Operation of a rail vehicle comprising an image generation system

• US 10,144,441 B2
• Filed: 11/10/2015
• Issued: 12/04/2018
• Est. Priority Date: 11/10/2014
• Status: Active Grant

• Current Assignee: Bombardier Transportation GmbH (Bombardier Incorporated)
• Original Assignee: Bombardier Transportation GmbH (Bombardier Incorporated)
• Inventors: Fischer, Michael, Newesely, Gerald
• Primary Examiner(s): FREJD, RUSSELL WARREN
• Application Number:
  US15/525,751
• Publication Number:
  US 20180257684A1
• Time in Patent Office: 1,120 Days
• CPC Class Codes: B61L 15/0072 On-board train data handling
• CPC Class Codes: B61L 23/041 Obstacle detection
• CPC Class Codes: B61L 27/04 Automatic systems, e.g. controlled by train; Change-over to manual control
• CPC Class Codes: B61L 27/40 Handling position reports or trackside vehicle data
• CPC Class Codes: B61L 27/70 Details of trackside communication

Abstract

The invention relates to a rail vehicle including an image generation system for capturing a space outside the rail vehicle. The image generation system includes four image generation devices, each of which, during operation of the image generation system, generates two-dimensional images of the space. A first and a second of the four image generation devices are disposed at a first distance from one another on the rail vehicle and form a first stereo pair, which captures a first shared portion of the space from different viewing angles. A third and a fourth of the four image generation devices are disposed at a second distance from one another on the rail vehicle and form a second stereo pair, which detects a second shared portion of the space from different viewing angles. The first shared portion of the space and the second shared portion of the space have a shared spatial region.

Claims

1. A rail vehicle comprising an image generation system for capturing a space outside the rail vehicle, wherein:

the image generation system comprises four image generation devices;

each of the four image generation devices during operation of the image generation system generates, or is able to generate, two-dimensional images of the space;

a first and a second of the four image generation devices are disposed at a first distance from one another on the rail vehicle and form a first stereo pair, which captures a first shared portion of the space from different viewing angles;

a third and a fourth of the four image generation devices are disposed at a second distance from one another on the rail vehicle and form a second stereo pair, which detects a second shared portion of the space from different viewing angles;

the first distance is greater than the second distance;

the first shared portion of the space and the second shared portion of the space have a shared spatial region; and

the image generation system comprises an evaluation device, which is connected to the four image generation devices and, during operation of the image generation system, receives image data from the four image generation devices,

the image generation system being designed to recognize that an evaluation of image data of a failed or faulty image generation device of the four image generation devices during an operating phase of the image generation system is not possible or flawed,

it being possible for the failed or faulty image generation device to be any one of the four image generation devices,

the evaluation device being designed, during the operating phase, to use the image data, which the evaluation device receives from three other of the four image generation devices that are not the failed or faulty image data image generation device, as image data that contain a first stereo image pair and a second stereo image pair, the first stereo image pair corresponding to the image data of two of the three other image generation devices which are disposed at a third distance from one another on the rail vehicle, and the second stereo image pair corresponding to the image data of two of the three other image generation devices which are disposed at a fourth distance from one another on the rail vehicle, and the third distance and the fourth distance being different in size.

2. The rail vehicle according to claim 1, wherein the four image generation devices are disposed in a front region of the rail vehicle in such a way that the shared spatial region is located ahead of the rail vehicle in a driving direction while the rail vehicle is traveling.

3. The rail vehicle according to claim 1, wherein the image generation system comprises a first processor unit and a second processor unit, which are each connected via image signal links to each of the four image generation devices, the first processor unit and the second processor unit being designed to calculate, independently of one another, depth information about a depth of image objects, which was captured by way of the two-dimensional images by one pair of the four image generation devices or by two different pairs of the four image generation devices, during operation of the image generation system from image signals received via the image signal links, and the depth extending in a direction transversely to an image plane of the two-dimensional images.

4. The rail vehicle according to claim 1, wherein the rail vehicle comprises a first processor unit and a second processor unit, which are each connected via image signal links to each of the four image generation devices, the first processor unit being connected to a first transmitter for transmitting image signals to a receiver remote from the rail vehicle, and the second processor unit being connected to a second transmitter for transmitting image signals to the receiver remote from the rail vehicle.

5. The rail vehicle according to claim 1, wherein it applies for each of the four image generation devices that the distances from any other of the four image generation devices are different in size.

6. The rail vehicle according to claim 1, wherein at least three of the four image generation devices disposed next to one another, so that all distances between the at least three of the four image generation devices are defined situated behind one another in a shared plane.

7. A system for operating a rail vehicle, comprising the rail vehicle according to claim 1, and comprising a control center, which is remote from the rail vehicle, wherein the rail vehicle comprises a first transmitter, via which, during operation of the rail vehicle, image signals from each of the four image generation devices or further processed image signals generated by a processor unit of the rail vehicle from the image signals are transmitted to a first receiver remote from the rail vehicle, the control center being connected to the first receiver and, during operation of the rail vehicle, receiving image signals received by the first receiver, the control center comprising an image display device, which during operation of the rail vehicle generates images from the received image signals and displays these, the control center comprising a control device, which during operation of the rail vehicle generates control signals for controlling a driving operation of the rail vehicle, the control center being connected to a second transmitter, via which, during operation, the control signals are transmitted to a second receiver of the rail vehicle, and the rail vehicle comprising a driving system, which during operation of the rail vehicle receives and processes the control signals generated by the control device of the control center and carries out the driving operation of the rail vehicle in keeping with the control signals.

8. A method for operating a rail vehicle, wherein the rail vehicle comprises

an image generation device comprising at least four image generation devices for detecting a space outside the rail vehicle;

each of the at least four image generation devices generates, or is able to generate, two-dimensional images of the space;

a first and a second of the at least four image generation devices are disposed at a first distance from one another on the rail vehicle and form a first stereo pair, which captures a first shared portion of the space from different viewing angles;

a third and a fourth of the at least four image generation devices are disposed at a second distance from one another on the rail vehicle and form a second stereo pair, which detects a second shared portion of the space from different viewing angles;

the first distance is greater than the second distance;

the first shared portion the space and the second shared portion of the space have a shared spatial region; and

an evaluation device of the image generation system, which is connected to the four image generation devices, during operation of the image generation system receives image data from the four image generation devices;

the method comprising;

recognizing when an evaluation of image data of a failed or faulty image generation device of the four image generation devices during an operating phase of the image generation system is not possible or flawed;

it being possible for the failed and/or faulty image generation device to be any one of the four image generation devices, and

using the image data, during the operating phase, which the evaluation device receives from three other of the four image generation devices which are not the failed or faulty image data image generation device, as image data that contain a first stereo image pair and a second stereo image pair, the first stereo image pair corresponding to the image data of two of the three other image generation devices which are disposed at a third distance from one another on the rail vehicle, and the second stereo image pair corresponding to the image data of two of the three other image generation devices which are disposed at a fourth distance from one another on the rail vehicle, and the third distance and the fourth distance being different in size.

9. The method according to claim 8, wherein the four image generation devices are disposed in a front region of the rail vehicle and capture the shared spatial region ahead of the rail vehicle in the driving direction while the rail vehicle is traveling.

10. The method according to claim 8, wherein the first to fourth image generation devices transmit image signals via image signal links both to a first processor unit of the rail vehicle and to a second processor unit of the rail vehicle, and the first processor unit and the second processor unit, independently of one another, calculate depth information about a depth of image objects, which was captured by way of the two-dimensional images by the first stereo pair or the second stereo pair from the image signals, the depth extending in a direction transversely to an image plane of the two-dimensional images.

11. The method according to claim 8, wherein a first processor unit and a second processor unit of the rail vehicle each receive image signals from each of the four image generation devices via image signal links the first processor unit transmitting image signals via a first transmitter to a receiver remote from the rail vehicle, and the second processor unit transmitting image signals via a second transmitter to the receiver remote from the rail vehicle.

12. The method according to claim 8, wherein image signals from each of the four image generation devices or further processed image signals generated by a processor unit of the rail vehicle from the image signals are transmitted via a transmitter to a first receiver remote from the rail vehicle and received by the first receiver as received image signals, images being generated from the received image signals in a control center remote from the rail vehicle and being displayed, control signals for controlling a driving operation of the rail vehicle being generated in the control center and transmitted to a second receiver of the rail vehicle, and the driving operation of the rail vehicle being carried out in keeping with the control signals.

13. The method according to claim 8, wherein it applies for each of the four image generation devices that the distances from any other of the four image generation devices are different in size.

14. The method according to claim 8, wherein at least three of the four image generation devices are disposed next to one another, so that all distances between the at least three of the four image generation devices are defined situated behind one another in a shared plane.

15. The method for operating a rail vehicle according to claim 8, as part of a system that also comprises a control center, which is remote from the rail vehicle, wherein during operation of the rail vehicle image signals from each of the four image generation devices or further processed image signals generated by a processor unit of the rail vehicle from the image signals are transmitted from a first transmitter of the rail vehicle to a first receiver remote from the rail vehicle, the control center receiving image signals received by the first receiver, the control center generating images from the received image signals by way of an image display device and displaying these, the control center generating control signals for controlling a driving operation of the rail vehicle by way of a control device, the control center transmitting the control signals via a second transmitter to a second receiver of the rail vehicle, and a driving system of the rail vehicle receiving and processing the control signals from the second receiver and carrying out the driving operation of the rail vehicle in keeping with the control signals.