The invention provides a method and device for generating virtual rail information of a rail vehicle and the rail vehicle. The rail vehicle is provided with a plurality of position positioning sensors. The method comprises the following steps: before the rail vehicle is started to run, determining each target reference route formed in the running process of the rail vehicle along a virtual rail center based on each position positioning sensor; under the condition that the rail vehicle is started to run, real-time position information of the rail vehicle is collected in real time based on position positioning sensors; based on the real-time position information and a target reference route corresponding to the real-time position information, determining initial preview driving track data formed under each position positioning sensor; and processing the initial preview driving track data to obtain target virtual track information. The virtual track information can be accurately generated, and the accurate sensing ability of the automatic driving system is improved.
本发明提供一种轨道车辆虚拟轨道信息的生成方法、装置及轨道车辆,所述轨道车辆设置有多个位置定位传感器;所述方法包括:在轨道车辆启动行驶运行之前,分别基于各位置定位传感器,确定轨道车辆沿虚拟轨道中心行驶过程中形成的各目标参考路线;在轨道车辆启动行驶运行的情况下,基于各位置定位传感器实时采集轨道车辆的各个实时位置信息;基于实时位置信息,以及与实时位置信息对应的目标参考路线,确定在各位置定位传感器下形成的初始预瞄行驶轨迹数据;对各初始预瞄行驶轨迹数据进行处理,得到目标虚拟轨道信息。实现了能够精确生成虚拟轨道信息,提高了自动驾驶系统的精确感知能力。
Method and device for generating virtual track information of railway vehicle and railway vehicle
轨道车辆虚拟轨道信息的生成方法、装置及轨道车辆
2025-04-25
Patent
Electronic Resource
Chinese
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