System and method for determining a characterisitic of an object adjacent to a route

• US 8,712,610 B2
• Filed: 09/18/2008
• Issued: 04/29/2014
• Est. Priority Date: 09/18/2008
• Status: Active Grant

• Current Assignee: Westinghouse Air Brake Technologies Corporation
• Original Assignee: General Electric Company
• Inventors: Kumar, Ajith Kuttannair
• Primary Examiner(s): PAULS, JOHN A
• Application Number:
  US12/212,717
• Publication Number:
  US 20100070172A1
• Time in Patent Office: 2,049 Days
• Field of Search: 701/207, 348/42, 348/148
• US Class Current: 701/19
• CPC Class Codes: B61L 23/041 Obstacle detection

Abstract

A system is provided for determining at least one characteristic of an object positioned adjacent to a route. The characteristic of the object is related to the operation of a powered system. The powered system travels along the route. The system includes a plurality of cameras attached to the powered system. The plurality of cameras are aligned along a respective line of sight to the object. A method and computer readable media are also provided for determining at least one characteristic of an object positioned adjacent to a route.

Claims

1. A determination system comprising a plurality of cameras configured to be attached to a vehicle when the vehicle travels along a route, said cameras aligned along respective lines of sight to an object positioned adjacent to the route in order to determine at least one characteristic of the object, wherein the cameras are positioned at respective plural external surfaces of said vehicle within a common transverse plane that intersects a fixed length position along a length of said vehicle, said plural external surfaces being spaced within said transverse plane;

a position determination device configured to determine a position of the vehicle along the route; and

a controller configured to;

determine an expected position of the object and at least one of a fixed length position of at least one of the cameras from a leading end of the vehicle along a direction of travel of the vehicle, a horizontal separation distance between the cameras, or a vertical separation distance between the cameras;

align the plurality of cameras toward the object based on the position of the vehicle along the route, the expected position of the object, and the at least one of the fixed length position of at least one of the cameras, the horizontal separation distance between the cameras, or the vertical separation distance between the cameras.

2. The determination system of claim 1, wherein said vehicle is one of an off-highway vehicle, a marine vessel, transportation vehicle, agricultural vehicle, or a rail vehicle.

3. The determination system of claim 1, wherein the cameras are configured to collect respective visible spectral data from said object, and said controller is configured to determine the characteristic of said object based upon said visible spectral data.

4. The determination system of claim 1, wherein said fixed length position is adjacent to an end of the vehicle.

5. The determination system of claim 1, wherein said plurality of external surfaces are horizontally spaced apart from each other within said transverse plane, and the cameras are positioned adjacent to opposite sides of said vehicle.

6. The determination system of claim 1, wherein said plurality of external surfaces are disposed at different vertical heights within said transverse plane, and the cameras are positioned adjacent to one side of said vehicle.

7. The determination system of claim 1, further comprising:

wherein said controller includes a memory configured to store the expected position of said object along the route and at least one position parameter of said object at said expected position; and

said controller is further configured to determine the respective lines of sight for the cameras to said object based on said at least one position parameter of said object at said expected position.

8. The determination system of claim 7, wherein said at least one position parameter is one or more of a vertical distance between a ground and the object or a horizontal distance between the route and the object.

9. The determination system of claim 7, wherein upon determining the respective lines of sight for the cameras, said controller is configured to align the cameras along the respective lines of sight to the object by varying at least one of a horizontal alignment or a vertical alignment of the respective cameras along the respective lines of sight to the object.

10. The determination system of claim 7, wherein upon aligning the cameras along the respective lines of sight to the object, said controller is configured to calculate a distance from the vehicle to the object based upon the respective lines of sight of the respective cameras to the object.

11. The determination system of claim 7, wherein upon aligning said respective cameras along the respective lines of sight to the object, and upon an obstacle obstructing said line of sight of a first camera of the cameras to said object, said line of sight of a second camera of the cameras to said object remains unobstructed to said object.

12. The determination system of claim 11, wherein said obstacle is a fog shroud surrounding a portion of said object coinciding with said line of sight of said first camera to said object.

13. The determination system of claim 7, wherein the controller is configured to generate an alert to notify an operator of the vehicle when all of the lines of sight of the cameras to the object are obstructed.

14. The determination system of claim 1, wherein said vehicle is a rail vehicle traveling along a first track, the cameras include a pair of cameras having a pair of camera locations on respective opposite sides of said rail vehicle.

15. The determination system of claim 14, wherein said pair of cameras is configured to determine whether a second track is positioned on at least one side of said first track.

16. The determination system of claim 1, wherein the object is a light signal positioned adjacent to the route, and the cameras are aligned along the respective lines of sight to said light signal to collect visible spectral data from the light signal.

17. The determination system of claim 16, wherein the cameras are configured to acquire unfiltered data of the visible spectral data from the light signal and filtered data of the visible spectral data from the light signal, and the controller is configured to compare the unfiltered data with the filtered data in order to identify a color of a light emitted by the light signal.

18. The determination system of claim 17, wherein the filtered data includes a portion of the visible spectral data that does not include one or more colors that are filtered by a filter disposed between at least one of the cameras and the object.

19. A method comprising:

identifying a position of a vehicle traveling along a route, the vehicle having plural cameras connected to the vehicle in different locations;

determining an expected position of an object disposed alongside the route and at least one of a fixed length position of at least one of the cameras from a leading end of the vehicle along a direction of travel of the vehicle, a horizontal separation distance between the cameras, or a vertical separation distance between the cameras;

aligning the cameras along respective lines of sight to said object based on the position of the vehicle that is identified, the expected position of the object, and the at least one of the fixed length position, the horizontal separation distance, or the vertical separation distance;

collecting respective image data from said object with the cameras; and

determining at least one characteristic of said the object based upon said image data.

20. The method of claim 19, wherein the cameras are attached at respective ones of plural external surfaces of the vehicle, said vehicle being one of an off-highway vehicle, a marine vessel, a transportation vehicle, an agricultural vehicle, or a rail vehicle.

21. The method of claim 19, further comprising:

determining at least one position parameter of the object; and

determining the respective lines of sight for the cameras to said object based on the at least one position parameter of said object at said expected position.

22. The method of claim 19, further comprising generating an alert to notify an operator of the vehicle when all of the lines of sight of the cameras to the object are obstructed.

23. The method of claim 19, wherein the object is a light signal positioned adjacent to the route, and collecting the image data from the object includes collecting visible spectral data from the light signal.

24. The method of claim 19, wherein collecting the image data includes acquiring unfiltered data of the visible spectral data from the light signal and filtered data of the visible spectral data from the light signal, and wherein the at least one characteristic of the object that is determined is a color of a light emitted by the light signal based on a comparison of the unfiltered data and the filtered data.

25. The method of claim 24, wherein the filtered data includes a portion of the visible spectral data that does not include one or more colors that are filtered by a filter disposed between at least one of the cameras and the object.

26. A determination system comprising:

a plurality of cameras configured to be attached to a rail vehicle; and

a position determination device configured to determine a position of the vehicle along a track; and

a controller configured to be connected with the plurality of cameras and to adjust the plurality of cameras for alignment along a respective lines of sight to wayside equipment disposed alongside the track being traveled by the rail vehicle, wherein the controller is configured to align the plurality of cameras toward the wayside equipment based on the position of the vehicle along the track, an expected position of the wayside equipment and at least one of a fixed length position of at least one of the cameras from a leading end of the vehicle along a direction of travel of the vehicle, a horizontal separation distance between the cameras, or a vertical separation distance between the cameras.

27. The determination system of claim 26, wherein said plurality of cameras are positioned at respective external surfaces of said rail vehicle that are positioned within a common transverse plane intersecting a fixed length position along a length of said rail vehicle, said plurality of external surfaces being spaced within said transverse plane.

28. The determination system of claim 27, wherein said fixed length position is adjacent to an end of the rail vehicle.

29. The determination system of claim 27, wherein said plurality of external surfaces are horizontally spaced within said transverse plane, said plurality of cameras being positioned adjacent to opposite sides of said rail vehicle.

30. The determination system of claim 27, wherein said plurality of external surfaces are vertically spaced within said transverse plane, said plurality of cameras being positioned adjacent to one side of said rail vehicle.

31. A non-transitory computer readable medium for determining at least one characteristic of an object positioned alongside a route, said characteristic of the object being related to an operation of a vehicle having plural attached cameras and traveling along the route, said non-transitory computer readable medium including computer software code, that, when executed on a processor, causes the processor to:

identify a position of the vehicle along the route;

determine an expected position of the object and at least one of a fixed length position of at least one of the cameras from a leading end of the vehicle along a direction of travel of the vehicle, a horizontal separation distance between the cameras, or a vertical separation distance between the cameras; and

align said cameras along respective lines of sight to said object based on the position of the vehicle, the expected position of the object, and the at least one of the fixed length position, the horizontal separation distance, or the vertical separation distance.