Rail transportation system, method for controlling rail transportation system, and trackside facility shape measurement system

A method of controlling a track transportation system provided with a surrounding environment observation unit installed on a train and including at least one of a camera, a laser radar, or a millimeter-wave radar, and a trackside equipment shape measurement system, the method comprising:

• a step of obtaining, by the surrounding environment observation unit, surrounding environment observation data by observing a surrounding environment that is for while the train is traveling and includes known trackside equipment;
• and
• a step of obtaining, by the trackside equipment shape measurement system, a three-dimensional shape for the trackside equipment by overlapping, on a basis of a shape model for a rail, a plurality of items of the surrounding environment observation data that include the trackside equipment and have been obtained at a plurality of positions on a track;
• wherein the step of obtaining the three-dimensional shape of the trackside equipment:
• obtains the three-dimensional shape for the trackside equipment by, on a basis of (i) a result of matching observation data that is for the rail and is included in the surrounding environment observation data against the shape model for the rail and (ii) a result of matching measurement data that is for the trackside equipment and is included in the surrounding environment observation data against the three-dimensional shape for the trackside equipment, and
• overlaps, based on the matching results, the plurality of items of the surrounding environment observation data that include the trackside equipment.

A trackside equipment shape measurement system for obtaining a three-dimensional shape of trackside equipment relative to a rail, the system comprising:

• a trackside equipment shape measurement processing unit configured to obtain a three-dimensional shape for trackside equipment is obtained by overlapping, on a basis of a shape model for the rail, a plurality of items of surrounding environment observation data that include known trackside equipment and have been obtained at a plurality of positions on a track;
• and
• the trackside equipment shape measurement processing unit further configured to obtain the three-dimensional shape for the trackside equipment by:
• selecting the plurality of items, on a basis of (i) a result of matching observation data that is for the rail and is included in the surrounding environment observation data against the shape model for the rail and (ii) a result of matching measurement data that is for the trackside equipment and is included in the surrounding environment observation data against the three-dimensional shape for the trackside equipment, and
• overlapping, based on the matching results, the plurality of items of the surrounding environment observation data that include the trackside equipment.