We derive the self-consistent relativistic quantum transport equation for the pion distribution function based on an effective Lagrangian of the QHD-II model. The closed time-path Green's function technique, the semi-classical, quasi-particle and Born approximation are employed in the derivation. Both the mean field and collision term are derived from the same Lagrangian and presented analytically. The dynamical equation for the pions is consistent with that for the nucleons and deltas which we developed before. Thus, we obtain a self-consistent relativistic transport model which describes the hadronic matter with N, Delta and pi degrees of freedom simultaneously. Within this approach, we investigate the medium effects on the pion dispersion relation as well as the pion absorption and pion production channels in cold nuclear matter. In contrast to the results of the non-relativistic model, the pion dispersion relation becomes harder at low momenta and softer at high momenta as compared to the free one. The theoretically predicted free pi N to Delta cross section is in agreement with the experimental data. Medium effects on the pi N to Delta cross section and momentum-dependent Delta-decay width are shown to be substantial.