Method and apparatus for generating high-precision railway map data and railway auxiliary navigation

Abstract

The embodiments of the present specification disclose a method and device for generating high-precision railway map data and a method and device for railway auxiliary navigation. The scheme can include: combining newly collected high-precision railway data with existing basic railway data to obtain high-precision railway map data. Since the newly collected high-precision railway data contains high-precision coordinate information, the generated high-precision railway map data contains high-precision coordinate information, which can be used to realize railway auxiliary navigation.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of navigation technology, in particular to a method and device for generating high-precision railway map data and railway auxiliary navigation. BACKGROUND

[0002] In the prior art, the existing basic data of the railway only contains the general shape information of the railway, and does not contain coordinate information, so that it can only be used as background display in the electronic navigation system and cannot support the railway navigation auxiliary driving function.

[0003] Therefore, it is necessary to provide high-precision railway electronic map data that can be used to support railway navigation auxiliary driving. SUMMARY

[0004] The embodiments of the present application provide a method and device for generating high-precision railway map data and a method and device for railway auxiliary navigation based on the high-precision railway map data, so as to solve the problem that the existing basic railway data cannot be used to support railway vehicle navigation.

[0005] To solve the above technical problems, the embodiments of the present application are implemented as follows:

[0006] The method for generating high-precision railway map data provided by the embodiments of the present application comprises:

[0007] Obtaining basic railway data;

[0008] Obtaining high-precision railway data; the high-precision railway data contains high-precision coordinate information;

[0009] Matching the basic railway data and the high-precision railway data based on the first identification information in the basic railway data and the second identification information in the high-precision railway data;

[0010] Generating high-precision railway map data based on the matched high-precision railway data and the basic railway data; the high-precision railway map data is used for railway auxiliary navigation.

[0011] The method for railway auxiliary navigation based on high-precision railway map data provided by the embodiments of the present application is obtained according to the aforementioned method for generating high-precision railway map data; the method for railway auxiliary navigation comprises:

[0012] Obtaining the driving route of a railway vehicle;

[0013] Obtaining the current position information of the railway vehicle;

[0014] determine, according to the high-precision railway map data, a current railway feature point corresponding to a current position of the railway vehicle based on the driving route and the current position information;

[0015] provide the user with feature point information corresponding to the current railway feature point.

[0016] An embodiment of the present specification provides a high-precision railway map data generation device, comprising:

[0017] at least one processor; and

[0018] a memory in communication connection with the at least one processor; wherein

[0019] the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to:

[0020] obtain basic railway data;

[0021] obtain high-precision railway data; the high-precision railway data contains high-precision coordinate information;

[0022] match the basic railway data and the high-precision railway data based on first identification information in the basic railway data and second identification information in the high-precision railway data;

[0023] generate high-precision railway map data based on the matched high-precision railway data and the basic railway data; the high-precision railway map data is used for railway auxiliary navigation.

[0024] An embodiment of the present specification provides a railway auxiliary navigation device, comprising:

[0025] at least one processor; and

[0026] a memory in communication connection with the at least one processor; wherein

[0027] the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to:

[0028] obtain a driving route of a railway vehicle;

[0029] obtain current position information of the railway vehicle;

[0030] determine, according to the high-precision railway map data, a current railway feature point corresponding to a current position of the railway vehicle based on the driving route and the current position information; the high-precision railway map data is obtained according to the foregoing high-precision railway map data generation method.

[0031] The current railway feature point information corresponding to the railway feature point is provided to the user.

[0032] The embodiment of the present specification can at least achieve the following beneficial effects: by combining the basic railway data with the high-precision railway data, the high-precision railway map data is generated, on the one hand, the high-precision railway map data generated has high-precision coordinate information of the railway feature point, which can be used for railway auxiliary navigation; on the other hand, the basic railway data is reused in the process of generating the high-precision railway map data, which can reduce the workload of field collection and save a lot of manpower and material resources. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present specification or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are only some embodiments described in the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0034] Figure 1 A flowchart of a high-precision railway map data generation method provided by an embodiment of the present specification;

[0035] Figure 2 An example of a high-precision railway map based on high-precision railway map data provided by an embodiment of the present specification;

[0036] Figure 3 to Figure 5 An example of a mode diagram provided by an embodiment of the present specification;

[0037] Figure 6 An example of a navigation interface of a railway navigation system provided by an embodiment of the present specification;

[0038] Figure 7 A flowchart of a method for generating high-precision railway map data and railway auxiliary navigation provided by an embodiment of the present specification;

[0039] Figure 8 A structure diagram of a high-precision railway map data generation device or railway auxiliary navigation provided by an embodiment of the present specification. DETAILED DESCRIPTION

[0040] In the prior art, the existing basic data of the railway only contains the general shape information of the railway, and does not contain coordinate information, so its application in the electronic navigation system is only used as background display, and cannot support the railway navigation auxiliary driving function. Moreover, the current railway auxiliary driving system determines the train position through the kilometer marker and the wheel circumference and the number of turns, and the cumulative error of the train position is larger with the increase of the distance.

[0041] In the embodiments of the present specification, a method for generating a high-precision electronic map of a railway to support railway navigation auxiliary driving is provided, and in the application process of the method, high-precision railway map data can be obtained by fitting and reorganizing newly collected high-precision railway data and existing basic railway data. Since the newly collected high-precision railway data contains high-precision coordinate information, the generated high-precision railway map data contains high-precision coordinate information, which can be used to realize railway auxiliary navigation.

[0042] In order to make the purpose, technical scheme and advantages of one or more embodiments of the present specification clearer, the technical scheme of one or more embodiments of the present specification will be described clearly and completely in the following with reference to specific embodiments of the present specification and corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present specification, not all the embodiments. Based on the embodiments in the present specification, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of one or more embodiments of the present specification.

[0043] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other.

[0044] The technical scheme provided by each embodiment of the present specification will be described in detail below with reference to the drawings.

[0045] Figure 1 A flowchart of a high-precision railway map data generation method provided by an embodiment of the present specification is shown. From the program point of view, the execution subject of the flowchart can be a program loaded on an application server or an application terminal.

[0046] As shown in Figure 1 , the flowchart can include the following steps:

[0047] Step 102: Obtain basic railway data.

[0048] The basic railway data can be existing railway data provided by relevant railway departments. Specifically, the basic railway data refers to the basic data information of existing railway landmarks involved in the existing railway data. For example, the basic railway data may include starting kilometer marker information, ending kilometer marker information, radius of curvature information, railway connectivity information, etc.

[0049] The existing railway features involved in the basic railway data can include various types of features, such as railway lines and station markers. Railway lines can include intersections, branch line transfer points, etc., and station markers can include kilometer markers, signals, railway boundaries, station boundaries, level crossings, bridges, tunnels, etc., and are not limited to these. The specific details are subject to the records in the basic railway data.

[0050] Since the basic railway data does not include vector data of railway features, in order to locate various features along the railway vehicle's route in the embodiments of this specification, it is necessary to collect the coordinate information of at least some key railway features along the route. See step 104.

[0051] Step 104: Obtain high-precision railway data; the high-precision railway data includes high-precision coordinate information.

[0052] The acquisition of high-precision railway data may specifically include acquiring high-precision coordinate information of key railway features that are the targets of data collection. These key railway features may be features whose high-precision coordinate data were collected on-site by data collection personnel before the implementation of the embodiments described in this specification. These key railway features are typically features that are easy to measure on-site using high-precision surveying equipment, or features that are important during railway vehicle operation; the specific selection can be made according to needs.

[0053] In optional embodiments, the key ground features collected in the high-precision coordinate information can include various types of ground features, such as railway lines and station landmarks. Railway lines can include intersections and branch line transfer points, while station landmarks can include kilometer markers, signals, bureau boundaries, station boundaries, station centers, turnouts, curves, routes, tracks, earth barriers, parking lines, level crossings, bridges, tunnels, etc. The specific features collected can be based on actual needs.

[0054] For example, the high-precision coordinate information acquisition of railway lines can be achieved by collecting the coordinates (XY axis coordinates) of points on the railway track at preset intervals (e.g., 1 meter). For the high-precision coordinate information acquisition of station markers, it can be achieved by labeling the XY axis coordinates of each station marker in the coordinate system.

[0055] The high-precision coordinate information can be coordinate information obtained based on navigation and positioning satellite systems. Specifically, it can include GPS coordinate information, BDS coordinate information, GLONASS coordinate information, GALILEO coordinate information, etc., and is not limited to these.

[0056] In the embodiments of this specification, the high-precision coordinate information of discrete key railway features collected in step 104 is used as a basis. Based on this, combined with the existing basic railway data obtained in step 102, complete high-precision railway map data with high-precision coordinate information can be obtained based on the high-precision coordinate information of these discrete key railway features, as in steps 106 and 108.

[0057] Step 106: Match the basic railway data and the high-precision railway data based on the first identification information in the basic railway data and the second identification information in the high-precision railway data.

[0058] The first identification information may include the identification information (e.g., name information) of existing railway features involved in the basic railway data; the second identification information may include the identification information (e.g., name information) of key railway features that are the objects of data collection.

[0059] In one or more embodiments, step 106 may specifically include: determining railway feature points that match the basic railway data and the high-precision railway data based on the first identification information and the second identification information. More specifically, existing railway feature points and key railway feature points with the same identification information are determined as matched railway feature points. Optionally, the matched railway feature points may be feature points with the same name, and are not limited to this example; for example, they may also be feature points with the same number, etc.

[0060] Step 108: Based on the matched high-precision railway data and the basic railway data, generate high-precision railway map data; the high-precision railway map data is used for railway auxiliary navigation.

[0061] In practical applications, step 108 may specifically include: generating high-precision railway map data using at least a portion of the high-precision railway data and at least a portion of the basic railway data. The at least a portion of the basic railway data may include geometric information, attribute information, and relational information, etc. The at least a portion of the high-precision railway data may include high-precision coordinate information, other collected geometric information, and attribute information and relational information, etc.

[0062] In an optional embodiment, the relationships between ground features in the basic railway data can be utilized, and the high-precision coordinate information of other related railway ground features can be inferred based on the high-precision coordinate information of the key railway ground features collected. This can reduce the workload of collecting coordinate information in the field.

[0063] Specifically, step 108 may include: determining the high-precision coordinate information of the associated points of the matched railway features based on the high-precision coordinate information of the matched railway features and the coordinate association information of the matched railway features in the basic railway data; wherein the coordinate association information includes at least one of kilometer marker information and length information; and then generating high-precision railway map data based on the high-precision coordinate information of the matched railway features and the high-precision coordinate information of the associated points of the matched railway features.

[0064] For example, through field data collection, the high-precision coordinates of the starting point of a bridge can be obtained. Additionally, based on records in the basic railway data, the bridge's length and radius of curvature (if applicable) can be determined. Therefore, the high-precision coordinates of the bridge's ending point can be calculated based on these known conditions. In this example, if the bridge's starting point is the matched railway feature point, then the bridge's ending point is the associated feature point.

[0065] For example, through field data collection, the high-precision coordinates of the starting point of a bridge can be obtained. Additionally, based on records in the basic railway data, the kilometer markers corresponding to the starting and ending points of the bridge, as well as the radius of curvature (if applicable), can be determined. Therefore, the high-precision coordinates of the ending point of the bridge can be calculated based on these known conditions. In this example, if the starting point of the bridge is the matched railway feature point, then the ending point of the bridge is the associated feature point.

[0066] The examples above are for illustrative purposes only and do not constitute a limitation on the technical solution of this application. In practical applications, the scheme for calculating the high-precision coordinate information of associated railway feature points is not limited to these examples. For instance, the high-precision coordinate information of other associated railway feature points can be calculated based on the high-precision coordinate information of some railway feature points in a tunnel. Similarly, the high-precision coordinate information of other associated railway feature points along a railway line can be calculated based on the high-precision coordinate information of some railway feature points along the railway line.

[0067] In another optional embodiment, for the matched railway feature point, the high-precision coordinate information of the matched railway feature point can be integrated with various existing information in the basic railway data to obtain the data information of the matched railway feature point in the high-precision railway map data. This can reduce the workload of field data collection.

[0068] Specifically, step 108 may include: generating high-precision railway map data based on the high-precision coordinate information of the matched railway feature points and the geometric, attribute, and relational information of the matched railway feature points in the basic railway data. The geometric information may include slope information, radius of curvature information, elevation information, etc.; the attribute information may include speed limit information, supply information, and direction of travel, etc.; the relational information may include road connectivity information, etc.

[0069] It should be understood that in the methods described in one or more embodiments of this specification, the order of some steps may be adjusted according to actual needs, or some steps may be omitted.

[0070] Figure 1 The method described above generates high-precision railway map data by fitting and recombining basic railway data with high-precision railway data. On the one hand, the generated high-precision railway map data contains high-precision coordinate information of railway landmarks, which can be used for railway auxiliary navigation; on the other hand, it realizes the reuse of basic railway data, which can reduce the workload of field data collection and save a lot of manpower and resources.

[0071] based on Figure 1 In addition to the method described herein, this specification also provides some specific implementation methods of this method, which will be described below.

[0072] In practical applications, when generating high-precision railway map data, it can be based on a pre-established data structure model. This data structure model can be established according to the navigation requirements of railway vehicles. For example, a data structure model can be established for railway landmarks involved in railway vehicle navigation, such as railway lines and station markers. Similarly, a corresponding data structure model can also be established for multimedia prompt information files, which will be discussed below; however, it is not limited to the examples given here.

[0073] Specifically, in an optional embodiment, step 108 may include: determining the data objects involved in railway assisted navigation based on the navigation requirements of railway vehicles; establishing a data structure model corresponding to each data object; and recording the data fusion results of the high-precision railway data and the basic railway data according to the data structure model to obtain the high-precision railway map data.

[0074] The data objects may include railway lines, station landmarks, and other railway features. The data structure model may also be referred to as a data structure table or data structure template. The data structure model may include structures containing various types of feature information corresponding to the data objects, such as geometric information, attribute information, and road connectivity information.

[0075] For ease of understanding, examples of the data structure model are shown in Tables 1 and 2 below. Table 3 below shows examples of some attribute information from the generated high-precision railway map data.

[0076] Table 1. Examples of data structure models for railway lines in the embodiments of this specification.

[0077] Name Code Data type Value range and description LINK number LINK_PID NUMBER(10) Primary key Starting number S_NODE_PID NUMBER(10) Foreign key, leading RW_NODE Ending number E_NODE_PID NUMBER(10) Foreign key, leading RW_NODE Railway kind KIND NUMBER(2) 1 freight; 2 ordinary passenger; 3 high-speed passenger; 4 magnetic suspension Railway form FORM NUMBER(2) Ordinary 1; elevated 2; tunnel 3; within station 4 Railway name LINE_NAME VARCHAR2(100) The line name Lane name LANE_NAME VARCHAR2(100) Railway lane name Administrative division ADMIN_ID NUMBER(10) Administrative division number Supply information APP_INFO NUMBER(1) 1 can pass; 2 can not pass Passing direction DIRECT NUMBER(1) 1 double direction; 2 order direction; 3 reverse direction Speed limit value SPEEDLIMIT NUMBER(4) Unit: km / h Coordinate NODE_GEO VARCHAR2(100) Store the longitude and latitude coordinates and elevation of all points on the link …… …… …… ……

[0078] Table 2. Examples of the data structure model for railway points of interest in the embodiments of this specification.

[0079]

[0080] Table 1 above shows the data structure model corresponding to a certain type of railway line. Table 2 above shows the data structure model corresponding to a certain type of point of interest on a railway.

[0081] Table 3 shows an example of a data table corresponding to railway points of interest in the embodiments of this specification.

[0082] PID KIND_CODE NAME LINK_PID X_GUIDE Y_GUIDE Z_GUIDE X Y Elevation 1 3 D14 29 108.94 34.6062 385.325 108.94 34.6063 385.32 2 14 JD22 30 108.939 34.6063 384.866 108.939 34.6063 384.866 3 14 JD 31 108.939 34.6063 384.93 108.939 34.6063 384.93 4 13 Frog 1 32 108.937 34.606 385.101 108.939 34.606 385.101

[0083] Table 3 above shows the POI category code (KIND_CODE), POI name (NAME), associated link number (LINK_PID), POI guide coordinates (X_GUIDE, Y_GUIDE, Z_GUIDE), POI display coordinates (X, Y), and POI elevation information for points of interest (POIs) numbered 1, 2, 3, and 4. Clearly, the information in this railway point of interest data table is not limited to this; for example, it may also include POI address, kilometer marker, direction, etc.

[0084] It should be noted that Table 3 provides only examples. In actual applications, the types of information contained in the data tables corresponding to railway points of interest are not limited to these examples, and the objects represented by the data tables are not limited to railway points of interest. In practical applications, high-precision railway map data can specifically include information tables corresponding to various data such as lines, points, pattern diagrams, and POIs used in railway auxiliary navigation.

[0085] also, Figure 2 An example of a high-precision railway map based on high-precision railway map data, as described in this specification, is shown. Figure 2 The diagram shows the tracks and signals, where "JC1-2", "JC2-3", "JC2-5", and "JC3-4" are used to mark different tracks, and "D3", "D5", and "D7" are used to mark different signals. It is understandable that... Figure 2The examples provided are merely examples; the types of features displayed in high-precision railway maps are not limited to tracks and signals, but may include other types as well.

[0086] Based on the embodiments of this specification, when generating high-precision railway map data, firstly, the high-precision railway data collected in the field can be imported into a database. Using specialized software, geometric information, attribute information, and relational information can be edited and entered. Then, matching and identifying corresponding ground features in the basic railway data and the collected high-precision railway data can be performed. After confirming the matching of corresponding ground features, firstly, in terms of geometric information, other ground feature information can be calculated based on the high-precision coordinate information in the collected high-precision railway data and the kilometer and distance information recorded in the basic railway data; secondly, in terms of attribute information, attributes can be supplemented based on information such as speed limits, gradients, and curve radii in the basic railway data. Based on the embodiments of this specification, the solution can increase the number of ground features and related attribute information in the generated high-precision railway map data, while reducing the manpower and material resources consumed in field surveying.

[0087] In practical applications, after editing and inputting geometric, attribute, and relational information, tools can be used to perform batch processing operations on information that can be processed in batches, creating corresponding topological information. This topological information can be included in the final generated high-precision railway map data. The batch processing operations can include speed limit batch processing, lane connectivity batch processing, administrative division batch processing, and POI association batch processing. The topological information refers to the relationships between various geometric information of railway data, such as adjacent, contained, intersecting, and connected geometric relationships. For example, the path from point A to point B, i.e., the connectivity from point A to point B, can be represented by the topological relationship between points and railway lines.

[0088] In practical applications, after the topology information is created, data checks can be performed to ensure its accuracy. Specifically, the logical correctness, attribute integrity, and spatial relationship accuracy of the data can be checked. For example, two railway lines cannot completely overlap; if they do, it indicates an incorrect topology relationship. Similarly, railway data for city A must be included within the administrative boundaries of city A; if not, it indicates an incorrect topology construction.

[0089] In practice, when performing data checks, corresponding check codes can be written based on the data creation and submission requirements to identify potential data errors. A corresponding rule number can be assigned to each type of error. Then, running the check rule number or a check package consisting of multiple check rules on a designated platform can check for errors in the data's logic, attributes, spatial relationships, etc. For example, if points A and B are less than 2 meters apart but not merged into one point, it is necessary to check whether points A and B have been omitted from the connection process. Code can be written based on this rule, and the program can then be used to check the data.

[0090] In an optional embodiment, if the inspection result is incorrect, the platform can prompt the operator with an error message. The operator can locate the corresponding data based on the error message and conduct a manual review. If the review result is still incorrect, the data can be modified until it is correct. If the review result is correct, the inspection item is identified as a redundant inspection item, and the inspection rules can be modified.

[0091] Existing railway driver assistance systems lack both coordinate information and intuitive, visually appealing route and graphic displays. Therefore, as mentioned above... Figure 1 Based on the aforementioned scheme, multimedia prompt information files can also be attached to the generated high-precision railway map data to achieve an intuitive and vivid display of the points involved in the navigation path.

[0092] In an optional embodiment of this specification, the high-precision railway map data generation method may further include: determining navigation feature points of interest for railway auxiliary navigation; and creating a multimedia prompt information file corresponding to the navigation feature points of interest, wherein the multimedia prompt information file includes at least one of a schematic diagram file or a voice prompt file; then, based on the feature point type identifier of the navigation feature points of interest, linking the multimedia prompt information file to the navigation feature points of interest in the high-precision railway map data. In practical applications, the linking operation may specifically include filling in the corresponding schematic diagram number and voice prompt file number in the high-precision railway map data.

[0093] The navigation focus points can be points that the driver needs or wants to focus on during railway assisted navigation, and can be set as needed. Specifically, the navigation focus points can include, but are not limited to, turnouts, curves, gradients, station entrances and exits, bridges, tunnels, level crossings, landslide-prone areas, routes, branch line transfer points, signals, railway boundaries, station boundaries, station centers, tracks, and earthworks.

[0094] Corresponding to the navigation points of interest, the mode diagram may include at least one of the following: turnout mode diagram, curve mode diagram, gradient mode diagram, station entry / exit mode diagram, bridge mode diagram, tunnel mode diagram, level crossing mode diagram, or landslide-prone area warning mode diagram. Similarly, the voice prompt file may include voice prompt files corresponding to various navigation points of interest, for example, it may include at least one of the following: turnout voice prompt information, curve voice prompt information, gradient voice prompt information, station entry / exit voice prompt information, bridge voice prompt information, tunnel voice prompt information, level crossing voice prompt information, or landslide-prone area warning voice prompt information.

[0095] like Figure 3 to Figure 5 This illustrates an example of a schematic diagram of an embodiment of this specification. Specifically, as shown... Figure 3 This document illustrates an example of a schematic diagram of a turnout according to an embodiment of this specification. Figure 4 This illustrates an example of a schematic diagram of a bridge according to an embodiment of this specification. Figure 5 This document illustrates an example of a schematic diagram of a landslide-prone area according to an embodiment of this specification.

[0096] By embedding pattern diagrams into high-precision railway map data, railway vehicle drivers can be provided with clearer 3D scene reconstructions in areas such as junctions, uphill sections, and downhill sections. This is particularly helpful for navigation guidance in areas with steep gradients and curves, assisting drivers and autonomous driving systems in making informed decisions. Furthermore, by embedding voice prompts, voice prompts can be played simultaneously with the pattern diagram display, thereby enhancing assisted driving performance.

[0097] In the embodiments of this specification, a railway-aided navigation method based on high-precision railway map data is also provided.

[0098] Unlike general electronic map navigation systems that serve cars and pedestrians, railway navigation systems using the railway-assisted navigation methods described in this specification can achieve functions that conform to the characteristics of railway operation. For example, at key points unique to railways, such as junctions, branch line transfer points, signals, railway boundaries, station boundaries, station centers, turnouts, tracks, earthworks, level crossings, bridges, and tunnels, voice and model image prompts, as well as mileage values ​​and positioning coordinate information, can be provided.

[0099] In the embodiments described in this specification, a general electronic map navigation system can be used as a basis, combined with railway navigation requirements to develop railway navigation system software, modify navigation engines and path algorithms, etc. The railway navigation system uses high-precision electronic railway maps as its data core and independently developed navigation engines and path algorithms as key technologies, filling a gap in the railway navigation market, promoting technological innovation and upgrading in the railway navigation field, and laying the foundation for automatic driving of railway routes.

[0100] Specifically, the railway-assisted navigation method in the embodiments of this specification may include the following steps: obtaining the travel route of the railway vehicle; obtaining the current location information of the railway vehicle; determining the current railway feature point corresponding to the current location of the railway vehicle based on the travel route and the current location information, according to the high-precision railway map data; and providing the user with the feature point information corresponding to the current railway feature point.

[0101] In practical applications, the information on the geographical features may include, but is not limited to, name information, geometric information, and attribute information. The railway vehicle may specifically be a railway engineering vehicle.

[0102] In an optional embodiment, the railway vehicle's route may be selected by a user (e.g., a railway vehicle driver) from at least one alternative route. The alternative route may be provided by a railway information system based on user-provided starting and ending point information, or it may be planned and generated by a railway navigation system according to embodiments of this specification based on user-provided starting and ending point information.

[0103] For example, obtaining the travel route of a railway vehicle may specifically include: obtaining travel start information and travel end information provided by the user; based on the travel start information and travel end information, and according to the high-precision railway map data, obtaining at least one planned travel route for the railway vehicle; providing the at least one planned travel route to the user; and determining the travel route of the railway vehicle in response to the user's selection operation of the at least one planned travel route.

[0104] In actual navigation, after the user selects a route, the railway navigation system reads the location data fed back by the positioning equipment installed on the railway engineering vehicle and performs navigation.

[0105] In an optional embodiment, after obtaining the current location information of the railway vehicle, the process may further include: determining the navigation landmarks to be traversed by the railway vehicle based on the travel route and the current location information, according to the high-precision railway map data; then, obtaining a multimedia prompt information file corresponding to the navigation landmarks to be traversed; and then providing railway navigation prompt information to the user based on the multimedia prompt information file, wherein the railway navigation prompt information includes at least one of a map information and a voice prompt information.

[0106] In an optional embodiment, after obtaining the current location information of the railway vehicle, the process may further include: determining the remaining mileage information of the railway vehicle on the travel route based on the travel route and the current location information, according to the high-precision railway map data; and then providing the remaining mileage information to the user.

[0107] Optionally, the railway-assisted navigation method in the embodiments of this specification may further include: acquiring the travel speed information of the railway vehicle; and then providing the travel speed information to the user.

[0108] For example, when a train enters a station, the railway navigation system can automatically read the entry data, display the station map, train station name, and other information to the user in real time, and provide voice prompts. Similarly, while the train is in motion, the railway navigation system can automatically read the attribute information of the current route, displaying the speed limit information for that route. It can also obtain the vehicle's real-time location, displaying the vehicle's speed, the speed limit for that route, remaining kilometers, and a 3D map of navigation points of interest, along with voice prompts.

[0109] like Figure 6 The diagram shows an example of a navigation interface for a railway navigation system according to an embodiment of this specification.

[0110] In addition to the aforementioned method of installing railway navigation systems into train control equipment, an optional embodiment can update existing mobile navigation systems to utilize online map engines and high-precision mobile phone positioning to achieve railway assisted driving navigation. Specifically, during train operation, railway drivers can first receive guidance on detailed information such as routes and railway stations. Secondly, before the train reaches a navigation point of interest, the driver can receive more intuitive assistance through 3D model maps and voice prompts of the navigation point of interest, thereby improving railway driving safety.

[0111] like Figure 7 The diagram illustrates a flowchart of a method for generating high-precision railway map data and railway-aided navigation according to an embodiment of this specification.

[0112] In one or more embodiments of this specification, in practical application, information on key railway landmarks can be collected first (step 702), and a schematic diagram and voice file of the landmarks of interest for navigation can be created (step 704). Then, the collected information on key railway landmarks is fused with existing basic railway data to obtain high-precision railway map data (step 706). Subsequently, the generated high-precision railway map data is used for railway navigation-assisted driving (step 708).

[0113] It should be noted that, Figure 7 The execution order of the steps shown does not constitute a limitation on the technical solutions of the embodiments of this specification. In practical applications, the order of some steps can be adjusted, or some steps can be added or deleted. For example, step 704 can be executed first, followed by step 702.

[0114] Based on the embodiments of this specification, assisted driving of railway engineering vehicles is achieved using high-precision railway map data. In these embodiments, by integrating high-precision coordinate information of key railway landmarks into the electronic map data, the location information of relevant railway driving points can be intuitively displayed to the driver. The railway navigation system provided in these embodiments can utilize high-precision positioning information from navigation and positioning satellite systems to replace traditional odometer-based positioning methods, achieving precise positioning of railway engineering vehicles and avoiding positioning errors caused by existing positioning methods during railway driving. Furthermore, in these embodiments, the addition of schematic displays and voice prompts for navigation landmarks enhances the automation of railway driving while providing intuitive displays of situations such as uphill / downhill driving, turns, and nighttime driving. This allows train drivers to make earlier driving decisions, increasing safety in railway operations.

[0115] Based on the same idea, this specification also provides devices corresponding to the above methods in its embodiments.

[0116] Figure 8 This is a schematic diagram of a high-precision railway map data generation device or railway auxiliary navigation provided as an embodiment of this specification.

[0117] like Figure 8 As shown, if device 800 is a high-precision railway map data generation device, it may include:

[0118] At least one processor 810; and,

[0119] Memory 830 communicatively connected to the at least one processor; wherein,

[0120] The memory 830 stores instructions 820 that can be executed by the at least one processor 810, the instructions being executed by the at least one processor 810 to enable the at least one processor 810 to:

[0121] Obtain basic railway data;

[0122] Acquire high-precision railway data; the high-precision railway data includes high-precision coordinate information;

[0123] Based on the first identification information in the basic railway data and the second identification information in the high-precision railway data, the basic railway data and the high-precision railway data are matched;

[0124] Based on the matched high-precision railway data and the basic railway data, high-precision railway map data is generated; the high-precision railway map data is used for railway auxiliary navigation.

[0125] If device 800 is a railway auxiliary navigation generation device, it may include:

[0126] At least one processor 810; and,

[0127] Memory 830 communicatively connected to the at least one processor; wherein,

[0128] The memory 830 stores instructions 820 that can be executed by the at least one processor 810, the instructions being executed by the at least one processor 810 to enable the at least one processor 810 to:

[0129] Obtain the travel routes of railway vehicles;

[0130] Obtain the current location information of the railway vehicle;

[0131] Based on the travel route and the current location information, the current railway feature point corresponding to the current location of the railway vehicle is determined according to the high-precision railway map data; the high-precision railway map data is obtained according to the aforementioned high-precision railway map data generation method;

[0132] Provide users with information about the current railway landmarks.

[0133] Following the same approach, embodiments of this specification also provide a computer-readable medium corresponding to the above-described methods. The computer-readable medium stores computer-readable instructions that can be executed by a processor to implement the following methods:

[0134] Obtain basic railway data;

[0135] Acquire high-precision railway data; the high-precision railway data includes high-precision coordinate information;

[0136] Based on the first identification information in the basic railway data and the second identification information in the high-precision railway data, the basic railway data and the high-precision railway data are matched;

[0137] Based on the matched high-precision railway data and the basic railway data, high-precision railway map data is generated; the high-precision railway map data is used for railway auxiliary navigation.

[0138] Alternatively, the computer-readable instructions may be executed by a processor to implement the following method:

[0139] Obtain the travel routes of railway vehicles;

[0140] Obtain the current location information of the railway vehicle;

[0141] Based on the travel route and the current location information, the current railway feature point corresponding to the current location of the railway vehicle is determined according to the high-precision railway map data; the high-precision railway map data is obtained according to the aforementioned high-precision railway map data generation method;

[0142] Provide users with information about the current railway landmarks.

[0143] The foregoing has described specific embodiments of this specification. In some cases, the actions or steps described in the claims may be performed in a different order than those shown in the embodiments and may still achieve the desired results. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired results. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0144] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other.

[0145] The devices and methods provided in the embodiments of this specification are corresponding. Therefore, the devices also have similar beneficial technical effects as the corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the corresponding devices will not be repeated here.

[0146] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0147] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0148] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0149] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0150] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0151] This application can be described in the general context of computer-executable instructions, such as program modules, that are executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0152] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for generating high-precision railway map data, comprising: Acquire basic railway data and high-precision railway data; The high-precision railway data includes high-precision coordinate information of key railway features. The basic railway data refers to the basic data information of railway feature points, and the basic railway data does not include vector data of railway feature points; Based on the first identification information in the basic railway data and the second identification information in the high-precision railway data, the basic railway data and the high-precision railway data are matched to obtain the railway ground feature points that match the basic railway data and the high-precision railway data; Based on the high-precision coordinate information of the matched railway features and the coordinate association information of the matched railway features in the basic railway data, high-precision railway map data is generated. The high-precision railway map data is used for railway auxiliary navigation.

2. The method as described in claim 1, wherein the step of basing the high-precision coordinate information of the matched railway feature points and the coordinate association information of the matched railway feature points in the basic railway data specifically includes: Based on the high-precision coordinate information of the matched railway feature points and the coordinate association information of the matched railway feature points in the basic railway data, the high-precision coordinate information of the associated feature points of the matched railway feature points is determined. High-precision railway map data is generated based on the high-precision coordinate information of the matched railway feature points and the high-precision coordinate information of the associated feature points of the matched railway feature points.

3. The method as described in claim 2, wherein generating high-precision railway map data based on the matched high-precision railway data and the basic railway data specifically includes: Based on the high-precision coordinate information of the matched railway features and the geometric, attribute, and relational information of the matched railway features in the basic railway data, high-precision railway map data is generated.

4. The method as described in claim 1, wherein generating high-precision railway map data based on the matched high-precision railway data and the basic railway data specifically includes: The data objects involved in railway auxiliary navigation are determined based on the navigation requirements of railway vehicles; Establish data structure models corresponding to each data object; Based on the data structure model, the data fusion results of the high-precision railway data and the basic railway data are recorded to obtain the high-precision railway map data.

5. The method of claim 1, further comprising: Identify navigation features of interest for railway auxiliary navigation; Create multimedia prompt information files corresponding to the navigation focus points; The multimedia prompt information file includes at least one of a schematic diagram file or a voice prompt file; Based on the feature type identifier of the navigation focus point, the multimedia prompt information file is linked to the navigation focus point in the high-precision railway map data.

6. A railway-assisted navigation method based on high-precision railway map data, wherein the high-precision railway map data is obtained by the method according to any one of claims 1 to 5; The railway-assisted navigation method includes: Obtain the travel routes of railway vehicles; Obtain the current location information of the railway vehicle; Based on the travel route and the current location information, the current railway feature point corresponding to the current location of the railway vehicle is determined according to the high-precision railway map data; Provide users with information about the current railway landmarks.

7. The method as described in claim 6, wherein obtaining the travel route of the railway vehicle specifically includes: Obtain the user's driving start and destination information; Based on the travel start information and travel end information, and according to the high-precision railway map data, at least one planned travel route for the railway vehicle is obtained; Provide the user with at least one planned driving route; In response to the user's selection of at least one planned route, the route of the railway vehicle is determined.

8. The method of claim 6, further comprising, after obtaining the current location information of the railway vehicle: Based on the driving route and the current location information, the navigation focus points ahead that the railway vehicle is to pass through are determined according to the high-precision railway map data; Obtain the multimedia prompt information file corresponding to the aforementioned navigation feature point of interest ahead; Based on the multimedia prompt information file, railway navigation prompt information is provided to the user; The railway navigation prompts include at least one of the following: schematic diagram information and voice prompts.

9. The method of claim 6, further comprising, after obtaining the current location information of the railway vehicle: Based on the travel route and the current location information, the remaining mileage information of the railway vehicle in the travel route is determined according to the high-precision railway map data; Provide the user with the remaining mileage information.

10. A high-precision railway map data generation platform, comprising: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enable the at least one processor to: Obtain basic railway data; Acquire high-precision railway data; the high-precision railway data includes high-precision coordinate information of key railway features; the basic railway data is the basic data information of railway features and does not contain vector data of railway features. Based on the first identification information in the basic railway data and the second identification information in the high-precision railway data, the basic railway data and the high-precision railway data are matched to obtain the railway ground feature points that match the basic railway data and the high-precision railway data; Based on the high-precision coordinate information of the matched railway features and the coordinate association information of the matched railway features in the basic railway data, high-precision railway map data is generated; the high-precision railway map data is used for railway auxiliary navigation.

11. A railway auxiliary navigation device, comprising: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enable the at least one processor to: Obtain the travel routes of railway vehicles; Obtain the current location information of the railway vehicle; Based on the travel route and the current location information, the current railway feature point corresponding to the current location of the railway vehicle is determined according to the high-precision railway map data; the high-precision railway map data is obtained by the method according to any one of claims 1 to 5. Provide users with information about the current railway landmarks.

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