Rail synthetic vision system

• US 8,150,568 B1
• Filed: 11/16/2006
• Issued: 04/03/2012
• Est. Priority Date: 11/16/2006
• Status: Active Grant

• Current Assignee: Robert Gray
• Original Assignee: Robert Gray
• Inventors: Gray, Robert
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): PECHE, JORGE O
• Application Number:
  US11/600,654
• Time in Patent Office: 1,965 Days
• Field of Search: 701/19, 701/20, 701/300, 701/23, 340/10.1, 340/572.1, 246/15, 246/25, 246/120, 246/167.R, 246/108, 246/294, 246/296, 246/293, 246/295, 246/95, 246/98, 246/124, 246/401, 246/26
• US Class Current: 701/19
• CPC Class Codes: B61L 15/009 On-board display devices
• CPC Class Codes: B61L 2205/04 Satellite based navigation systems, e.g. global positioning system [GPS]
• CPC Class Codes: B61L 25/025 Absolute localisation, e.g. providing geodetic coordinates
• CPC Class Codes: B61L 29/00 Safety means for rail/road crossing traffic
• CPC Class Codes: B61L 29/24 Means for warning road traffic that a gate is closed or closing, or that rail traffic is approaching, e.g. for visible or audible warning

Abstract

A synthetic image is produced which will be viewed by an operator of a train to provide the operator with important information indicative of the environment to be encountered by the train during subsequent movement of the train. This information includes information about upcoming track and highway crossings. The synthetic image may be utilized during all periods of operation of the train but will be particularly desirable during night and during periods of bad weather, such as rain, snow and fog, when normal vision is limited. The system utilizes accurate measurement of the location of the train, accurate knowledge of the path of the track and accurate knowledge of placement of track and highway crossings. Automated horn soundings, or monitoring of manual operator activations, significantly enhance safety at such track and highway crossings.

Claims

1. A rail synthetic vision system for an operator of a rail based vehicle, the rail based vehicle configured to travel along a rail track, the rail synthetic vision system comprising:

a) a track database comprising track survey data indicative of a location and a path of the rail track utilized by the rail based vehicle and a location of at least one crossing along the rail track;

b) at least one navigation system configured to produce at least one position measurement of a current location of the rail based vehicle on the rail track;

c) a Kalman filter configured to produce at least one corrected position measurement of a current location of the rail-based vehicle on the rail track from the at least one position measurement;

d) a computer-based mathematical model configured to correlate the at least one corrected position measurement with the track survey data from the track database to produce a best position estimate of the current location of the rail based vehicle on the rail track;

e) a graphical display program configured to produce a synthetic, real-time image representative of the rail track and at the least one crossing along the rail track that are to be encountered by the rail based vehicle during movement of the rail based vehicle along the rail track, wherein the synthetic, real-time image comprises a view from the rail based vehicle at the best position estimate of the rail based vehicle on the rail track as produced by the computer-based mathematical model; and

f) an operator display configured to visually present the synthetic, real-time image for the operator.

2. The rail synthetic vision system of claim 1 wherein the at least one navigation system comprises a radio frequency identification (RFID) tag system having:

a) a plurality of RFID tags distributed along the rail track at predetermined locational positions, each RFID tag having a uniquely identifiable characteristic;

b) a receiver positioned on the rail based vehicle to move with the rail based vehicle along the path of the rail track, the receiver capable of identifying the unique characteristic of respective RFID tags distributed along the rail track.

3. The rail synthetic vision system of claim 2, wherein the at least one navigation system further comprises a global positioning system comprising a global positioning system receiver disposed on the rail based vehicle.

4. The rail synthetic vision system of claim 1 further comprising:

a) means for determining if the rail based vehicle has arrived at a pre-determined orientation of at least a select portion of the rail based vehicle and an intersection of the rail track with a highway at a respective rail track and highway crossing;

b) means for determining if the operator has manually activated an audible horn sound; and

c) means for notifying the operator that the manual activation of the audible horn sound has not occurred if manual activation of the audible horn sound has not yet occurred and the means for determining that the rail based vehicle has arrived at the pre-determined orientation relative to the respective rail track and highway crossing.

5. The rail synthetic vision system of claim 1 further comprising means for activating a pre-determined audible horn sound at a pre-determined orientation of at least a select portion of the rail based vehicle and an intersection of the rail track with a highway at a respective rail track and highway crossing.

6. The rail synthetic vision system of claim 1, wherein the synthetic, real-time image comprises at least one of a perspective view or an overhead top view.

7. The rail synthetic vision system of claim 1, wherein the synthetic real-time image comprises information representative of rail and track and highway crossings in the direction of travel of the rail-based vehicle.

8. The rail synthetic vision system of claim 1, wherein the synthetic, real-time image is a continuous moving image.

9. The rail synthetic vision system of claim 1 further comprising a speed sensor to determine a speed of the rail based vehicle along the rail track, and wherein the computer-based mathematical model is configured to produce the best position estimate from at least:

a) a plurality of surveyed points along the rail track contained in the track database;

b) information gathered by the receiver about the respective RFID tags distributed along the rail track; and

c) the speed of the rail based vehicle as determined by the speed sensor.

10. A rail synthetic vision system for an operator of a rail based vehicle, the rail based vehicle configured to travel along a rail track, the rail synthetic vision system comprising:

a) a track database comprising track survey data indicative of a location and a path of the rail track utilized by the rail based vehicle and a location of at least one crossing along the rail track;

b) means for producing at least one position measurement of a current location of the rail based vehicle on the rail track;

c) means for producing at least one corrected position measurement of a current location of the rail-based vehicle on the rail track from the at least one position measurement, the means for producing a corrected position measurement comprising a Kalman filter;

d) means for correlating the at least one corrected position measurement with track survey data from the track database to produce a best position estimate of the current location of the rail based vehicle on the rail track;

e) means for generating a synthetic, real-time image based upon the track survey data from the track database and based upon the best position estimate of the rail based vehicle on the rail track, wherein the synthetic, real-time image is representative of the rail track and at least one crossing along the rail track that are to be encountered by the rail based vehicle during movement of the rail based vehicle along the rail track, and wherein the synthetic, real-time image comprises a view from the rail based vehicle at the best position estimate of the rail based vehicle on the rail track as produced by the means for correlating; and

f) means for displaying the synthetic, real-time image onboard the rail based vehicle for the operator.

11. The rail synthetic vision system of claim 10, further comprising:

a) means for determining if the rail based vehicle has arrived at a pre-determined orientation of at least a select portion of the rail based vehicle and an intersection of the rail track with a highway at a respective rail track and highway crossing;

b) means for determining if the operator has manually activated an audible horn sound; and

c) means for notifying the operator that the manual activation of the audible horn sound has not occurred if manual activation of the audible horn sound has not yet occurred and the means for determining that the rail based vehicle has arrived at the pre-determined orientation relative to the respective rail track and highway crossing.

12. The rail synthetic vision system defined in claim 11 further comprising means for activating a pre-determined audible horn sound at a pre-determined orientation of at least a select portion of the rail based vehicle and an intersection of the rail track with a highway at a respective rail track and highway crossing.