Obstacle detection system using multiple processors
An object of the invention is to reduce a calculation performance required for an obstacle detection device while maintaining an obstacle detection range in a wide range in an obstacle detection system where external sensor data mounted in a track transport system is used. Therefore, in the invention, an obstacle detection system includes: an external sensor configured to monitor surroundings of a train; and at least two or more obstacle detection processing units configured to perform obstacle detection processing for detecting an obstacle by using sensor data acquired by the external sensor, in which the obstacle detection processing is distributed to the two or more obstacle detection processing units according to sensor information of the sensor data.
1 . An obstacle detection system comprising:
an external sensor configured to monitor surroundings of a train;
two or more obstacle detection processors configured to perform obstacle detection processing for detecting an obstacle by using sensor data acquired by the external sensor, the two or more obstacle detection processors mounted in different cars of the train; and
a distributor configured to transmit the sensor data received from the external sensor to at least one of the two or more obstacle detection processors according to sensor information of the sensor data, and to distribute the obstacle detection processing, wherein:
the at least one of the two or more obstacle detection processors perform the obstacle detection processing distributed by the distributor.
2 . The obstacle detection system according to claim 1 , wherein
the distributor distributes the obstacle detection processing to the at least one of the two or more obstacle detection processors according to a magnitude of a sensor data volume of the external sensor.
3 . The obstacle detection system according to claim 1 , wherein
the distributor distributes obstacle detection processing using sensor data of the external sensor to an obstacle detection processor of the two or more obstacle detection processors mounted in a car other than a lead car in a traveling direction.
4 . The obstacle detection system according to claim 1 , wherein
the distributor distributes obstacle detection processing using sensor data of an external sensor in an obstacle detection processor of the two or more obstacle detection processors to another obstacle detection processor of the two or more obstacle detection processors mounted in a car other than a lead car in a traveling direction.
5 . The obstacle detection system according to claim 1 , wherein
the two or more obstacle detection processors are present in a same car of the train.
6 . The obstacle detection system according to claim 1 , wherein
the obstacle detection processing to be distributed to the at least one of the two or more obstacle detection processors is switched according to a traveling direction of the train.
7 . The obstacle detection system according to claim 1 , wherein the external sensor is a plurality of external sensors whose processing load varies depending on a number of connections, the distributor transmits external sensor data of the external sensors whose processing load varies depending on the number of connections to an obstacle detection processor of the two or more obstacle detection processors provided in a same obstacle detection system as the external sensors.
8 . The obstacle detection system according to claim 7 , wherein
the external sensors whose processing load varies depending on the number of connections are side monitoring external sensors.
9 . The obstacle detection system according to claim 1 , wherein
the distributor distributes the obstacle detection processing to an obstacle detection processor of the two or more obstacle detection processors mounted in another train.
10 . The obstacle detection system according to claim 9 , wherein
the another train is a train having a short communication path with a train in which the obstacle detection system is mounted.
11 . The obstacle detection system according to claim 9 , wherein
the another train is present in a communication path in which a result of the distributed obstacle detection processing is returnable to the obstacle detection system within a constant period.
12 . The obstacle detection system according to claim 9 , wherein
a train that is stopped at a rail yard or a train that is stopped at a station is preferentially set as the another train.
13 . The obstacle detection system according to claim 1 , further comprising:
the distributor distributes the obstacle detection processing to an obstacle detection processor of the two or more obstacle detection processors present in a ground portion.
14 . A railroad vehicle in which the obstacle detection system according to claim 1 is mounted.
15 . An obstacle detection system comprising:
an external sensor configured to monitor surroundings of a train; and
two or more obstacle detection processors configured to perform obstacle detection processing for detecting an obstacle by using sensor data acquired by the external sensor, the two or more obstacle detection processors comprising at least a first obstacle detection processor and a second obstacle detection processor, the two or more obstacle detection processors mounted in different cars of the train, wherein
at least one of the two or more obstacle detection processors perform the obstacle detection processing according to sensor information of the sensor data, and
an execution location of the obstacle detection processing, which is distributed to the first obstacle detection processor mounted in a car other than a lead car in a traveling direction and is using sensor data of the external sensor, is switched to the second obstacle detection processor mounted in the lead car according to a change in the traveling direction of the train.
16 . An obstacle detection method performed by an obstacle detection system including an external sensor configured to monitor surroundings of a train and two or more obstacle detection processors configured to perform obstacle detection processing for detecting an obstacle by using sensor data acquired by the external sensor comprising:
distributing, using a distributor, the obstacle detection processing to at least one of the two or more obstacle detection processors according to sensor information of the sensor data, wherein the two or more obstacle detection processors mounted in different cars of the train.