METHOD AND APPARATUS FOR RECOGNITION OF OBSTACLES IN A DANGER ZONE, RAILROAD CROSSING, PLATFORM, COMPUTER PROGRAM PRODUCT AND PROVISION APPARATUS

Abstract

A method for recognizing obstacles in a danger zone traversed by a vehicle using a sensor facility sensing an object. The sensed objects are recognized and assessed with computer assistance. A model containing objects to be recognized and their position at the danger zone is used for assessment of the objects. For recognized objects, a check uses the model if they are recognized at an expected position, until all objects of the model are assigned to a recognized object and the assessment is that no obstacle is in the danger zone, or an object is contained in the model, to which none of the recognized objects is assigned and the assessment is that an obstacle is in the danger zone. The object assessment is suspended while a vehicle traverses the danger zone. An arrangement for recognition of obstacles, railroad crossing, platform, computer program product and provision apparatus are also provided.

Claims

1. A method for recognition of obstacles in a danger zone able to be traversed by a vehicle, the method comprising: using a sensor facility to sense objects lying in or on the danger zone; recognizing the sensed objects with computer assistance; carrying out an assessment with computer assistance for recognition of obstacles; using a model of the danger zone with the objects to be recognized for the assessment of the objects, the model containing a multiplicity of objects to be recognized and a position of the objects in or on the danger zone; checking, aided by the model, whether the recognized objects have been recognized at an expected position, until: all of the objects of the model have been assigned to a recognized object and the assessment reveals no obstacle located in the danger zone, or the model contains an object not assigned to any of the recognized objects and the assessment reveals an obstacle located in the danger zone; and suspending the assessment of the objects while the vehicle passes through the danger zone.

2. The method according to claim 1, which further comprises sensing markers as objects, the markers carrying information for the sensing of the objects.

3. The method according to claim 1, which further comprises, after the assessment that an obstacle is located in the danger zone: using the sensor facility to sense the obstacle lying in the danger zone; and recognizing the sensed obstacle with computer assistance.

4. The method according to claim 1, which further comprises monitoring a danger zone of a railroad crossing as the danger zone.

5. The method according to claim 4, which further comprises attaching the sensor facility to at least one barrier tree or at least one barrier drive of the railroad crossing, and using the sensor facility to monitor the danger zone in a direction of view towards a track.

6. The method according to claim 1, which further comprises monitoring a danger zone of a platform as the danger zone.

7. The method according to claim 6, which further comprises attaching the sensor facility to the platform at or below a platform edge or lying opposite the platform, and using the sensor facility to monitor the danger zone in a direction of view towards a track.

8. An arrangement for recognition of obstacles, the arrangement comprising: a sensor facility for sensing objects in a danger zone; and a computer for recognition of the sensed objects; said arrangement configured to carry out the method according to claim 1.

9. A railroad crossing, comprising: an arrangement for recognition of obstacles, the arrangement including: a sensor facility for sensing objects in a danger zone of the railroad crossing; and a computer for recognition of the sensed objects; said arrangement configured to carry out the method according to claim 1.

10. A platform, comprising: an arrangement for recognition of obstacles, the arrangement including: a sensor facility for sensing objects in a danger zone in front of the platform; and a computer for recognition of the sensed objects; said arrangement configured to carry out the method according to claim 1.

11. A non-transitory program product, comprising program instructions stored thereon, that when executed on a processor, carry out the method according to claim 1.

12. A provision apparatus for the computer program product according to claim 11, the provision apparatus at least one of storing or providing the computer program product.

Description

BRIEF DESCRIPTION OF THE FIGURES

[0066] FIG. 1 is a diagrammatic, perspective view of an exemplary embodiment of the inventive apparatus as a railroad crossing with its working interrelationships;

[0067] FIG. 2 is a perspective view of an exemplary embodiment of the inventive apparatus as a platform with its working interrelationships;

[0068] FIG. 3 is a block diagram of an exemplary embodiment of a computer infrastructure of the apparatus in accordance with FIG. 1, wherein the individual functional units execute program modules, which can each run in one or more processors and wherein the interfaces can accordingly be configured in software or in hardware; and

[0069] FIG. 4 is a flow diagram of an exemplary embodiment of the inventive method, wherein the individual method steps can be realized singly or in groups by program modules and wherein the functional units and interfaces in accordance with FIG. 2 are indicated by way of example.

DETAILED DESCRIPTION OF THE INVENTION

[0070] Referring now to the figures of the drawings in detail and first, particularly, to FIG. 1 thereof, there is seen a railroad crossing BU. The railroad crossing BU has two barriers, which each include a barrier drive SRA1, SRA2 and a barrier tree SRB1, SRB2. The railroad crossing BU is formed by a track GL, which crosses a highway FW. A danger zone GFR is therefore formed between the barrier trees SRB1, SRB2 that is to be checked for the presence of obstacles HD1. In the exemplary embodiment in accordance with FIG. 1, the danger zone GFR is to be checked for a person.

[0071] For the purposes of checking, sensors SN1 in the form of cameras, are attached to the barrier drives SRA1, SRA2 and also to the barrier trees SRB1, SRB2, which are aligned in a direction of view BR, indicated by an aperture angle to the danger zone GFR. In particular the sensors SN1, by overlapping of the aperture angles, can create a contiguous image of the barrier lying opposite in each case.

[0072] In order to monitor the danger zone GFR for obstacles HD1, the inventive method makes provision for the images to be assessed in a computer not shown in the figure (more about this below). An approach that is adopted in this case is that in the images, various objects OB1 . . . OB7, which must be recognized in the images, are stored as a model. In this way the entire railroad crossing can be present for example as virtual reality or also two-dimensionally, for example as a number of stored images. While there is no obstacle HD1 in the danger zone GFR, all objects OB1 . . . OB7 must accordingly be recognized and a danger zone free message is generated. If not all objects OB1 . . . OB7, which are stored in the model are recognized, a message is generated that an obstacle has been established in the danger zone GFR.

[0073] The reference characters OB1 . . . OB7 designate particular types of objects, which will be briefly explained below. The object OB1 involves a reflector, which in particular for optical monitoring generates a strong signal by reflecting light. If radar is used as a sensor SN1, then the object OB1 can also involve a reflector for radar waves. The object OB2 is a colored marking on the barrier tree SRB1, as is usually attached to it. These can also be easily recognized on an image. The object OB3 is a colored identifier on the highway FW, in the exemplary embodiment in accordance with FIG. 1 between the rails of the track GL. This can also be easily monitored in order in particular to detect small obstacles, since the obstacles cover a part of the subsurface formed by the highway FW. Object OB4 involves the cross ties. These can in particular be monitored optically in the edge area of the railroad crossing, i.e. before and after the highway FW. The barrier tree SRB1 forms an object OB5, which is able to be recognized on the image. A hanging grid HG, which can hang down from the barrier trees SRB1, SRB2, is to be detected as an object OB6 and is only indicated in FIG. 1. Lastly the barrier drive SRA1 also produces an object OB7, which may not be hidden.

[0074] It can be seen that both elements of the railroad crossings that have to be provided as part of their construction, such as barrier drives SRA1, SRA2, rail ties, etc. are used in the model, as well as specific markings OB1, OB2, OB3, which are provided as extras for an image recognition in the railroad crossing and to this extent are used as markers.

[0075] FIG. 2 shows a platform BS having a platform edge BK facing the track GL, on which a danger zone GFR arises. In order to monitor the zone a similar arrangement is set up to the one described in FIG. 1. A check is carried out by using the sensors SN1, which are each aligned in a direction of view away from the platform edge BK or towards the platform edge BK, so that when a vehicle FZ is approaching in the direction of travel FR no obstacles HD2 (an item of luggage in FIG. 2) are present. In this example, similar objects OB1 are stored as reflectors, OB2 as colored markings, OB4 as rail ties, etc. in a model and their presence is checked in the sensor results.

[0076] FIG. 3 shows a computer infrastructure that is suitable for carrying out the inventive method. Program modules can be processed in this case by a first computer CP1 in a control center LZ, by a second computer CP2 in a controller ST for the railroad crossing BU or for a platform BS and within a Cloud CLD.

[0077] The control center LZ includes the first computer CP1, which is connected through a third interface S3 to a first memory facility SE1. Moreover the first computer CP1 is connected through an eighth interface S8 to the Cloud CLD. Moreover the first computer CP1 is connected through a first interface S1 to the second computer CP2 of the controller ST.

[0078] The second computer CP2 has a fourth interface S4 to a second memory facility SE2. The controller moreover has a first sensor SN1, for example a camera, and optionally a second sensor SN2, for example a radar. The sensor data of the first sensor SN1 is transmitted through a fifth interface S5 and the sensor data of the second sensor SN2 through a sixth interface S6, to the second computer CP2.

[0079] FIG. 4 shows an exemplary embodiment for execution of the inventive method, supplemented by a few preparatory execution steps. Shown in this figure is the Cloud CLD, which makes available a service for creation of a model. For this purpose a measurement and where necessary a marking (cf. FIGS. 1 and 2) of the danger zone is carried out by a measurement service provider FZM, in which, after the method is started, model data is generated in a generation step for model data GEN_MD, which for example involve the digital images of the danger zone. This can be transmitted in an output step for model data MD_OT through an interface S9 to the Cloud CLD and stored there. Furthermore a service provider, not shown in any greater detail, is connected to the Cloud CLD, which, in a generation step for the model GEN_MST creates a model MST. This can in particular be formed of a virtual reality VR, i.e. a three-dimensional representation of the environment of the danger zone. As an alternative it is possible to select a two-dimensional representation. The model MST is stored in the Cloud CLD.

[0080] After the method has been started in the control center LZ, the model MST is made available through the eighth interface S8 in an input step for the model MST_IN. Moreover in an input step for a timetable FPL_IN likewise through the eighth interface S8, a timetable FPL for vehicles is loaded from the Cloud CLD.

[0081] In a subsequent interrogation step FZ?, it is clarified whether a vehicle is in use. If this is not the case, it is queried in an interrogation step for the end of the method STP? whether the operating method is to be ended in the control center LZ. If this is the case the method is stopped. If this is not the case, then in a further input step FPL_IN, a renewal of the timetable data is undertaken and the method begins again.

[0082] When the vehicle FZ has been started, the interrogation step FZ? leads to it being confirmed to the control center LZ that a vehicle is in use, so that the model can be read in through the first interface S1 in an input step for the timetable FPL_IN. Subsequently, a sensing step for objects SEN_OB is undertaken in the vehicle, in which sensor data is generated for recognition of objects. In a subsequent identification step for objects IDF_OB the sensor data is processed to the extent that objects OB lying in or on the danger zone are recognized.

[0083] In a subsequent identification step for obstacles IDF_HD, a reconciliation of objects found in the preceding identification step for objects IDF_OB with the objects to be expected as a result of an assessment of the model is carried out. An obstacle is identified when an object which would be expected to be recognized due to the knowledge or the model cannot be recognized in the field of view BF of the sensor SN1 . . . SN2.

[0084] If an obstacle was recognized, a check is made in an interrogation step for critical obstacles CRT? as to whether the obstacle represents a problem for the approaching vehicle. This is the case in particular when it exceeds a specific size. If the obstacle is not critical, it is established in an interrogation step for the end of the method whether the operation of the vehicle FZ has been ended. If this is the case the method is stopped. If this is not the case, the execution of the method depicted begins again with the sensing step for objects SEN_OB.

[0085] If a critical obstacle is involved, in a next step an emergency braking EBK of the approaching vehicle is initiated. This can also be undertaken, in a way not shown, by the control center LZ and not handled by the controller ST. Subsequently, in an output step for the emergency E_OT there is a notification to the control center LZ through the first interface S1, which subsequently makes an appropriate change to the timetable (merely indicated in FIG. 4). In any event the method of the controller is also stopped after the emergency braking EBK.

[0086] The following is a summary list of reference numerals and the corresponding structure used in the above description of the invention.

LIST OF REFERENCE CHARACTERS

[0087] LZ Control center [0088] BU Railroad crossing [0089] BS Platform [0090] GFR Danger zone [0091] FZ Vehicle [0092] FZM Measurement service provider [0093] FR Direction of travel [0094] BR Direction of view [0095] GL Track [0096] FW Highway [0097] HD1 . . . HD2 Obstacle [0098] OB1 . . . OB7 Object [0099] MST Model [0100] SRB1 . . . SRB2 Barrier tree [0101] SRA1 . . . SRA2 Barrier drive [0102] HG Hanging grid [0103] BK Platform edge [0104] CP1 . . . CP2 Computer [0105] SE1 . . . SE2 Memory facility [0106] SN1 . . . SN2 Sensor [0107] S1 . . . S Interface [0108] CLD [0109] GPS [0110] Cloud [0111] Global Positioning System module [0112] MST Model [0113] MD Model data [0114] GEN_MD Generation step for model data [0115] MD_OT Output step for model data [0116] MST_MST Generation step for model [0117] MST_IN Input step for model [0118] FPL_IN Input step for timetable [0119] SEN_OB Sensing step for objects [0120] IDF_OB Identification step for objects [0121] IDF_HD Identification step for obstacles [0122] CRT? Interrogation step for critical obstacle [0123] EBK Emergency braking [0124] STP? Interrogation step for end of method [0125] FZ? Interrogation step for vehicle in use [0126] E_OT Output step for emergency