EP0976640B1 - Anti-collision system for level crossing - Google Patents
Anti-collision system for level crossing Download PDFInfo
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- EP0976640B1 EP0976640B1 EP99401857A EP99401857A EP0976640B1 EP 0976640 B1 EP0976640 B1 EP 0976640B1 EP 99401857 A EP99401857 A EP 99401857A EP 99401857 A EP99401857 A EP 99401857A EP 0976640 B1 EP0976640 B1 EP 0976640B1
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- Prior art keywords
- level crossing
- collision system
- train
- obstacle
- crossing
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L29/00—Safety means for rail/road crossing traffic
- B61L29/24—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
- B61L29/28—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 electrically operated
- B61L29/30—Supervision, e.g. monitoring arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
- B61L23/041—Obstacle detection
Definitions
- the present invention relates to an anti-collision system for switching to level.
- Such collisions are first caused by the presence of a vehicle car immobilized on the railway, due either to a breakdown of the vehicle or to a imprisonment of the latter between the gates of the crossing.
- railway accidents can also be caused by a abnormal behavior of road users, resulting in non-compliance with the road regulations.
- An example of faulty behavior is the anti-incursion barriers at the level crossings.
- the object of the invention is to provide an anti-collision system for passage to level capable of providing an alternative to the removal of crossings at levels while being efficient and cheap.
- an anti-collision system for level crossing including roadside equipment in the vicinity of the roadway level to indicate the approach of a railway train and to stop the vehicles traveling on the roadway, characterized in that it comprises detection means obstacles on the railroad tracks of the crossing, located in the vicinity of the railway crossing and connected to control means for stopping railway convoys traveling in upstream of the crossing, in the presence of an obstacle on the latter.
- FIG. 1 shows a level crossing of the signaling type automatic light (SAL) with an anti-collision system according to the invention.
- SAL signaling type automatic light
- the reference numeral 10 denotes the railroad of a network railway and the reference numeral 12 designates a roadway of a road network.
- the crossing is equipped with road equipment intended to indicate to road users the approach of a convoy and stop the vehicles on the road, and equipment intended to stop convoys traveling upstream of the level, in the presence of an obstacle.
- the roadside equipment includes two half-barriers automatic anti-incursion respectively 14 and 16 arranged on both sides of the Railroad Crossing.
- These barriers 14 and 16 are controlled at the opening and closing by convoy detection means (not shown in this figure) arranged on the track railway upstream of the level crossing, considering the direction of movement of the convoys rail.
- detection means are means of conventional type and suitable for the intended use. They will not be described in detail later. We will note however they are not example constituted by a detection device of the type "pedal "classically equipping the rail networks.
- FIG. 1 also shows that the road surface is equipped with retarders 18 and 20 arranged on both sides of the crossing so as to avoid a crossing of the lane 10 at high speed.
- Signs, respectively 22 and 24, driven by the convoy detection means are arranged on both sides of the crossing. indicate to road users the impending closure of barriers 14 and 16 and the coming arrival of a railway convoy.
- the traffic signs 22 and 24 are constituted by electroluminescent or liquid crystal display panels for displaying variable information sequences to warn road users of the status of the transition to level, that is to say the imminent closing of the barriers, their closure in progress, ...
- the level crossing is provided with flashing optical devices, of the "flash” type or flash lamp, making it possible to dramatically materialize the closing of the barriers.
- FIG. 1 also shows that in the example shown which has two half-gates each extending, in the closed position, on one of the roads, the roadside equipment also includes a set of obstacles, such as 25, separating the tracks from the roadway 12 so as to prevent the transition to a chicane crossing.
- the roadside equipment also includes a set of obstacles, such as 25, separating the tracks from the roadway 12 so as to prevent the transition to a chicane crossing.
- these obstacles are constituted by terminals or implanted islands in the middle axis of the roadway.
- roadside equipment can be supplemented by located upstream and downstream of the level crossing to regulate the flow of shifting the lines of waiting motor vehicles upstream of the level crossing, by example of retractable complementary barriers.
- railway equipment enabling stopping railway convoys traveling upstream of the level crossing, in the presence of a obstacle on the latter include means for detecting obstacles associated with control means for stopping railway convoys.
- the obstacle detection means comprise a set of cameras of 26, 28, 30 and 32, located in the vicinity of the railway line of the railway crossing and directed towards the latter. They are connected to a central processing unit 34, constituted by a computer in which is stored an image processing algorithm and recognition of the type of obstacle present on the track.
- control means of the railway train stop include, connected to the central processing unit 34 and receiving input an obstacle detection signal issued by the latter, a device 36 of speed control of railway convoys.
- Such a device also known as “KVB device” includes a speed setting unit 38 intended to be imposed on the trains, consisting of a digital coding device connected to a set of beacons, such as 40, arranged along the railway line 10 upstream of Rail Crossing.
- These tags 40 also known as "KVB tags” are each intended to communicate with a speed management device (no represented), of a conventional type, embarked on board railway convoys traveling on the track railway and adapted to enslave the speed of the latter on the value of the speed instructions which is transmitted to them by the beacons 40.
- control device 36 comprises, in input, a control relay 42 connected to the processing unit 34 and to which is delivered the obstacle detection signal, this relay controlling the commissioning of the coding device 38 for the purpose of developing speed regulations to be imposed on railway convoys.
- the anti-collision system is equipped with railway signaling optics (not shown) located along the railway line in upstream of the level crossing and controlled by the relay 42 so as to respond to an order of braking to the driver of the railway train.
- the device 36 is completed by a conventional power supply unit 44 supplying the encoder device 38 and the central processing unit 34 with that the supply of lighting devices equipping the railway crossing so as to allow the detection of obstacles in low light conditions.
- the central processing unit 34 receives as input, in addition to the images provided by the cameras, signals delivered by the equipment of the crossing, such as signals indicating the state of the barriers, detection signals of a railway train, signals indicating the status of track circuits, with a view to providing a indication of the position of the railway train, ..., so as to adapt the value of speed instructions according to these parameters, as will be described later.
- signals delivered by the equipment of the crossing such as signals indicating the state of the barriers, detection signals of a railway train, signals indicating the status of track circuits, with a view to providing a indication of the position of the railway train, ..., so as to adapt the value of speed instructions according to these parameters, as will be described later.
- control device 36 may be provided with a transmitter radio wave driven by the actuator 42 so as to transmit alarm signals to a corresponding receiver boarded railway convoys traveling on the track railway.
- a modulator-demodulator (not shown) is connected to the central processing unit 34 for the transmission of all the information relating to the operation of the system to a central monitoring station, using a telephone network.
- the central processing unit 34 is provided with memory means, type "black box”, allowing the periodic storage of the images delivered by the cameras 26,28,30 and 32.
- the processing unit 34 is also capable, by stereoscopic processing, to discriminate between a detected flat object, such as a shadow, a reflection, ... and an object in three dimensions (motor vehicle, pedestrian, ).
- Such stereoscopic processing is performed by comparing the images obtained by the cameras of each pair, the images coinciding for flat objects and being in offset for three-dimensional objects.
- Such treatment is also carried out comparing the dimensions of the non visible areas of the roadway due to the presence of a obstacle, which differs from one camera to another for three-dimensional objects.
- the detection of obstacles located on the crossing is done by processing the images delivered by the cameras 26, 28, 30 and 32.
- the obstacles likely to be present on track 10 at the approach of a railway convoy may be of different natures, it will be considered, in the following the description, that these obstacles are constituted either by motor vehicles stationary on track 10, for example because of a breakdown, or by vehicles cars crossing railway line 10 during the closing of gates 14 and 16 or when they are closed, despite the use of obstacles designed to crossing in a chicane of the crossing.
- the behavior to be obtained from a convoy approach is adapted according to the distance to which the convoy of the type is obstacle detected and possibly the position of the anti-incursion barriers 14 and 16.
- each camera delivers to the central processing unit 34 a set of images in the form of pixels each associated with a value luminance, that is to say, for monochrome cameras, values each corresponding to a gray level.
- An image processing algorithm stored in the processing unit 34, performs a filtering of the pixels delivered by the cameras, by comparison of the values of luminance with one or more threshold values for detecting the contour of an obstacle.
- the rest of the treatment uses a classical technique of recognition of forms capable of determining the type of obstacle present on the crossing, by example by extracting characteristic parameters from detected objects and comparing of these parameters with predetermined parameters obtained by prior learning and each corresponding to a type of obstacle.
- the central processing unit 34 operates the relay 42 so as to transmit a stop command signal to the railway train and then to provoke emergency braking or to ensure that the locomotive engineer braking necessary to stop the railway convoy.
- relay 42 activates optical devices for railway signaling located along the railway line so as to warn the locomotive engineer of the risk of collision.
- Speed setpoint signals and stop commands sent to beacons KVB are developed based on the distance to which the rail convoy is type of obstacle detected, namely a vehicle immobilized before closing the gates or vehicle attempting to cross the crossing during the closure of the crossing or after closing and, possibly, the position of the barriers.
- the positioning of the pedal electronics 46 for detecting railway convoy and controlling the closing of barriers 14 and 16 is the distance traveled by a railway train during the closing time of the barriers. This distance is usually called “distance Ad ".
- the announcement distance is related to the maximum speed of movement of convoys but is independent of the stopping distance of the latter.
- the stopping distance being generally greater than the advertisement distance, one distinguishes three distinct modes of detection and action on the convoy, corresponding respectively to the cases illustrated in Figures 3,4 and 5.
- a railway train 47 travels next to a first group of KVB 48 beacons located at the stopping distance, that is to say a distance from the level crossing corresponding to the distance required for convoy 47 stops according to the deceleration curve C1 shown in this figure.
- the anti-collision system When a motor vehicle 50 immobilized on the crossing is detected while the convoy is at such a distance, the anti-collision system generates speed instructions so as to control the deceleration of the convoy 47 according to the curve C1, so as to avoid any collision.
- the convoy 47 is located at the announcement distance and runs next to the electronic pedal 46 allowing the detection of the convoy and controlling the closing of the barriers 14 and 16.
- the detection of a vehicle immobilized or incursion in the crossing causes the emission of an emergency braking signal triggered by the KVB control device by transmission, at the level of a second group of KVB 52 beacons, with a zero speed reference value (curve C2), so as to slow convoy 47 as much as possible to limit the consequences of a collision in the where the vehicle does not have the possibility to disengage.
- an emergency braking signal triggered by the KVB control device by transmission, at the level of a second group of KVB 52 beacons, with a zero speed reference value (curve C2)
- the detection of a vehicle immobilized or incursion causes the emergency braking of the convoy 47.
- the detection of any obstacle while the barriers 14 and 16 are in a closed position causes the emission, by a third group of beacons 54, a setpoint signal C3 identical to the signal of reference C2 mentioned above so as to minimize the consequences of a collision.
- the anti-collision system ensures, besides Detection of immobilized vehicles, detection of moving vehicles, that is to say in incursion.
- the detection of a vehicle immobile or incursion causes groups of beacons 62 and 64 to transmit setpoint signals C5 from emergency braking.
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Abstract
Description
La présente invention est relative à un système anti-collision pour passage à niveau.The present invention relates to an anti-collision system for switching to level.
Les accidents ferroviaires survenant sur un passage à niveau sont généralement dus à une collision entre un convoi ferroviaire et un véhicule automobile.Railway accidents occurring on a railway crossing are generally due to a collision between a railway convoy and a motor vehicle.
De telles collisions sont tout d'abord provoquées par la présence d'un véhicule automobile immobilisé sur la voie ferrée, due soit à une panne du véhicule soit à un emprisonnement de ce dernier entre les barrières du passage à niveau.Such collisions are first caused by the presence of a vehicle car immobilized on the railway, due either to a breakdown of the vehicle or to a imprisonment of the latter between the gates of the crossing.
Les véhicules en panne sont le plus souvent immobilisés bien avant l'approche du convoi ferroviaire, les emprisonnements de véhicules étant relativement rares du fait de l'utilisation répandue de barrières en fibre de polyester pouvant être facilement rompues.The broken down vehicles are most often immobilized well before the approach railway convoy, the imprisonment of vehicles being relatively rare because of the widespread use of polyester fiber barriers that can be easily broken.
Les accidents ferroviaires peuvent également être provoqués par un comportement anormal des usagers de la route, se traduisant par un non respect de la réglementation routière. Un exemple de comportement fautif est le passage en chicane des barrières anti-incursion équipant les passages à niveau.Railway accidents can also be caused by a abnormal behavior of road users, resulting in non-compliance with the road regulations. An example of faulty behavior is the anti-incursion barriers at the level crossings.
Les enfoncements des barrières, dus à un comportement volontaire ou involontaire d'un usager routier peuvent également provoquer des collisions sur les passages à niveaux.Penetrations of barriers, due to voluntary behavior or unintentional road user can also cause collisions on level crossings.
Actuellement, la suppression des risques de collision passe par le remplacement des passages à niveaux par des ouvrages d'art de type ponts ou tunnels, ce qui représente un effort d'investissement considérable.Currently, the elimination of the risk of collision passes through the replacement of level crossings by bridges or tunnels, which represents a considerable investment effort.
Il est connu, notamment par le document US-5,331,312, un système anti-collision pour passage à niveau selon le préambule de la revendication 1.It is known, in particular from document US-5,331,312, an anti-collision system for level crossing according to the preamble of claim 1.
Le but de l'invention est de fournir un système anti-collision pour passage à niveau capable de fournir une solution de remplacement à la suppression des passages à niveaux tout en étant efficace et bon marché.The object of the invention is to provide an anti-collision system for passage to level capable of providing an alternative to the removal of crossings at levels while being efficient and cheap.
Elle a donc pour objet un système anti-collision pour passage à niveau, comprenant des équipements routiers disposés au voisinage de la chaussée du passage à niveau pour indiquer l'approche d'un convoi ferroviaire et provoquer l'arrêt des véhicules circulant sur la chaussée, caractérisé en ce qu'il comprend des moyens de détection d'obstacles sur la voie ferrée du passage à niveau, disposés au voisinage de cette dernière et raccordés à des moyens de commande de l'arrêt de convois ferroviaires circulant en amont du passage à niveau, en présence d'un obstacle sur ce dernier. It therefore relates to an anti-collision system for level crossing, including roadside equipment in the vicinity of the roadway level to indicate the approach of a railway train and to stop the vehicles traveling on the roadway, characterized in that it comprises detection means obstacles on the railroad tracks of the crossing, located in the vicinity of the railway crossing and connected to control means for stopping railway convoys traveling in upstream of the crossing, in the presence of an obstacle on the latter.
Le système anti-collision suivant l'invention peut en outre comporter une ou plusieurs des caractéristiques suivantes, prises isolément ou selon toutes les combinaisons techniquement possibles :
- les moyens de détection comportent au moins un dispositif de prise de vues dirigé vers le passage à niveau et raccordé à une unité centrale de traitement comprenant des moyens de traitement d'images et de reconnaissance du type d'obstacle présent sur la voie ferrée ;
- le ou chaque dispositif de prise de vues délivrant des images du passage à niveau sous la forme d'un ensemble de pixels associés chacun à une valeur numérique de luminance, les moyens de traitement d'images comportent des moyens de filtrage desdits pixels par comparaison desdites valeurs numériques avec au moins une valeur de seuil de détection du contour dudit obstacle ;
- il comporte un ensemble de dispositifs de prise de vues disposés par paires de part et d'autre de la chaussée du passage à niveau, l'unité de traitement assurant un traitement stéréoscopique des images formées par les dispositifs de prise de vues ;
- les moyens de commande de l'arrêt du convoi ferroviaire comportent, relié à l'unité centrale de traitement et recevant en entrée un signal de détection d'obstacle délivré par cette dernière, un dispositif de contrôle de vitesse de convois ferroviaires, comprenant une unité d'élaboration de consignes de vitesse raccordée à un ensemble de balises disposées le long de la voie ferrée en amont du passage à niveau et destinées chacune à entrer en communication avec un dispositif de gestion de vitesse embarqué à bord de chaque convoi ferroviaire, lors du passage de ce dernier au voisinage de chaque balise;
- les moyens de commande de l'arrêt du convoi comportent des dispositifs optiques de signalisation ferroviaire implantés le long de la voie ferrée, en amont du passage à niveau et pilotés par les moyens de détection d'obstacles ;
- les moyens de commande de l'arrêt du convoi comportent des moyens d'émission de signaux d'alarmes en direction d'un récepteur correspondant embarqué à bord de chaque convoi ferroviaire ;
- il comporte un modulateur-démodulateur raccordé à l'unité centrale de traitement en vue de la mise en communication du système anti-collision avec un centre de télésurveillance, par l'intermédiaire d'un réseau téléphonique ;
- l'unité centrale de traitement comporte en outre des moyens de mémorisation périodique des images délivrées par les dispositifs de prise de vues ;
- les équipements routiers comportent des barrières automatiques anti-incursion disposées de part et d'autre du passage à niveau et pilotés par des moyens de détection de convoi disposés sur la voie ferrée en amont du passage à niveau ;
- les consignes de vitesse sont calculées en fonction du type d'obstacle détecté et de la distance du train par rapport au passage à niveau ;
- la chaussée routière comporte, de part et d'autre du passage à niveau, des moyens de ralentissement de véhicules circulant sur cette dernière ; et
- il comporte deux barrières anti-incursion disposées chacune sur l'une des voies de la chaussée, et est muni d'obstacles séparant lesdites voies pour empêcher le passage en chicane du passage à niveau.
- the detection means comprise at least one shooting device directed towards the level crossing and connected to a central processing unit comprising image processing means and recognition of the type of obstacle present on the railway track;
- the or each recording device delivering images of the level crossing in the form of a set of pixels each associated with a digital luminance value, the image processing means comprise means for filtering said pixels by comparison of said numerical values with at least one contour detection threshold value of said obstacle;
- it comprises a set of cameras arranged in pairs on either side of the roadway of the level crossing, the processing unit providing stereoscopic processing of the images formed by the cameras;
- the means for controlling the stopping of the railway train comprise, connected to the central processing unit and receiving as input an obstacle detection signal delivered by the latter, a device for controlling the speed of railway convoys, comprising a unit of setting speed instructions connected to a set of beacons arranged along the railway track upstream of the level crossing and each intended to communicate with an on-board speed management device on board each railway train, during the passage of the latter in the vicinity of each beacon;
- the convoy stop control means comprise optical railway signaling devices located along the railway track, upstream of the level crossing and controlled by the obstacle detection means;
- the control means of stopping the convoy comprise means for transmitting alarm signals towards a corresponding receiver on board each rail train;
- it comprises a modulator-demodulator connected to the central processing unit in order to put the anti-collision system in communication with a central station by means of a telephone network;
- the central processing unit further comprises means for periodically storing the images delivered by the cameras;
- the roadside equipment comprises automatic anti-incursion barriers arranged on either side of the level crossing and controlled by convoy detection means arranged on the railway track upstream of the level crossing;
- the speed setpoints are calculated according to the type of obstacle detected and the distance of the train from the crossing;
- the road surface comprises, on either side of the level crossing, means for slowing down vehicles traveling on the latter; and
- it includes two anti-incursion barriers each disposed on one of the roadways of the roadway, and is provided with obstacles separating said lanes to prevent the crossing of the crossing in a baffle.
D'autres caractéristiques et avantages ressortiront de la description suivante, donnée uniquement à titre d'exemple, et faite en référence aux dessins annexés sur lesquels :
- la figure 1 est une vue schématique d'un passage à niveau équipé d'un système anti-collision selon l'invention ;
- la figure 2 est un schéma synoptique du système anti-collision de la figure 1;
- les figures 3 à 5 sont des courbes montrant la variation des consignes de vitesse imposées aux convois ferroviaires en fonction de la distance de ces derniers par rapport au passage à niveau et du type d'obstacle détecté, pour un passage à niveau équipé de barrières anti-incursion ; et
- les figures 6 et 7 montrent la variation des consignes des vitesses imposées aux convois ferroviaires en fonction de la distance de ces derniers par rapport au passage à niveau et du type d'obstacle détecté, pour un passage à niveau de type non gardé.
- Figure 1 is a schematic view of a level crossing equipped with an anti-collision system according to the invention;
- Figure 2 is a block diagram of the anti-collision system of Figure 1;
- FIGS. 3 to 5 are curves showing the variation of the speed instructions imposed on the railway convoys as a function of the distance of the latter relative to the level crossing and the type of obstacle detected, for a level crossing equipped with anti-railing barriers. - incursion; and
- FIGS. 6 and 7 show the variation of the setpoints of the speeds imposed on the railway convoys as a function of the distance of the latter relative to the level crossing and the type of obstacle detected, for a non-guarded level crossing.
Sur la figure 1, on a représenté un passage à niveau du type à signalisation automatique lumineuse (SAL) doté d'un système anti-collision conforme à l'invention.FIG. 1 shows a level crossing of the signaling type automatic light (SAL) with an anti-collision system according to the invention.
Sur cette figure 1, la référence numérique 10 désigne la voie ferrée d'un réseau
ferroviaire et la référence numérique 12 désigne une chaussée d'un réseau routier.In this FIG. 1, the
Afin de supprimer les risques de collisions entre un véhicule automobile
présent sur la voir ferrée 10 et, de façon générale, entre un obstacle présent sur cette
dernière et un convoi ferroviaire circulant sur la voie 10, et de réduire les conséquences
d'une telle collision lorsque cette dernière est inévitable, le passage à niveau est doté
d'équipements routiers destinés à indiquer aux usagers routiers l'approche d'un convoi
ferroviaire et provoquer l'arrêt des véhicules circulant sur la chaussée, et d'équipements
ferroviaires destinés à provoquer l'arrêt des convois circulant en amont du passage à
niveau, en présence d'un obstacle. To eliminate the risk of collisions between a motor vehicle
present on
Comme on le voit sur cette figure 1, et dans l'exemple de réalisation représenté sur cette figure, les équipements routiers comportent deux demi-barrières automatiques anti-incursion, respectivement 14 et 16 disposées de part et d'autre du passage à niveau.As seen in this FIG. 1, and in the exemplary embodiment represented in this figure, the roadside equipment includes two half-barriers automatic anti-incursion respectively 14 and 16 arranged on both sides of the Railroad Crossing.
Ces barrières 14 et 16 sont pilotées à l'ouverture et à la fermeture par des
moyens de détection de convoi (non représentés sur cette figure) disposés sur la voie
ferrée en amont du passage à niveau, en considérant le sens de circulation des convois
ferroviaires.These
Ces moyens de détection sont des moyens de type classique et appropriés pour l'utilisation envisagée. Ils ne seront donc pas décrits en détail par la suite. On notera toutefois qu'ils sont pas exemple constitués par un dispositif de détection du type "pédale électronique" équipant classiquement les réseaux ferroviaires.These detection means are means of conventional type and suitable for the intended use. They will not be described in detail later. We will note however they are not example constituted by a detection device of the type "pedal "classically equipping the rail networks.
On voit par ailleurs sur cette figure 1 que la chaussée routière est dotée de
ralentisseurs 18 et 20 disposés de part et d'autre du passage à niveau de manière à éviter
un franchissement de la voie 10 à vitesse élevée.FIG. 1 also shows that the road surface is equipped with
Des panneaux de signalisation, respectivement 22 et 24, pilotés par les
moyens de détection de convoi sont disposés de part et d'autre du passage à niveau de
manière à indiquer aux usagers routiers la fermeture imminente des barrières 14 et 16 et
l'arrivée prochaine d'un convoi ferroviaire.Signs, respectively 22 and 24, driven by the
convoy detection means are arranged on both sides of the crossing.
indicate to road users the impending closure of
Par exemple, les panneaux de signalisation 22 et 24 sont constitués par des
panneaux à diodes électroluminescentes ou à cristaux liquides permettant l'affichage de
séquences d'informations variables pour prévenir les usagers routiers de l'état du passage à
niveau, c'est-à-dire la fermeture imminente des barrières, leur fermeture en cours, ...For example, the
En variante, de façon complémentaire, le passage à niveau est doté de dispositifs optiques clignotants, de type "flash" ou lampe à éclats, permettant de matérialiser de façon spectaculaire la fermeture des barrières.Alternatively, in a complementary manner, the level crossing is provided with flashing optical devices, of the "flash" type or flash lamp, making it possible to dramatically materialize the closing of the barriers.
On voit par ailleurs sur la figure 1 que, dans l'exemple représenté qui
comporte deux demies barrières s'étendant chacune, en position fermée, sur l'une des
voies de la chaussée, les équipements routiers comportent en outre un ensemble
d'obstacles, tels que 25, séparant les voies de la chaussée 12 de manière à empêcher le
passage en chicane du passage à niveau.FIG. 1 also shows that in the example shown which
has two half-gates each extending, in the closed position, on one of the
roads, the roadside equipment also includes a set of
obstacles, such as 25, separating the tracks from the
Par exemple, ces obstacles sont constitués par des bornes ou ílots implantés dans l'axe médian de la chaussée. For example, these obstacles are constituted by terminals or implanted islands in the middle axis of the roadway.
Enfin, les équipements routiers peuvent être complétés par des dispositifs implantés en amont et en aval du passage à niveau permettant de réguler la circulation en décalant les files de véhicules automobiles en attente vers l'amont du passage à niveau, par exemple des barrières complémentaires escamotables.Finally, roadside equipment can be supplemented by located upstream and downstream of the level crossing to regulate the flow of shifting the lines of waiting motor vehicles upstream of the level crossing, by example of retractable complementary barriers.
En se référant également à la figure 2, les équipements ferroviaires permettant l'arrêt des convois ferroviaires circulant en amont du passage à niveau, en présence d'un obstacle sur ce dernier, comportent des moyens de détection d'obstacles associés à des moyens de commande de l'arrêt des convois ferroviaires.Referring also to FIG. 2, railway equipment enabling stopping railway convoys traveling upstream of the level crossing, in the presence of a obstacle on the latter, include means for detecting obstacles associated with control means for stopping railway convoys.
Les moyens de détection d'obstacles comportent un ensemble de caméras de
prises de vues 26,28,30 et 32, disposées au voisinage de la voie ferrée du passage à niveau et
dirigées vers cette dernière. Elles sont raccordées à une unité centrale de traitement 34,
constituée par un calculateur dans lequel est stocké un algorithme de traitement d'images et
de reconnaissance du type d'obstacle présent sur la voie.The obstacle detection means comprise a set of cameras of
26, 28, 30 and 32, located in the vicinity of the railway line of the railway crossing and
directed towards the latter. They are connected to a
En se référant plus particulièrement à la figure 2, les moyens de commande de
l'arrêt du convoi ferroviaire comportent, relié à l'unité centrale de traitement 34 et recevant
en entrée un signal de détection d'obstacles délivré par cette dernière, un dispositif 36 de
contrôle de vitesse de convois ferroviaires.Referring more particularly to FIG. 2, the control means of
the railway train stop include, connected to the
Un tel dispositif, connu également sous l'appellation "dispositif KVB"
comprend une unité 38 d'élaboration de consignes de vitesse destinées à être imposées aux
convois ferroviaires, constituée par un dispositif de codage numérique raccordé à un
ensemble de balises, telles que 40, disposées le long de la voie ferrée 10 en amont du
passage à niveau.Such a device, also known as "KVB device"
includes a
Ces balises 40, connues également sous l'appellation "balises KVB" sont
destinées chacune à entrer en communication avec un dispositif de gestion de vitesse (non
représenté), de type classique, embarqué à bord des convois ferroviaires circulant sur la voie
ferrée et adapté pour asservir la vitesse de ces derniers sur la valeur des consignes de vitesse
qui leur est transmise par les balises 40.These
Comme on le voit sur cette figure 2, le dispositif de contrôle 36 comporte, en
entrée, un relais de commande 42 relié à l'unité de traitement 34 et auquel est délivré le
signal de détection d'obstacles, ce relais pilotant la mise en service du dispositif de codage
38 en vue de l'élaboration des consignes de vitesse à imposer aux convois ferroviaires.As seen in this FIG. 2, the
En variante, dans le cas où la voie ferrée et le convoi ne sont pas équipés d'un
équipement de contrôle de vitesse KVB, le système anti-collision est doté de dispositifs
optiques de signalisation ferroviaire (non représentés) implantés le long de la voie ferrée en
amont du passage à niveau et pilotés par le relais 42 de manière à intimer un ordre de
freinage au conducteur du convoi ferroviaire.Alternatively, in the case where the railway and the convoy are not equipped with a
KVB speed control equipment, the anti-collision system is equipped with
railway signaling optics (not shown) located along the railway line in
upstream of the level crossing and controlled by the
Le dispositif 36 est complété par une unité d'alimentation conventionnelle 44
assurant l'alimentation du dispositif de codage 38 et de l'unité centrale de traitement 34 ainsi
que l'alimentation de dispositifs d'éclairage équipant le passage à niveau de manière à
permettre la détection des obstacles dans des conditions de faible luminosité.The
Par ailleurs, l'unité centrale de traitement 34 reçoit en entrée, outre les images
délivrées par les dispositifs de prises de vues, des signaux délivrés par les équipements du
passage à niveau, tels que des signaux indiquant l'état des barrières, des signaux de détection
d'un convoi ferroviaire, des signaux indiquant l'état de circuits de voie, en vue de fournir une
indication de la position du convoi ferroviaire,..., de manière à adapter la valeur des
consignes de vitesse en fonction de ces paramètres, comme cela sera décrit par la suite.Moreover, the
De façon optionnelle, le dispositif de contrôle 36 peut être doté d'un émetteur
d'ondes radio piloté par l'actionneur 42 de manière à transmettre des signaux d'alarme à un
récepteur correspondant embarqué à bord des convois ferroviaires circulant sur la voie
ferrée.Optionally, the
Il peut également être doté de moyens de transmission des images délivrées par les caméras de prises de vues en vue de transmettre ces dernières au convoi.It may also be provided with means for transmitting images delivered by the cameras shooting to transmit the latter to the convoy.
Avantageusement, un modulateur-démodulateur (non représenté) est raccordé à
l'unité centrale de traitement 34 en vue de la transmission de l'ensemble des informations
relatives au fonctionnement du système vers un centre de télésurveillance, en utilisant un
réseau téléphonique.Advantageously, a modulator-demodulator (not shown) is connected to
the
Il est ainsi possible de détecter à distance les incidents de fonctionnement comme les bris de barrière, les pannes,... et d'identifier les auteurs de comportements fautifs.It is thus possible to remotely detect operating incidents like barrier breakages, breakdowns, ... and to identify the perpetrators of faulty behavior.
Enfin, l'unité centrale de traitement 34 est dotée de moyens de mémorisation, de
type "boíte noire", permettant la mémorisation périodique des images délivrées par les
caméras de prises de vues 26,28,30 et 32.Finally, the
En se référant à nouveau à la figure 1, on voit que les caméras de prises de vues
sont disposées par paires de part et d'autre de la chaussée 12.Referring again to Figure 1, we see that the cameras
are arranged in pairs on either side of the
L'unité de traitement 34 est aussi capable, par traitement stéréoscopique,
d'effectuer une discrimination entre un objet plat détecté, comme une ombre, un reflet,...et
un objet en trois dimensions (véhicule automobile, piéton,...). The
Un tel traitement stéréoscopique s'effectue en comparant les images obtenues par les caméras de chaque paire, les images coïncidant pour des objets plats et étant en décalage pour des objets en trois dimensions. Un tel traitement s'effectue également en comparant les dimensions des zones non visibles de la chaussée dues à la présence d'un obstacle, qui différent d'une caméra à l'autre pour des objets tridimensionnels.Such stereoscopic processing is performed by comparing the images obtained by the cameras of each pair, the images coinciding for flat objects and being in offset for three-dimensional objects. Such treatment is also carried out comparing the dimensions of the non visible areas of the roadway due to the presence of a obstacle, which differs from one camera to another for three-dimensional objects.
Comme cela a été mentionné précédemment, la détection des obstacles situés
sur le passage à niveau s'effectue par traitement des images délivrées par les caméras
26,28,30et 32.As mentioned previously, the detection of obstacles located
on the crossing is done by processing the images delivered by the
Bien que les obstacles susceptibles d'être présents sur la voie 10 à l'approche
d'un convoi ferroviaire puissent être de différentes natures, on considérera, dans la suite de
la description, que ces obstacles sont constitués soit par des véhicules automobiles
immobiles sur la voie ferrée 10, par exemple en raison d'une panne, soit par des véhicules
automobiles franchissant la voie ferrée 10 en cours de fermeture des barrières 14 et 16 ou
lorsque ces dernières sont fermées, malgré l'utilisation des obstacles 25 destinés à empêcher
le passage en chicane du passage à niveau.Although the obstacles likely to be present on
Comme cela sera décrit par la suite, le comportement à obtenir de la part d'un
convoi en approche est adapté en fonction de la distance à laquelle se situe le convoi du type
d'obstacle détecté et, éventuellement de la position des barrières anti-incursion 14 et 16.As will be described later, the behavior to be obtained from a
convoy approach is adapted according to the distance to which the convoy of the type is
obstacle detected and possibly the position of the
Comme cela est classique, chaque caméra délivre à l'unité centrale de traitement 34 un ensemble d'images se présentant sous la forme de pixels associés chacun à une valeur numérique de luminance, c'est-à-dire, pour des caméras monochromes, des valeurs numériques correspondant chacune à un niveau de gris.As is conventional, each camera delivers to the central processing unit 34 a set of images in the form of pixels each associated with a value luminance, that is to say, for monochrome cameras, values each corresponding to a gray level.
Un algorithme de traitement d'images, stocké dans l'unité de traitement 34,
effectue un filtrage des pixels délivrés par les caméras, par comparaison des valeurs de
luminance avec une ou plusieurs valeurs de seuil de détection du contour d'un obstacle.An image processing algorithm, stored in the
La suite du traitement utilise une technique classique de reconnaissance de formes capable de déterminer le type d'obstacle présent sur le passage à niveau, par exemple par extraction de paramètres caractéristiques des objets détectés et comparaison de ces paramètres avec des paramètres prédéterminés obtenus par apprentissage préalable et correspondant chacun à un type d'obstacle.The rest of the treatment uses a classical technique of recognition of forms capable of determining the type of obstacle present on the crossing, by example by extracting characteristic parameters from detected objects and comparing of these parameters with predetermined parameters obtained by prior learning and each corresponding to a type of obstacle.
Comme cela a été mentionné précédemment, après détection d'un véhicule sur
le passage à niveau, l'unité centrale de traitement 34 actionne le relais 42 de manière à
transmettre un signal de commande d'arrêt au convoi ferroviaire puis à provoquer
automatiquement un freinage d'urgence ou afin de s'assurer que le mécanicien procède au
freinage nécessaire à l'arrêt du convoi ferroviaire.As mentioned previously, after detecting a vehicle on
the level crossing, the
Par ailleurs, pour des voies ferrées ne disposant pas d'équipement d'arrêt du
type KVB, le relais 42 actionne des dispositifs optiques de signalisation ferroviaire
implantés le long de la voie ferrée de manière à prévenir le mécanicien du risque de
collision.In addition, for railways that do not have stopping equipment
type KVB,
Les signaux de consigne de vitesse et les ordres d'arrêt envoyés aux balises KVB sont élaborés en fonction de la distance à laquelle se situe le convoi ferroviaire et du type d'obstacles détectés, à savoir véhicule immobilisé avant fermeture des barrières ou véhicule tentant de franchir le passage à niveau au cours de la fermeture de ces dernières ou après fermeture et, éventuellement, de la position des barrières.Speed setpoint signals and stop commands sent to beacons KVB are developed based on the distance to which the rail convoy is type of obstacle detected, namely a vehicle immobilized before closing the gates or vehicle attempting to cross the crossing during the closure of the crossing or after closing and, possibly, the position of the barriers.
En effet, en se référant aux figures 3 à 5, le positionnement de la pédale
électronique 46 de détection de convoi ferroviaire et de commande de la fermeture des
barrières 14 et 16 correspond à la distance que parcourt un convoi ferroviaire pendant la
durée de fermeture des barrières. Cette distance est généralement appelée "distance
d'annonce".Indeed, with reference to FIGS. 3 to 5, the positioning of the
La distance d'annonce est liée à la vitesse maximale de circulation des convois ferroviaires mais est indépendante de la distance d'arrêt de ces derniers.The announcement distance is related to the maximum speed of movement of convoys but is independent of the stopping distance of the latter.
La distance d'arrêt étant généralement supérieure à la distance d'annonce, on distingue trois modes distincts de détection et d'action sur le convoi, correspondant respectivement aux cas illustrés sur les figures 3,4 et 5.The stopping distance being generally greater than the advertisement distance, one distinguishes three distinct modes of detection and action on the convoy, corresponding respectively to the cases illustrated in Figures 3,4 and 5.
Dans le premier cas, représenté sur la figure 3, un convoi ferroviaire 47
circule en regard d'un premier groupe de balises KVB 48 situées à la distance d'arrêt,
c'est-à-dire une distance du passage à niveau correspondant à la distance nécessaire pour
que le convoi 47 s'arrête selon la courbe C1 de décélération représentée sur cette figure.In the first case, shown in Figure 3, a
Lorsqu'un véhicule automobile 50 immobilisé sur le passage à niveau est
détecté alors que le convoi se situe à une telle distance, le système anti-collision génère
des consignes de vitesse de manière à contrôler la décélération du convoi 47 selon la
courbe C1, de manière à éviter toute collision.When a
Dans le deuxième cas représenté sur la figure 4, le convoi 47 se situe à la
distance d'annonce et circule en regard de la pédale électronique 46 permettant la
détection du convoi et pilotant la fermeture des barrières 14 et 16. In the second case shown in FIG. 4, the
Dans cette situation, la détection d'un véhicule immobilisé ou en incursion
dans le passage à niveau provoque l'émission d'un signal de freinage d'urgence déclenché
par le dispositif de contrôle KVB par émission, au niveau d'un deuxième groupe de
balises KVB 52, d'une valeur de consigne de vitesse nulle (courbe C2), de manière à
ralentir au maximum le convoi 47 pour limiter les conséquences d'une collision dans le
cas où le véhicule n'a pas la possibilité de se dégager.In this situation, the detection of a vehicle immobilized or incursion
in the crossing causes the emission of an emergency braking signal triggered
by the KVB control device by transmission, at the level of a second group of
Ainsi, dans ce cas, la détection d'un véhicule immobilisé ou en incursion
provoque le freinage d'urgence du convoi 47.Thus, in this case, the detection of a vehicle immobilized or incursion
causes the emergency braking of the
Enfin, en se référant à la figure 5, la détection de tout obstacle alors que les
barrières 14 et 16 se situent dans une position fermée provoque l'émission, par un
troisième groupe de balises 54, d'un signal de consigne C3 identique au signal de
consigne C2 mentionné précédemment de manière à limiter au maximum les
conséquences d'une collision.Finally, with reference to FIG. 5, the detection of any obstacle while the
Dans la description qui vient d'être faite, on a considéré que le passage à niveau est équipé de barrières anti-incursion.In the description just given, it was considered that the transition to level is equipped with anti-incursion barriers.
En référence aux figures 6 et 7, pour un passage à niveau de type non gardé,
c'est-à-dire dépourvu de telles barrières, lorsqu'un convoi ferroviaire 56 se situe à distance
d'arrêt du passage à niveau, la détection d'un véhicule immobilisé sur le passage à niveau
provoque l'émission, par un premier groupe de balise 58, de signaux de consigne de
vitesse de manière à obtenir un arrêt du train avant le passage à niveau, selon la courbe de
décélération C4.With reference to FIGS. 6 and 7, for a non-guarded level crossing,
that is to say without such barriers, when a
Dans l'exemple représenté sur la figure 7, dans lequel le convoi 56 se situe à
une distance inférieure à sa distance d'arrêt, le système anti-collision assure, outre la
détection des véhicules immobilisés, la détection des véhicules en mouvement, c'est-à-dire
en incursion.In the example shown in FIG. 7, in which the
Dans ce cas, on voit sur cette figure que le système est doté d'une pédale
électronique 60 permettant la détection du convoi 56, située à une distance voisine de la
distance d'annonce mentionnée en référence aux figures 3 à 5.In this case, we see in this figure that the system is equipped with a pedal
60 for the detection of the
Selon cet exemple, la détection d'un véhicule immobile ou en incursion provoque l'émission, par des groupes de balises 62 et 64 de signaux de consigne C5 de freinage d'urgence.According to this example, the detection of a vehicle immobile or incursion causes groups of beacons 62 and 64 to transmit setpoint signals C5 from emergency braking.
Claims (11)
- Anti-collision system for level crossing, comprising road equipment (14, 16, 18, 20, 22, 24) which is arranged near the carriageway (12) of the level crossing to indicate the approach of a train and cause vehicles moving on the carriageway to be stopped, and means for detecting obstacles (26, 28, 30, 32, 34) on the track (10) of the level crossing, these means being arranged near the latter and connected to means (36) for commanding trains moving upstream from the level crossing to stop if an obstacle is present on it, the detection means including at least one device for taking pictures (26, 28, 30, 32) which is directed towards the level crossing, characterized in that the picture-taking device(s) is/are connected to a central processing unit (34), comprising means for processing images and recognising the type of obstacle which is present on the track.
- Anti-collision system according to Claim 1, characterized in that whereas the or each picture-taking device (26, 28, 30, 32) delivers images of the level crossing in the form of a set of pixels each of which is associated with a numeric luminance value, the means for processing images includes means for filtering the said pixels by comparison of the said numeric values with at least one threshold value for detecting the contour of the said obstacle.
- Anti-collision system according to one of Claims 1 and 2, characterized in that it includes a set of picture-taking devices (26, 28, 30, 32) which are arranged in pairs on either side of the carriageway of the level crossing, the processing unit providing stereoscopic processing (34) of the images which are formed by the picture-taking devices.
- Anti-collision system according to any one of Claims 1 to 3, characterized in that the means (36) for commanding trains to stop include, connected to the central processing unit (34) and receiving as input an obstacle detection signal which is supplied by the latter, a device for controlling the speed of railway vehicles, comprising a unit (38) for developing speed instructions, which is connected to a set of beacons (40) which are arranged along the track (10) upstream from the level crossing and each intended to enter into communication with a speed management device on board the train, when the train passes near each beacon (40).
- Anti-collision system according to any one of Claims 1 to 4, characterized in that the means (36) for commanding the train to stop include optical railway signalling devices which are located along the track (10), upstream from the level crossing and controlled by the means for detecting obstacles (26, 28, 30, 32).
- Anti-collision system according to any one of Claims 1 to 5, characterized in that the means (36) for commanding the train to stop include means for emitting alarm signals in the direction of a corresponding receiver on board the train.
- Anti-collision system according to any one of Claims 1 to 6, characterized in that it includes a modulator-demodulator which is connected to the central processing unit (34) to put the anti-collision system into communication with a remote monitoring centre via a telephone network.
- Anti-collision system according to any one of Claims 1 to 7, characterized in that the road equipment includes automatic anti-incursion barriers (14, 16) which are arranged on either side of the level crossing and controlled by train detection means (46, 60) which are arranged on the track (10) upstream from the level crossing.
- Anti-collision system according to any one of Claims 1 to 8, characterized in that the road carriageway includes, on either side of the level crossing, means (18, 20) for slowing down vehicles moving on the latter.
- Anti-collision system according to one of Claims 8 and 9, characterized in that it includes two anti-incursion barriers (14, 16) which are each arranged on one of the lanes of the carriageway, and in that it is equipped with obstacles (25) separating the said lanes to prevent zigzag passage through the level crossing.
- Anti-collision system according to any one of Claims 2 to 10, characterized in that the central processing unit (34) also includes means for periodic recording of the images which are supplied by the picture-taking devices.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DK99401857T DK0976640T3 (en) | 1998-07-30 | 1999-07-22 | Anti-collision system for rail crossing |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR9809790A FR2781744B1 (en) | 1998-07-30 | 1998-07-30 | ANTI-COLLISION SYSTEM FOR LEVELING |
FR9809790 | 1998-07-30 |
Publications (3)
Publication Number | Publication Date |
---|---|
EP0976640A2 EP0976640A2 (en) | 2000-02-02 |
EP0976640A3 EP0976640A3 (en) | 2000-02-23 |
EP0976640B1 true EP0976640B1 (en) | 2004-10-06 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP99401857A Expired - Lifetime EP0976640B1 (en) | 1998-07-30 | 1999-07-22 | Anti-collision system for level crossing |
Country Status (7)
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EP (1) | EP0976640B1 (en) |
AT (1) | ATE278591T1 (en) |
DE (1) | DE69920829T2 (en) |
DK (1) | DK0976640T3 (en) |
ES (1) | ES2230819T3 (en) |
FR (1) | FR2781744B1 (en) |
PT (1) | PT976640E (en) |
Cited By (1)
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DE202008003947U1 (en) | 2008-03-20 | 2008-07-31 | Hoy, Christian, Dr.-Ing.habil. | Warning signal device for warning motor vehicle drivers of the approach of railway vehicles to level crossings without technical protection |
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CH702918B1 (en) * | 2007-04-25 | 2011-10-14 | Viacam S A R L | Control device and control of the bus and railway signaling. |
FR2936481A1 (en) * | 2008-09-26 | 2010-04-02 | Pierre Aknin | Remote control and video surveillance assisted traffic neutralization device for use in e.g. access path, has hollow cylinders equipped with mobile pistons connected by articulated bar, where pistons are materialized by signaling lights |
DE102009008077A1 (en) * | 2009-02-10 | 2010-08-19 | Siemens Aktiengesellschaft | Arrangement and method for the detection of heat radiation emitting objects on track bodies |
TR200906687A1 (en) | 2009-08-31 | 2011-03-21 | Teknoray Teknoloji̇k Ray Si̇nyali̇zasyon Si̇stemleri̇ Bi̇lgi̇sayar Elektroni̇k Telekomüni̇kasyon Yazilim Ve İnşaat Li̇mi̇ted Şi̇rketi̇ | A level crossing system. |
EP2803552A3 (en) * | 2013-05-13 | 2015-06-03 | China Engineering Consultants, Inc. | Multi-computer-vision recognition system for level crossing obstacle |
US20180222506A1 (en) * | 2015-07-31 | 2018-08-09 | Vladimir Kranz | System for securing of safety of railroad crossing against vehicle entry during warning signaling |
CN105923023A (en) * | 2016-05-24 | 2016-09-07 | 桂林市思奇通信设备有限公司 | Railway crossing safety system |
FR3058556B1 (en) * | 2016-11-04 | 2021-07-23 | Alstom Transp Tech | COLLISION PREVENTION DEVICE FOR AN URBAN PUBLIC TRANSPORT VEHICLE |
DE102017209766A1 (en) * | 2017-06-09 | 2018-12-13 | Siemens Aktiengesellschaft | Method and device for monitoring a danger zone of a railway crossing |
DE102018200466A1 (en) | 2018-01-12 | 2019-07-18 | Siemens Aktiengesellschaft | Method and device for monitoring a danger zone of a railway crossing |
CN112406961B (en) * | 2020-11-24 | 2023-01-24 | 南京康尼电子科技有限公司 | Platform door video obstacle detection control system and method |
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1998
- 1998-07-30 FR FR9809790A patent/FR2781744B1/en not_active Expired - Fee Related
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1999
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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DE202008003947U1 (en) | 2008-03-20 | 2008-07-31 | Hoy, Christian, Dr.-Ing.habil. | Warning signal device for warning motor vehicle drivers of the approach of railway vehicles to level crossings without technical protection |
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Publication number | Publication date |
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ES2230819T3 (en) | 2005-05-01 |
EP0976640A2 (en) | 2000-02-02 |
DE69920829T2 (en) | 2005-10-13 |
FR2781744A1 (en) | 2000-02-04 |
EP0976640A3 (en) | 2000-02-23 |
DE69920829D1 (en) | 2004-11-11 |
ATE278591T1 (en) | 2004-10-15 |
PT976640E (en) | 2005-02-28 |
DK0976640T3 (en) | 2005-02-14 |
FR2781744B1 (en) | 2002-11-29 |
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