JP4993644B2 - Train operation support device - Google Patents

Description

The present invention captures railway signals / signs such as temporary traffic lights, speed limit signs, slow warning signals, etc. installed in the vicinity of rails with a video camera mounted on a running train, The present invention relates to a train operation support device that recognizes, issues a warning by voice or image display, and notifies a crew member of slowing down.

In recent years, train position detectors have been developed that detect the current position of a train without using a track circuit. And the system which identifies the position of a train using the said train position detector, and performs train control and operation management by the main body on the vehicle is put in practical use. For example, JP 2001-516076 A (Patent Document 1) discloses a collision avoidance and train approach detector using GPS. Non-Patent Document 1 describes a train position detection system using GPS and a communication satellite. Furthermore, Non-Patent Document 2 and the like describe a train position detection system that calculates the travel distance of a train from this reset point, using the time point when a train door open / close signal or an ATS ground element detection signal is acquired as a reset point. Has been. The travel distance of the train is calculated by integrating the train speed pulse signals output from the speed generator installed on the train axle.

When constructing rails and tracks, the train must slow down the construction section. Therefore, as shown in FIG. 2, a slowing signal 4 is installed in the vicinity of the rail 1 at the start of the construction section, and a slow release signal 5 is installed in the vicinity of the terminal rail, so that the crew members of the train T have the construction section. Is notified. By the way, it is conceivable that it will not be in time if the brake is applied after finding the slow traffic signal 4 installed in the vicinity of the rail at the start end of the slow travel section. It is installed near the rail at a predetermined distance from the beginning of the construction section in the train approach direction. This train advance warning signal 3 is automatically detected by the train forward railway signal / sign recognition device mounted on the train, and a warning is given by voice or image display to prompt the crew to slow down.

By the way, in the train operation management system using the train position detection system using the GPS and the communication satellite, the operation information related to the construction section is transmitted to the on-board device via the ground base device, Stored in the storage device. However, rail and track work is not only planned, but also urgent. For example, there are repair works that are necessary due to natural disasters such as rockfall and heavy rain. In that case, information is transmitted to the crew members by wireless communication, etc., but the operation information onboard the vehicle is collected and transmitted to the train. I can't.

The train ahead railway signal / sign recognition device has been developed or is under development, and one of them is the train ahead that recognizes the train signal / sign by pattern matching from the train forward image taken with the video camera mounted on the train. There is a sign recognition device. In the pattern matching, a reference image called a template is registered in advance in a train forward sign recognition device, and a train signal / sign that is an object matched with the reference image from a train forward image taken by a video camera mounted on the train. Is a technology to search for.

The size of the image of the target railway signal / signpost changes as the train travels, and the apparent size also changes depending on the zoom rate of the camera. Therefore, it is necessary to change the size (scale) of the reference image and search for the railway signal / sign for each reference image of the changed scale. Therefore, in order to actually search for railway signals / signs, it is necessary to search by the number of scales multiplied by the number of search areas, so a huge amount of calculation is required for signal processing for search, Pattern patching takes time. Since the frame rate of a video image is usually 30 frames, it is impossible to recognize a railway signal / sign by performing a real-time pattern matching in a conventional train forward sign recognition device that performs full search pattern matching. there were.

By the way, although it is not a railway signal and a sign, the apparatus which recognizes a road sign by pattern matching is well-known. For example, in Japanese Patent Laid-Open No. 2003-123197 (Patent Document 2), an image processing basic unit that selects an arbitrary image captured by a camera and obtains one frame image, and a part of the one frame image are disclosed. An image processing unit for extracting a predetermined image from an image in a predetermined region; an image data identifying unit for obtaining composite data relating to the extracted image using data of the image processing unit of a plurality of frame images; A database in which data of a specific image to be recognized and information relating to the image data are accumulated, and a specific image in which the extracted image data obtained by the image data identification unit and the data of the specific image in the database are compared and matched An apparatus for recognizing a road sign or the like comprising an image recognition unit that outputs information is disclosed.

Japanese Patent Laid-Open No. 2006-3994 (Patent Document 3) discloses a photographing unit that photographs the front of the vehicle, a conversion unit that converts the photographed image into a distance image that indicates a distance to the subject, and a photographed image. A road sign recognition device comprising: a means for recognizing a road sign portion; template data having a plurality of road sign data; and a matching means for matching a road sign portion and a template of an image to recognize a road sign. A road sign recognition device is disclosed that performs recognition processing step by step according to the distance between the vehicle and the road sign.

All of the road sign recognition devices disclosed in the above-mentioned patent documents increase the processing speed of pattern matching, but the train ahead railway signal / sign recognition device recognizes the railway signal / sign by performing real-time pattern matching. The level of practical processing speed for application to has not yet been reached.

By the way, in Japanese Unexamined Patent Application Publication No. 2004-42737 (Patent Document 4), a railroad rail is effectively recognized on a screen plane by using a well-known linear element extraction technique, and thereby a railroad crossing area can be automatically set in a monitoring area. A railroad crossing monitoring system using a stereo camera is described. Then, Hough transformation (Hough transformation) is described in detail as a typical linear element extraction technique.
JP-T-2001-516076 JP 2003-123197 A JP 2006-3994 A JP 2004-42737 A Paper No. 517 “GPS Overspeed Detection Device”, Proceedings of the 37th National Symposium on Cybernetics Utilization in Railway, November 2000 Paper No. 518 “Development of Stop Station Approach Notification Device”, Proceedings of the 37th National Symposium on the Use of Cybernetics in Railways, November 2000

The problem to be solved by the present invention is that when an unregistered construction section exists in the in-vehicle train operation support device that informs the crew of the speed limit etc. based on the stored operation information. The speed limit information of the construction section is automatically and quickly acquired, and the crew member is notified of the acquired speed limit information.

A train operation support device that solves the above problems includes a video camera that captures the front of the train and outputs captured image data, and a train position detector that outputs the detected train position information. A support apparatus having the following functions.
(1) After narrowing the search area for pattern matching in the search screen, which is a one-frame screen of the shooting screen in front of the train, using information specific to the railway such as gauges, building gauges, and building limits. A function to recognize railway signals and signs by pattern matching,
(2) A function to read the speed limit of recognized railway signals and signs,
(3) A function for identifying the installed position of the recognized railway signal / sign from the train current position information of the train position detector and the distance information calculated based on the shooting data,
(4) a function of matching the speed limit relating to the installation position registered in the storage device with the read speed limit; and (5) the read speed limit when the speed limit matches do not match. A function of causing the notification unit to notify the registered speed limit when the speeds coincide.

According to the present invention, when an unregistered construction section exists in the operation information on the vehicle-mounted train operation support device that notifies the crew of the speed limit etc. based on the stored operation information, the speed limit information of the construction section Can be obtained automatically and quickly, and the crew member can be notified of the obtained speed limit information.

An on-vehicle train operation support apparatus in which operation information of the best mode for carrying out the present invention is stored includes a video camera that images the front of the train and outputs captured image data, and a train position detector using GPS, and the operation information Is a vehicle-mounted train operation support device that stores the following functions.
(1) After narrowing the search area for pattern matching in the search screen, which is a one-frame screen of the shooting screen in front of the train, using information specific to the railway such as gauges, building gauges, and building limits. A function to recognize railway signals and signs by pattern matching,
(2) A function to read the speed limit of recognized railway signals and signs,
(3) A function for identifying the installed position of the recognized railway signal / sign from the train current position information of the train position detector and the distance information calculated based on the shooting data,
(4) a function of matching the speed limit relating to the installation position registered in the storage device with the read speed limit; and (5) the read speed limit when the speed limit matches do not match. A function of causing the notification unit to notify the registered speed limit when the speeds coincide.

As shown in FIG. 2, the train operation support apparatus according to the embodiment of the present invention is provided with a slow signal 4 near the rail 1 at the start of the construction section and a slow release signal 5 near the rail 1 at the end, and further slows down. A warning signal 3 is installed in the vicinity of the rail 1 at a point that is a predetermined distance away from the beginning of the construction section in the train approach direction. The train operation support device according to the embodiment of the present invention is mounted on a train T traveling on the rail 1. The train operation support device notifies a crew member of the speed limit based on the stored operation information. If a non-registered construction section exists in the operation information, a video camera is used in front of the train. The slowdown warning signal 3 is recognized by performing image processing on the imaging screen for imaging the scene, and the speed limit information of the construction section is automatically and quickly acquired, and this is notified to the crew. In FIG. 2, L represents a distance from the video camera to the slow warning sign 3, and Lx represents a virtual limit distance at which the train ahead railway signal / sign recognition device can recognize the railway signal / sign.

That is, the train operation support device 10 according to the embodiment of the present invention, as shown in FIG. 1, stores the image data by analog / digital conversion of the captured image of the scene ahead of the train imaged by the video camera 11 by the A / D converter 12. Means for accumulating in the unit 13 are provided. In addition, the train operation support apparatus 10 includes a control unit 14 that performs arithmetic control according to a program, an input unit 15 that inputs template image data that serves as a reference image for pattern matching, and a setting unit 16 that performs various settings for arithmetic control. A program storage unit 17 storing an arithmetic control program, a template storage unit 18 storing template image data, a program storage unit 19 storing various programs for arithmetic control, a display unit 20 such as a liquid crystal display panel, And a notification unit 21 such as a speaker. Furthermore, the train operation support device 10 includes a GPS device 22 that is a train position detector that outputs train position information detected without using a track circuit. The train position detector identifies the installation position of the ground element detected via the vehicle upper element, and identifies the current position of the train using the travel distance calculated from the accumulated speed of the train from the installation position. The time when the door opening / closing signal of the train or the detection signal of the ATS ground element is acquired as a reset point, and the train travel distance from this reset point is calculated to identify the current position of the train. May be. The travel distance is calculated by integrating the train speed pulse signals output from the speed generator installed on the train axle.

Hereinafter, the operation of the train operation support apparatus according to the embodiment of the present invention will be described in detail according to the flowcharts shown in FIGS. 3 and 4.

(Register template image)
The template image is an image obtained by patterning railway signals and signs to be recognized, and is registered in advance in the template storage unit 18 of the train operation support device 10. The registration is performed, for example, by drawing a train signal / signs pattern to be recognized by CAD and inputting the digital data from the input unit 15 to the train operation support device 10. Note that the scale of the template is changed step by step according to the stored program.

(Acquisition of images taken in front of the train)
First, the train operation support apparatus 10 captures a monitoring area ahead of the train with the video camera 11 and stores the captured image data in the image data storage unit 13 (101). FIG. 5 shows a search screen schematically showing a subject other than the rail 1, that is, a one-frame screen acquired from captured image data in front of the train.

(Rail extraction by straight line extraction method)
Subsequently, the control unit 14 of the train operation support device 10 uses a linear element extraction technique such as Hough transformation (Hough transformation) in a one-frame screen (search screen) acquired from the captured image data in front of the train. Then, the rail 2 is extracted, and the image data of the rail 2 extracted by straight line is stored in the data storage unit 19 (1021). The image data of the rail 2 extracted by a straight line includes the rail position and gauge data specified by the coordinate position (x, y) on the search screen. FIG. 6 is a screen obtained by adding a straight line extracted rail 2 to the search screen shown in FIG. 5 schematically excluding subjects other than the rail 1.

(Select template for initial scale)
Subsequently, the control unit 14 determines the scale of the template as an initial value scale, reads out a template image serving as a reference image for pattern matching processing from the template storage unit 18, and sets the scale to an initial value (1022). The initial value scale corresponds to, for example, the size of a railway signal / sign that can be visually recognized from the train at the farthest distance ahead of the train on the search screen. In other words, in FIG. 2, Lx is the size on the search screen of the railway signal / sign that exists near the virtual limit distance Lx at which the train operation support device can recognize the railway signal / sign, The initial value scale is determined by experiment.

(Search between gauges corresponding to the scale)
Subsequently, the control unit 14 searches for a gauge corresponding to the initial value scale of the template, and specifies the rail position (initial value rail position) of the gauge found by the search (1023). The gauge is constant at 1435 mm for the standard gauge and 1067 mm for the narrow gauge. In addition, the shape and size of railway signals and signs such as temporary traffic lights are fixed and constant. Therefore, the ratio of the size of the railway signal / sign that should be recognized as a gauge is constant. In other words, the ratio with the value representing the scale of the railway signal / sign that should be recognized as a gauge on the search screen is constant. Using this fact, the train operation support device 10 reads the template image data of the initial value scale from the template storage unit 18 and searches for the gap corresponding to the template image of the initial value scale. Then, the train operation support device 10 specifies the initial value rail position found by searching with the coordinate position (x, y) on the search screen.

(Calculation of building limits corresponding to gauges)
Subsequently, the control unit 14 calculates an initial value building limit of a size suitable for the gauge of the initial value rail position on the search screen (1024). The building limit is the limit of the space secured on the track for safe travel of the railway vehicle, and is defined in advance based on the gauge. Therefore, if the gauge is specified on the search screen, the building limit on the search screen corresponding to the gauge is easily calculated. That is, as shown in FIG. 7, if the rail position near the train side on the search screen is An, the building limit at this rail position is Bn. Further, as shown in FIG. 8, if the gap between the rail positions that are considerably distant from the train side on the search screen is A1, the building limit at this rail position is B1. If the gauge A1 is a gauge corresponding to the template image of the initial value scale, the initial value rail position is determined thereby.

(Determination of relative building positions of railway signals and signs from the building limits)
Subsequently, the control unit 14 calculates and determines the building position of the railway signal / signature existing in the vicinity of the rail position on the search screen determined in Step 1024 (1025). The erected position is calculated based on the erected cage. The built-up gauge is a distance from the center of the rail to the inside of the utility pole, and its dimension is determined to be 1900 mm or more by the construction limit. As shown in FIG. 7, the planting gauge corresponding to the gauge A1 at the initial value rail position is C1, and the planting positions at the initial value rail position are P1 and Q1. Also, as shown in FIG. 7, if the gauge between the rail positions close to the train side is An on the search screen, the building gauge at this rail position is Cn, and the building positions are Pn and Qn.

(Determination of search area)
Subsequently, the control unit 14 determines a search area corresponding to the planting position (1026). That is, as shown in FIG. 8, in the initial value rail position of the gauge A1, the search areas W1 are determined at the planting positions P1 and Q1, respectively. The initial value search area W1 is an area of a size that covers a template image of the initial value scale without excess or deficiency, and here is a rectangular area having a horizontal width D1 and a vertical width E1. Further, as shown in FIG. 7, the search areas Wn are determined at the planting positions Pn and Qn at the rail position of the gauge An close to the train side on the search screen. The search area Wn is an area of a size that can cover the scale image corresponding to the gauge An without excess or deficiency, and here is a rectangular area having a horizontal width Dn and a vertical width En.

(Perform pattern matching)
Subsequently, the control unit 14 executes pattern matching for the initial value search area W1, and stores the pattern matching score in the data memory (1027). The pattern matching in this step is not special and is a well-known pattern matching.

(Determining whether the scale has reached the end condition)
Following step 1027, the control unit 14 determines whether or not the pattern matching has been completed for all the scales of the template (1028).

(Determination of search area corresponding to changed scale and pattern matching)
When it is determined NO in step 1028, the control unit 14 changes the scale of the template stepwise (1029), returns to step 1023, and searches for a gauge corresponding to the changed scale. Subsequently, the control unit 14 calculates the building limit corresponding to the gauge (1024), determines the relative building position of the railway signal / sign from the building limit (1025), determines the search area (1026), pattern The matching is executed and the pattern matching score is stored in the data memory (1027) in order.

For the template scale, for example, the initial value is set to 0.5 and the final value is set to 1.2. The scale of the template for pattern matching is changed stepwise between the initial value and the final value at intervals of 0.1. Therefore, since the determination in step 1028 after the pattern matching of the template of the initial value scale is completed is NO, the scale of the template is 0.6 in step 1029. Since the determination in step 1028 after the pattern matching of the template having the scale of 0.6 is NO, the template scale is 0.7 in step 1029. In the same manner, the scale is changed from 0.7 to 1.2, and the pattern matching of the template of each scale is performed. Since the determination in step 1028 after the pattern matching of the template of scale 1.2 is YES, the process flow proceeds to step 103.

As described above, the search area on the search screen for performing pattern matching of each scale template is an area of a size corresponding to the scale defined in the vicinity of the rail position between the gauges corresponding to the scale. Compared to the search screen, it is very narrow. In addition, when the initial value is set to 0.5 and the final value is set to 1.2, and the scale is changed stepwise between the initial value and the final value at intervals of 0.1, a template is displayed on the search screen for one frame. The pattern matching is 8 times. Therefore, compared with the pattern matching in the conventional train forward railway signal / sign recognition device that uses the entire search screen of one frame as the search area, the pattern matching in the train forward railway signal / sign recognition device according to the present invention is a pattern matching. The target search area is small, and the number of pattern matching is significantly reduced. Therefore, the image processing amount of the train ahead railway signal / sign recognition device is much smaller than that in the past, and real-time pattern matching is possible.

In short, when a non-registered construction section exists in the operation information, the speed limit information of the construction section can be acquired automatically and quickly. The image stored in the image data storage unit 13 Implementation of the present invention has the function of acquiring one frame of search image data from the data, performing image processing on the search image data as described above, and performing pattern matching in real time to recognize the slow warning signal 3 that is the recognition target. This is because the example train operation support device is provided. The image processing as described above is image processing characterized in that the search area for pattern matching is surely narrowed down from the entire area of the photographing screen ahead of the train.

(Determination of the presence or absence of traffic lights)
In step 103, the control unit 14 searches the pattern matching score stored in the data storage unit 19 and selects the pattern matching having the highest score. In the data storage unit 19, the initial value is set to 0.5 and the final value is set to 1.2, and the pattern matching is performed by changing the scale step by step at intervals of 0.1 between the initial value and the final value. In the above-described embodiment, eight pattern matching scores are stored. The control unit 14 selects the pattern matching with the highest score from these eight pattern matchings and determines the presence or absence of a traffic light. If it is determined in step 103 that there is a traffic light, the process proceeds to step 104. If it is determined that there is no traffic light, the process returns to step 101.

(Storing data such as depression angles from the camera)
The control unit 14 specifies the scale of the template corresponding to the pattern matching from the pattern matching with the highest score, and specifies the search area corresponding to the specified scale. That is, the control unit 14 specifies the search area corresponding to the specified scale, the specified rail position, and the depression angle from the camera. Then, the control unit 14 outputs the identified rail position, the depression angle from the camera, the template scale, and the pattern matching score, and stores these data in the data storage unit 19 (104).

(Speed limit reading)
Following step 104, the control unit 14 of the train operation support device 10 reads the speed limit displayed on the traffic signal from the video of the traffic signal captured by the video camera 11 and stored in the image data storage unit 13. The data is stored in the data storage unit 19 (105). As described above, in the present invention, the railway signal / sign installed in the vicinity of the rail ahead of the train can be recognized in real time by pattern matching, so the speed limit information displayed on the train ahead railway signal / sign Can be obtained quickly.

(Identification of traffic signal installation position)
Subsequent to step 105, the train operation support device 10 specifies the installation position of the traffic signal recognized in step 103. That is, in the train operation support device 10, the control unit 14 specifies the current position of the train based on the position data input from the GPS device 22. Subsequently, the control unit 14 calculates the distance from the train to the traffic signal based on the data stored in the data storage unit 19 in step 104. And the control part 14 specifies the installation position of a traffic signal from the present position of the said train, and the distance from the said train to a traffic signal (106).

(Reading the registration limit speed)
Subsequently, the control unit 14 of the train operation support device 10 reads out the registration limit speed of the above-mentioned traffic signal installation position identified in Step 106 from the data storage unit 19 (107).

(Determining whether the speed limit is registered)
Subsequently, the control unit 14 of the train operation support device 10 reads the speed limit stored in step 105 from the data storage unit 19 and determines whether or not it is the same as the read registration speed limit (108).

(Display by display unit and warning by notification unit)
If the decision result in the step 108 is YES, the control unit 14 causes the display unit 20 to display “Registered slow running section: speed limit OO km / h” (109). If the decision result in the step 108 is NO, the control unit 14 causes the display unit 20 to display “Unregistered slow running section: speed limit ΔΔkm / h” (110). Following these displays, the control unit 14 informs the notification unit 21 of a warning according to the train speed by voice or the like, and alerts the crew (111).

It is a figure which shows the positional relationship of the train carrying the train operation assistance apparatus of this invention, and the railroad signal and a sign installed in the track front. It is a block block diagram of the train operation assistance apparatus of the Example of this invention. It is a flowchart which shows the flow of a process of the train operation assistance apparatus of the Example of this invention. It is a flowchart which shows the flow of the signal processing of the traffic signal recognition in front of a train in the train operation assistance apparatus of the Example of this invention. It is the search screen typically shown excluding subjects other than rails. It is a search screen showing a rail extracted from a straight line. It is a figure which shows the relationship between the rail position near a train side, and a search area on a search screen. It is a figure which shows the relationship between a rail position when a scale of a template is set to the initial value on a search screen, and a search area.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Rail 2 Rail extracted straight 3 Deceleration notice signal 4 Deceleration signal 5 Deceleration signal 10 Railway signal / sign recognition device 11 Video camera 12 A / D conversion unit 13 Image data storage unit 14 Control unit 15 Input unit 16 Setting unit 17 Program storage unit 18 Template storage unit 19 Data storage unit 20 Display unit 21 Notification unit 22 GPS device

Claims (7)

An in-vehicle train operation support device that has a video camera that captures the front of the train and outputs the captured image data and a train position detector that outputs the detected train position information and stores the operation information, and has the following functions A train operation support device characterized by being a thing.
(1) After narrowing the search area for pattern matching in the search screen, which is a one-frame screen of the shooting screen in front of the train, using information specific to the railway such as gauges, building gauges, and building limits. A function to recognize railway signals and signs by pattern matching,
(2) A function to read the speed limit of recognized railway signals and signs,
(3) A function for identifying the installed position of the recognized railway signal / sign from the train current position information of the train position detector and the distance information calculated based on the shooting data,
(4) a function of matching the speed limit relating to the installation position registered in the storage device with the read speed limit; and (5) the read speed limit when the speed limit matches do not match. A function of causing the notification unit to notify the registered speed limit when the speeds coincide. The function of recognizing railway signals / signs by pattern matching corresponds to the function of extracting a rail in a search screen, which is a one-frame screen acquired from the captured image data, and the scale of the template image changed in stages. Corresponding to the search area specifying function to specify the search area in the vicinity of the rail on the search screen using information specific to the railway, the function to perform pattern matching for each search area, and the pattern matching that gave the highest score The train operation support device according to claim 1, comprising a function of determining a search area and recognizing a railway signal / sign. The search area specifying means includes means for searching and finding a gap corresponding to the scale of the template image, a means for obtaining a building limit corresponding to the gauge, and a relative building position of the railway signal / sign from the building limit. The train operation support device according to claim 1, wherein the train operation support device is configured by means for specifying the train. The train operation support apparatus according to claim 1, wherein the stepwise change of the scale of the template image is performed in a plurality of stages from an initial value to a final value. The train operation support device according to claim 1, wherein the train position detector is a train position detector using GPS. The train position detector identifies the installation position of the ground element detected via the vehicle upper element, and identifies the current position of the train using the travel distance calculated from the accumulated speed of the train from the installation position. The train operation support device according to claim 1, wherein the train operation support device is a device. The train position detector uses the time when a door opening / closing signal of the train or the detection signal of the ATS ground unit is acquired as a reset point, and determines the current position of the train by calculating the travel distance of the train from the reset point. The train operation support device according to claim 1, wherein:

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