The invention discloses a rail transit obstacle sensing method suitable for a multi-tunnel line, and relates to the technical field of visual sensor positioning, the rail transit obstacle sensing method is arranged on an ATO system, and comprises a ground equipment module, a data acquisition module, a self-positioning module and a vehicle-mounted obstacle sensing module, the data acquisition module comprises a camera module, a radar module and a shooting model selection module, and the self-positioning module comprises a self-positioning module and a vehicle-mounted obstacle sensing module. The ground equipment module sends tunnel distance information to the data acquisition module; the self-positioning module senses the self position; a shooting model selection module in the data acquisition module selects the focal length of a camera in a camera module and a pre-trained shooting model according to the tunnel distance information and the position of the shooting model selection module; and the vehicle-mounted obstacle sensing module performs obstacle recognition according to the data of the vehicle during driving collected by the camera module and the radar module subjected to focal length adjustment in the data acquisition module, and sends the recognition result to the ATO system. According to the invention, through the arrangement of the camera and the radar, the negative influence of the sudden change of the light environment on the driving of a driver is solved.

    本发明公开了一种适用于多隧道线路的轨道交通障碍物感知方法,涉及视觉传感器定位技术领域,设置在ATO系统上,包括地面设备模块、数据获取模块、自定位模块、车载障碍物感知模块,数据获取模块包括相机模块、雷达模块、拍摄模型选择模块,地面设备模块发送隧道距离信息到数据获取模块;自定位模块感知自身位置;数据获取模块中的拍摄模型选择模块根据隧道距离信息与自身位置选择相机模块内部相机的焦距与预训练的拍摄模型;车载障碍物感知模块根据数据获取模块中经过焦距调整的相机模块与雷达模块收集车辆行驶时的数据进行障碍物识别,将识别结果发送至ATO系统,本发明通过相机与雷达的设置解决了光环境突变对驾驶员驾驶造成的负面影响。


    Access

    Download


    Export, share and cite



    Title :

    Rail transit obstacle sensing method suitable for multi-tunnel line


    Additional title:

    一种适用于多隧道线路的轨道交通障碍物感知方法


    Contributors:
    WANG YIJING (author) / YI HAIWANG (author) / MORIAKI (author) / HUI ZINAN (author) / ZHOU BOYUAN (author) / WANG YIGE (author) / LI YINAN (author) / LI ANG (author) / CHI SHENG (author) / LI ZHENPING (author)

    Publication date :

    2024-10-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06V / B61L Leiten des Eisenbahnverkehrs , GUIDING RAILWAY TRAFFIC / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



    Rail transit obstacle removing device

    YANG CHANGXIU / HE FAN / XIONG WEI | European Patent Office | 2021

    Free access

    Rail transit obstacle detection method and device

    JIANG YONG / KE SHUANG | European Patent Office | 2020

    Free access

    Rail vehicle obstacle detection device for rail transit construction

    LIU HONGYAN | European Patent Office | 2020

    Free access

    Mechanical device for laying rail transit tunnel line pipe

    OU XIAONING | European Patent Office | 2023

    Free access

    Rail transit platform gap obstacle detection camera device

    DU YIMING / HOU DONGDONG / HOU SHULI | European Patent Office | 2021

    Free access