiment)
Fig. 1 is a figure showing functional blocks of a railway map generation apparatus according to a first embodiment of the present invention. As shown in Fig. 1, the railway map generation apparatus 1 of this embodiment is configured by comprising a map design reading module 10, a railway map data creation module 20, a sensing data acquisition module 30, a railway map data matching module 40, a railway map data update module 50, and a railway map database 70.

A map design document 2 is input to the map design reading module 10. The map design document 2 is a physical or digital document used for design or operation indicating information relevant to railways. The information includes distances of railway lines from the origin point and locations of railway facilities such as stations, crossings and devices for traffic control of trains like signals, balises and other train protection elements. The location of these items could be represented in the map design document 2 by pictorial icons or texts.

As the map design document 2 is input to the map design reading module 10, the map design reading module 10 reads it to extract the information explained above as railway map information relating a positional relationship between a specific point on the railway track and objects present along the railway track. The railway map information could be extracted by pattern/template matching with machine learning. The origin point or a station could be used as the specific point on the railway track indicating the reference point of distances of the objects along the railway track.

The railway map data creation module 20 creates railway map data based on the railway map information extracted from the map design document 2 by the map design reading module 10, and records the created railway map data in the railway map database 70. The railway map data represent a railway map showing arrangements of the railway tracks and the railway facilities (stations, crossings, the devices for traffic control of trains and the like) that are present along the railway tracks in a given area or route. Each entry of the railway map data recorded in the railway map database 70 would have the following information in a plurality of configurations, combinations and orders; but they are not limited to:
Distance from the origin point
Distance from the nearest station
Object type (signal, train protection. etc.)
Index of object on the train line
Inbound or Outbound (describing the orientation of the object)
Pictorial icon from the map design document 2

The railway map database 70 could be recorded in a plurality of formats. It may be configured as a structured data frame, a markup language file, a text-based database or the like. An offline storage medium, an online server or a combination thereof would be used as the railway map database 70.

The sensing data acquisition module 30 acquires sensing data from a sensor 3 mounted on a train running on the railway track. The sensor 3, which could be an image sensor, a RADAR, a LiDAR, an ultrasonic sensor, a GNSS sensor and the like, senses various objects present near the railway track as the train runs on it, and outputs the sensing data indicating sensing results of the objects. By doing this, the sensing data acquisition module 30 can acquire the information of the shapes and positions of the devices for traffic control (signals etc.) and structures (buildings etc.) as the sensing data from the sensor 3. Note that a plurality of sensors may be used together as the sensor 3. Namely, the sensing data acquisition module 30 can acquire the sensing data by combining plural sensing results of the object each sensed by the different sensors.

The railway map data matching module 40 compares the sensing data acquired by the sensing data acquisition module 30 with the railway map data recorded in the railway map database 70 for each of the objects sensed by the sensor 3. If there is a mismatch between the sensing data and the railway map data, the information of difference thereof is output from the railway map data matching module 40 to the railway map data update module 50.

The railway map data update module 50 updates the railway map based on the result of comparison by the railway map data matching module 40. Specifically, if the railway map data matching module 40 has judged there is a mismatch between the sensing data and the railway map data, the railway map data update module 50 compensates the railway map data recorded in the railway map database 70 based on the information of difference input from the railway map data matching module 40. By doing this, the railway map drawn by the railway map data can be revised according to the real-world condition.

Fig. 2 is a figure showing hardware configuration of the railway map generation apparatus 1 of this embodiment. As shown in Fig. 2, the railway map generation apparatus 1 could be a computer comprising a CPU 101, a memory 102, a storage device 103, an input device 104, an output device 105 and a communication interface 106 each connected via a communication bus 107.

The CPU 101 performs various processing for controlling the railway map generation apparatus 1 to enable its functions. The CPU 101 can cause a computer to operate as the railway map generation apparatus 1 by executing predetermined programs using the memory 102 as a working area.

The memory 102 is constituted by, for instance, a RAM (Random Access Memory). The memory 102 interfaces with the CPU 101 to temporarily store the data used in the programs being executed.

The storage device 103 is a recording medium that can store various programs and data in non-transitory forms. A ROM (Read Only Memory), an HDD (Hard Disk Drive), a flash memory and the like may be used as the storage device 103.

The input device 104 is a device for reception of input data from the user of the railway map generation apparatus 1. A keyboard, a mouse, a touch panel and the like may be used as the input device 104.

The output device 105 is a device for data output to the user of the railway map generation apparatus 1. A monitor, a printer and the like may be used as the output device 105.

The communication interface 106 connects to a communication network (not shown) and, via the communication network, transmits and receives various data between the railway map generation apparatus 1 and other devices including the sensor 3. A mobile network, a wired or wireless LAN (Local Area Network), the Internet and the like may be used as the communication network.

The map design reading module 10, the railway map data creation module 20, the sensing data acquisition module 30, the railway map data matching module 40 and the railway map data update module 50 shown in Fig. 1 may be implemented in the railway map generation apparatus 1 by executing programs stored in the storage device 103 with the CPU 101. The railway map database 70 shown in Fig. 1 may be implemented in the railway map generation apparatus 1 by the storage device 103.

Fig. 3 is a flowchart of processing performed by the railway map generation apparatus 1 of this embodiment. The processing shown by the flow chart of Fig. 3 is executed by the CPU 101 operating as the modules shown in Fig. 1 in the railway map generation apparatus 1.

In a step S10, the map design reading module 10 reads the map design document 2. In this step, the map design reading module 10 may scan the physical document of the map design document 2 to read its contents, or may read the digital document of the map design document 2 to acquire its contents.

In a step S20, the map design reading module 10 extracts the railway map information from the contents of the map design document 2 read in the step S10. In this step, the map design reading module 10 would extract, as the railway map information, the location information relating positional relationships between a specific point (the origin point, the station and the like) on the railway track and objects (signals and the like) along the railway track.

In a step S30, the railway map data creation module 20 creates the railway map data based on the railway map information extracted in the step 20, and record it to the railway map database 70. In this step, the railway map data creation module 20 would create the railway map data indicating locations of the objects each present along the railway tracks relative to the specific point, in addition to the railway map data indicating the arrangement of the railway tracks.

In a step S40, the sensing data acquisition module 30 acquires the sensing data of the objects from the sensor 3. In this step, the sensor 3 mounted on a train senses the locations of the various objects (the devices for traffic control like signals, the structures like buildings and so on), present along the railway tracks on which the train runs, and outputs the sensing data of the objects to the sensing data acquisition module 30. The sensing data acquisition module 30 can acquire the sensing data thus output from the sensor 3.

In a step S50, the railway map data matching module 40 calculates the locations of the objects for which the sensing data was acquired in the step 40. In this step, the railway map data matching module 40 would calculate the geographical locations of the objects (the devices for traffic control like signals, the structures like buildings and so on) present along the railway tracks based on the sensing data. More specifically, for instance, the railway map data matching module 40 can calculate the geographical locations of the objects based on the GNSS sensing data indicating the absolute location of the sensor 3 and the location data such as RADAR or LiDAR sensing data indicating the relative location of the objects. In this calculation process, the railway map data matching module 40 may complement the sensing data of the given object based on the sensing data of the other object around thereof.

An example of the processing executed in the steps S40 and S50 is explained below referring to Figs. 4 and 5.

Fig. 4 is a figure showing an example of the situation in which the sensing data acquisition module 30 acquires the sensing data from the sensor 3 in the step S40. The sensor 3 is mounted on the train 41 running on the railway track 43 senses the locations of the signal 42 and the buildings 44, 45 and 46, and outputs the sensing data indicating the sensing results of these objects. In addition, the sensor 3 senses the location movement history of the train 41 as it runs on the railway track 43, which indicates the arrangement of the railway track 43, and outputs the sensing data thereof. In the step S40, the sensing data acquisition module 30 acquires these sensing data output from the sensor 3.

Fig. 5 is a figure showing an example of the positional relationships between the objects detected by the sensor 3 in the situation illustrated in Fig. 4. As explained above, the railway map data matching module 40 can calculate the geographical locations of the objects detected by the sensor 3 based on the sensing data acquired by the sensing data acquisition module 30. By doing this processing on the situation of Fig. 4, the positional relationships between the signal 42, the railway track 43 and the buildings 44, 45 and 46 can be calculated as shown in Fig. 5. Note that Fig. 5 illustrates the positional relationships of the objects as an overhead image, but any other representations (e.g., a 3-D dimensional image) can be used in the processing of step S50.

In the step S50, the railway map data matching module 40 may create an overhead image of the structure as shown in Fig. 5 based on the sensing data of the structure and, by using this image, complement the sensing data of the devices (e.g., the signal 42) to be compared with the railway map data. By doing this, the sensing data of the devices can be complemented accurately in a simple manner.

Returning to the explanation of Fig. 3, in a step S60, the railway map data matching module 40 selects any one of the objects for which the locations are calculated in the step S50.

In a step S70, the railway map data matching module 40 compares the sensing data of the object selected in the step S60 with the railway map data recorded in the railway map database 70 in the step S30. In this step, the railway map data matching module 40 would extract an entry from the railway map database 70 relating the object selected right before in the step S60, and compares the sensing data of this object acquired in the step S40 with the extracted entry of the railway map database 70. The result of the comparison performed in the step 70 is output from the railway map data matching module 40 to the railway map data update module 50.

In a step S80, the railway map data matching module 40 makes a decision, based on the result of comparison performed in the step S70, as to whether the sensing data of the selected object matches with the railway map data. If there is any difference between the sensing data and the railway map data in the result of comparison, the railway map data matching module 40 determines the decision result of step S80 to be negative (NO), and progresses the processing to a step S90. On the other hand, if there is no difference between the sensing data and the railway map data in the result of comparison, the railway map data matching module 40 determines the decision result of step S80 to be positive (YES), and progresses the processing to a step S100. In this decision, when the difference between the sensing data and the railway map data is lower than a predetermined value, it is preferred to ignore the difference.

In the step S90, the railway map data update module 50 updates the railway map recorded in the railway map database 70 based on the result of comparison by the railway map data matching module 40 executed in the step S70. In this step, the railway map data update module 50 updates the entry of the railway map database 70 extracted in the step S70 so that the difference decided in the step S80 is canceled. After performing it, the processing proceeds to the step S100.

In the step S100, the railway map data matching module 40 makes a decision as to whether all objects were selected in the step S60. If at least any one of the objects for which the locations are calculated in the step S50 has not yet been selected in the previous step S60, the railway map data matching module 40 returns the processing to the step S60, and repeats the steps S60 to S100. On the other hand, if all of the objects for which the locations are calculated in the step S50 were selected in the previous step S60, the railway map data matching module 40 terminates the processing of the flowchart shown in Fig. 3.

According to the first embodiment of the present invention explained above, the following operations and effects are obtained.

(1) The railway map generation apparatus 1 includes: the map design reading module 10 configured to read the map design document 2 indicating an object present along a railway track (step S10) and extract railway map information relating a positional relationship between a specific point on the railway track and the object (step S20); the railway map data creation module 20 configured to create railway map data based on the railway map information (step S30); the sensing data acquisition module 30 configured to acquire sensing data indicating sensing result of the object sensed by the sensor 3 mounted on a train running on the railway track (step S40); the railway map data matching module 40 configured to compare the sensing data with the railway map data (step S70); and the railway map data update module 50 configured to update the railway map based on the result of comparison by the railway map data matching module 40 (step S90). Because of this configuration, it is possible to generate a railway map for train operation automatically with less time and costs.

(2) The sensing data acquisition module 30 can acquire the sensing data by combining plural sensing results of the object each sensed by the different sensors 3. By doing this, it is possible to acquire the sensing data indicating the location of the object accurately.

(3) The object may include a device for traffic control of trains running on the railway track and further include a structure present around the device. In this configuration, the railway map data matching module 40 can complement in the step S50 the sensing data of the device to be compared with the railway map data based on the sensing data of the structure. By doing this, it is possible to acquire the sensing data indicating the location of the object in a more accurate manner.

(4) The railway map data matching module 40 can create in the step S50 an overhead image of the structure as shown in Fig. 5 based on the sensing data of the structure and, by using the overhead image, complement the sensing data of the device to be compared with the railway map data. By doing this, it is possible to acquire the sensing data indicating the location of the object accurately in a simple manner.

(Second Embodiment)
Fig. 6 is a figure showing functional blocks of a railway map generation apparatus according to a second embodiment of the present invention. As shown in Fig. 6, the railway map generation apparatus 1A of this embodiment is configured by, as compared to the railway map generation apparatus 1 shown in Fig. 1 explained in the first embodiment, further comprising a warning module 60.

In this embodiment, the result of comparison by the railway map data matching module 40 is also output to the warning module 60. The warning module 60 makes a decision for each of the objects sensed by the sensor 3 as to whether it is an anomaly object based on the result of comparison. If it is decided that any of the objects is an anomaly object, the warning module 60 issues a warning to a warning device 4. The warning device 4 is connected via wired or wirelessly with the railway map generation apparatus 1A, and informs the user of the warning from the warning module 60 with a predetermined manner (e.g., displaying an image, lighting a lamp, sounding a siren or the like).

In case that the warning device 4 outputs the warning for the same object repeatedly in a plurality of times, it is supposed that the location of this object is not correctly recorded in the railway map data of the railway map database 70. Considering such a situation, in this embodiment, the railway map data update module 50 updates the railway map when the number of times of the warning issued by the warning module 60 is larger than a predetermined number of times. By doing this, the railway map data recorded in the railway map database 70 can be updated according to the actual environment.

Fig. 7 is a flowchart of processing performed by the railway map generation apparatus 1A of this embodiment. This flowchart further includes, as compared to the flowchart of Fig. 3 explained in the first embodiment, steps S81, S82 and S83 between the steps S80 and S90.

In the steps S10 to S80, the processing similar to the first embodiment is executed by the map design reading module 10, the railway map data creation module 20, the sensing data acquisition module 30 and the railway map data matching module 40 respectively. If the railway map data matching module 40 determines the decision result of step S80 to be negative (NO), the processing transfers to the step S81.

In the step S81, the warning module 60 makes a decision for the object selected in the step S60 as to whether it is an anomaly object based on the result of comparison performed in the step S70. In this step, the warning module 60 acquires the result of comparison from the railway map data matching module 40. If it indicates that there is no matching data for the sensing data of the selected object in the railway map data recorded in the railway map database 70, the warning module 60 would determine the decision result of step S81 to be positive (YES), and progress the processing to the step S82. On the other hand, if it indicates that there is any matching data for the sensing data of the selected object in the railway map data recorded in the railway map database 70, the warning module 60 would determine the decision result of step S81 to be negative (NO), and progresses the processing to the step S90.

Note that in the step S81, the size, location and/or movement of the object could be considered for making the decision. For instance, if the object is sensed on the railway track, it is preferred to decide that the object is an anomaly object regardless of the result of comparison. In addition, if the moving object is smaller than a predetermined size, it may be possible to decided that the object is not an anomaly object. Other variations could be applied for the decision performed in the step S81.

In the step S82, the warning module 60 issues a warning to the warning device 4. This warning would be notified to the user by the warning device 4. By doing this, the user (e.g., a train driver, a station attendant and the like) can recognize the presence of the anomaly object.

In the step S83, the warning module 60 makes a decision for the object selected in the step S60 whether the warning has been issued than a predetermined number of times in the step S82. If the number of times of the warning issued by the warning module 60 in the step S82 until now is larger than a predetermined number of times, the warning module 60 would determine the decision result of step S83 to be positive (YES), and progress the processing to the step S90. On the other hand, if the number of times of the warning issued by the warning module 60 in the step S82 until now is equal or smaller than the predetermined number of times, the warning module 60 would determine the decision result of step S83 to be negative (NO), and progress the processing to the step S100.

In the step S90, the railway map data update module 50 updates, similarly to the first embodiment, the railway map recorded in the railway map database 70 based on the result of comparison by the railway map data matching module 40 executed in the step S70. In this embodiment, if it is decided in the step S83 to be positive, the railway map data update module 50 could update the railway map database 70 in the step S90 by adding a new entry for the object selected in the step S60.

In the step S100, the processing similar to the first embodiment is executed by the railway map data matching module 40. If it is decided in the step S100 that all of the objects have been selected in the previous step S60, the railway map data matching module 40 terminates the processing of the flowchart shown in Fig. 7.

According to the second embodiment of the present invention explained above, in addition to the operations and effects as those of the first embodiment, the following operations and effects are obtained.

(5) The railway map generation apparatus 1A further includes the warning module 60 configured to make a decision whether the object is an anomaly object based on the result of comparison by the railway map data matching module 40 (step S81) and, if it is decided that the object is an anomaly object (step S81: YES), issue a warning to the warning device 4 connected with the railway map generation apparatus 1A (step S82). Because of this configuration, it is possible to warn the user when an anomaly object is present around the railway track.

(6) The railway map data update module 50 updates the railway map (step S90) when the number of times of the warning issued by the warning module 60 is larger than a predetermined number of times (step S83: YES). By doing this, if there is a mismatch between the sensing data and the railway map data, it is possible to update the railway map data in an appropriate manner according to the real-world condition.

The embodiments and variants explained above are only examples; the present invention is not to be considered as being limited by the details thereof. Provided that the essential characteristics of the present invention are retained, other implementations are also included within the scope of the present invention.

1, 1A: railway map generation apparatus
2: map design document
3: sensor
4: warning device
10: map design reading module
20: railway map data creation module
30: sensing data acquisition module
40: railway map data matching module
50: railway map data update module
60: warning module
70: railway map database

Claims

A railway map generation apparatus, comprising:
a map design reading module configured to read a map design document indicating an object present along a railway track and extract railway map information relating a positional relationship between a specific point on the railway track and the object;
a railway map data creation module configured to create railway map data based on the railway map information;
a sensing data acquisition module configured to acquire sensing data indicating sensing result of the object sensed by a sensor mounted on a train running on the railway track;
a railway map data matching module configured to compare the sensing data with the railway map data; and
a railway map data update module configured to update the railway map based on the result of comparison by the railway map data matching module.
A railway map generation apparatus according to Claim 1, wherein the sensing data acquisition module acquires the sensing data by combining plural sensing results of the object each sensed by the different sensors.
A railway map generation apparatus according to Claim 1, wherein the object includes a device for traffic control of trains running on the railway track.
A railway map generation apparatus according to Claim 3, wherein
the object further includes a structure present around the device; and
the railway map data matching module complements the sensing data of the device to be compared with the railway map data based on the sensing data of the structure.
A railway map generation apparatus according to Claim 4, wherein the railway map data matching module creates an overhead image of the structure based on the sensing data of the structure and, by using the overhead image, complements the sensing data of the device to be compared with the railway map data.
A railway map generation apparatus according to Claim 1, further comprising a warning module configured to make a decision whether the object is an anomaly object based on the result of comparison by the railway map data matching module and, if it is decided that the object is an anomaly object, issue a warning to a warning device connected with the railway map generation apparatus.
A railway map generation apparatus according to Claim 6, wherein the railway map data update module updates the railway map when the number of times of the warning issued by the warning module is larger than a predetermined number of times.
A railway map generation method, comprising:
reading a map design document indicating an object present along a railway track;
extracting railway map information relating a positional relationship between a specific point on the railway track and the object;
creating railway map data based on the railway map information;
acquiring sensing data indicating sensing result of the object sensed by a sensor mounted on a train running on the railway track;
comparing the sensing data with the railway map data; and
updating the railway map based on the result of comparison.