The invention discloses a train automatic driving sensing method and system. The method comprises the steps: collecting railway line data points, building a high-precision map, and storing the high-precision map into a vehicle-mounted host; starting laser radar equipment, and correcting an initial position of a train to be consistent with the initial position of the high-precision map by a vehicle-mounted host; extracting a plurality of data points in front of the train from the high-precision map to serve as a boundary area center point set, and drawing a plane area of a track in front of thetrain in the map according to the boundary area center point set; making the vehicle-mounted host carry out intersection on collected laser radar point cloud data and the track plane area in a horizontal plane to obtain a second point cloud data set; carrying out depth image conversion on the second point cloud data set and carrying out obstacle identification and classification by adopting a contour matching algorithm; and sending a classification result to an external vehicle control system, wherein the system includes an anti-interlocking signal system, a magnetic steel positioning device,a speed sensor, a laser radar and the vehicle-mounted host. The method and the system are stable in boundary area, high in positioning precision and high in recognition and calculation speed.
本发明公开了一种列车自动驾驶感知方法和系统,方法为,采集铁路线数据点构建高精度地图并存入车载主机;并启动激光雷达设备,车载主机校正列车的初始位置与高精度地图的初始位置相一致;在高精度地图中提取列车前方的多个数据点作为界限区域中心点集,并根据界限区域中心点集绘制列车前方轨道在地图中的平面区域;车载主机将采集的激光雷达点云数据与轨道平面区域在水平面内做交集得到第二点云数据集;将第二点云数据集进行深度图像转换并采用轮廓匹配算法进行障碍物识别分类,分类结果发送到外部车控系统,系统为,括防联锁信号系统、磁钢定位装置、速度传感器、激光雷达和车载主机,具有界限区域稳定、定位精度高和识别计算速度快的优点。
Train automatic driving sensing method and system
一种列车自动驾驶感知方法和系统
2020-09-29
Patent
Elektronische Ressource
Chinesisch
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