The invention provides a train autonomous perception positioning method and system, and belongs to the technical field of train autonomous perception positioning. The method comprises the following steps: extracting a position bounding box of a target in a stereo image pair; correlating bounding boxes of the same target in the stereo image pair to generate a self-adaptive anchor box with minimum encirclement, and estimating a depth value; a sliding window is used for screening tracks to be matched, and the same ID is distributed to track pairs containing the same target; the method comprises the following steps: associating depth information and ID of a landmark, estimating movement of a sensor in two frames of time, estimating instantaneous speed of a train, calculating a displacement value of the train through time integration, matching a digital track topological map to calculate the position of the train on the whole line, judging the key position of the line in combination with the instantaneous speed of the train, and correcting the calculated position of the train. According to the invention, the dependence on ground equipment is reduced, the flexibility and reliability are improved, the situation of ground equipment failure or insufficient coverage can be handled, and technical support is provided for autonomous operation and navigation of the train.

    本发明提供一种列车自主感知定位方法及系统,属于列车自主感知定位技术领域,提取立体图像对中目标的位置边界框;关联立体图像对中同一目标的边界框生成最小包围的自适应锚框,估计深度值;利用滑动窗口筛选待匹配的轨迹,对包含相同目标的轨迹对分配相同的ID;关联地标的深度信息和ID,估计传感器在两帧时间内的运动,估计列车的瞬时速度,并通过时间积分计算得到列车的位移值,匹配数字轨道拓扑地图推算列车在全线的位置,结合列车瞬时速度判断线路关键位置,并对列车的推算位置进行校正。本发明减少了对地面设备的依赖,提高灵活性和可靠性,可以应对地面设备故障或覆盖不足的情况,并为列车的自主运行和导航提供了技术支持。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Autonomous sensing and positioning method and system for train


    Weitere Titelangaben:

    列车自主感知定位方法及系统


    Beteiligte:
    QIN YONG (Autor:in) / LIAN LIRONG (Autor:in) / CAO ZHIWEI (Autor:in) / GAO YANG (Autor:in) / BAI JIE (Autor:in) / GE XUANYU (Autor:in) / YU HANG (Autor:in) / LI WEI (Autor:in) / LIU QINGHONG (Autor:in) / WANG YAGUAN (Autor:in)

    Erscheinungsdatum :

    2024-03-01


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B61L Leiten des Eisenbahnverkehrs , GUIDING RAILWAY TRAFFIC



    Train autonomous sensing system

    JIANG YAODONG / YANG YANG / CUI HONGZHOU et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Whole-network train autonomous positioning system

    CHEN SHAOWEN / ZHANG YU / WANG XIAOYONG et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    AUTONOMOUS SENSING SYSTEM FOR TRAIN

    JIANG YAODONG / YANG YANG / CUI HONGZHOU et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    WHOLE-NETWORK TRAIN AUTONOMOUS POSITIONING SYSTEM

    CHEN SHAOWEN / ZHANG YU / WANG XIAOYONG et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    MOBILE BLOCKING TRAIN OPERATION CONTROL METHOD AND SYSTEM BASED ON TRAIN AUTONOMOUS POSITIONING

    ZHANG YAJING / XU QINGBIAO / XU XIANLIANG et al. | Europäisches Patentamt | 2022

    Freier Zugriff