Method and system for determining the availability of a lane for a guided vehicle

• US 9,533,626 B2
• Filed: 09/18/2012
• Issued: 01/03/2017
• Est. Priority Date: 09/30/2011
• Status: Active Grant

• Current Assignee: Siemens Mobility SAS (Siemens AG)
• Original Assignee: Siemens Sas (Siemens AG)
• Inventors: Forni, Virginie, Mura, Jean-Pol, Alves, Clara Nogueira
• Primary Examiner(s): Aghevli, Reza
• Application Number:
  US14/348,777
• Publication Number:
  US 20140247356A1
• Time in Patent Office: 1,568 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B61L 23/041 Obstacle detection

Abstract

A method and a system determine track availability. The system is configured to be fitted to a guided vehicle liable to move downstream on a track. The system contains at least one camera able to capture images of a downstream section of track. The downstream section being a track portion extending from a first point of the track located downstream of the guided vehicle to a second point of the track located downstream of the guided vehicle. The distance separating the camera from the second point is being greater than the distance separating it from the first point. At least one image processing and analysis device is provided and is able to analyze each image taken by each camera, to locate the downstream section therein, to determine first a downstream safety distance, and second an availability state of the track between the first point and the second point.

Claims

1. A system for determining track availability and configured to be fitted to a guided vehicle liable to move downstream, the system comprising:

at least one camera able to capture at least one image of a downstream section of a track, the downstream section being a track portion extending from a first point of the track disposed downstream of the guided vehicle to a second point of the track disposed downstream of the guided vehicle, a distance separating said camera from the second point being greater than a distance separating said camera from the first point; and

at least one image processing and analysis device able to analyze each image taken by said camera, to locate said downstream section therein, to determine a downstream safety distance, and an availability state of the track between the first point and the second point, said image processing and analysis device is configured for using known and invariable dimensional features of the track for locating the downstream section in relation to said camera and for determining a distance between the downstream section and said camera.

2. The system according to claim 1, wherein said processing and analysis device is able to determine a track length separating the guided vehicle from at least one third point disposed between the first point and the second point.

3. The system according to claim 1, further comprising a database.

4. The system according to claim 1, further comprising a further camera able to capture at least one image of the downstream section of the track, said camera and said further camera being able to cooperate to create a stereo image of the downstream section.

5. The system according to claim 1, further comprising a radar system able to image the downstream section and to cooperate with said camera.

6. The system according to claim 5, further comprising a movement device able to control a positioning of said radar system and/or of said camera in dependence on a position of the downstream section in the image captured by said camera.

7. The system according to claim 1, wherein said image processing and analysis device is able to detect a discontinuity of the track between the first point and the second point.

8. The system according to claim 1, wherein said image processing and analysis device is able to detect a ground signal downstream of the guided vehicle.

9. The system according to claim 1, further comprising a signaling device able to generate a track availability state signal that can characterize a track availability state of the downstream section, the track availability state signal having a first value when the track is available for the guided vehicle and a second value when the track is occupied.

10. The system according to claim 9, further comprising a communication device able to send the track availability state signal to another communication device.

11. The system according to claim 1, further comprising at least one supplementary camera configured to capture at least one image of an upstream section of the track.

12. A guided vehicle, comprising:

a system for determining track availability and configured to be fitted to a guided vehicle liable to move downstream, the system containing;

at least one camera able to capture at least one image of a downstream section of a track, the downstream section being a track portion extending from a first point of the track disposed downstream of the guided vehicle to a second point of the track disposed downstream of the guided vehicle, a distance separating said camera from the second point being greater than a distance separating said camera from the first point; and

at least one image processing and analysis device able to analyze each image taken by said camera, to locate said downstream section therein, to determine a downstream safety distance, and an availability state of the track between the first point and the second point, said image processing and analysis device is configured for using known and invariable dimensional features of the track for locating the downstream section in relation to said camera and for determining a distance between the downstream section and said camera.

13. A distance-measurement system comprising:

a distance-measurement sign for assisting in determining track availability and having a sign body;

a system for determining the track availability and configured to be fitted to a guided vehicle liable to move downstream, said system containing;

at least one camera able to capture at least one image of said distance-measurement sign; and

at least one image processing and analysis device able to analyze each image taken by said camera, to locate said distance-measurement sign, to determine a downstream safety distance, and an availability state of a track between a first point and a second point;

said sign body configured to be attached to a supporting element of a surface of another guided vehicle or beside the track, said sign body having a geometric shape dimensioned to enable the system for determining track availability to determine a distance between the distance-measurement sign and the guided vehicle.

14. A method for determining track availability and determining availability of a track for a guided vehicle liable to be moving downstream, which comprises the steps of:

capturing at least one image by a camera of a downstream section of a track, the downstream section being a portion of track extending from a first point of the track disposed downstream of the guided vehicle to a second point of the track disposed downstream of the guided vehicle, a distance separating the camera from the second point being greater than a distance separating the camera from the first point; and

automatically processing and analyzing each image captured in order to locate the track in each image captured, to determine a downstream safety distance and an availability state of the track between the first point and the second point, wherein known and invariable dimensional features of the track are used for locating the downstream section in relation to the camera and for determining a distance between the downstream section and the camera.

15. The method according to claim 14, which further comprises:

generating a state signal able to characterize the availability state of the track; and

transmitting the state signal to at least one other guided vehicle.