Train positioning method and device

Abstract

The embodiment of the present application provides a train positioning method and device, wherein the train is provided with a transponder positioning system and a multi-sensor sensing positioning system, and the method comprises: obtaining the initial positioning information of the train based on the transponder positioning system or the multi-sensor sensing positioning system; after completing the initial positioning information, determining the positioning information of the train based on the transponder positioning system or the multi-sensor sensing positioning system, wherein if a pre-set target switching condition is met, the transponder positioning system and the multi-sensor sensing positioning system are switched. The embodiment of the present application uses a transponder positioning system and a multi-sensor sensing positioning system to switch and update the two positioning systems under pre-set target switching conditions, thereby improving the train operation efficiency and ensuring the train's driving safety in any mode.

Description

Technical Field

[0001] The present application relates to the technical field of train location management, and in particular to a train positioning method and device. Background Art

[0002] In the existing CBTC (Communication Based Train Control System) system, the method for determining the train position is to place a balise on the trackside line, obtain the balise message data within the radiation range of the BTM (balise transmission module) antenna through the balise to calculate the train position, and maintain the train position according to the train cycle distance. In the traditional CBTC system, train positioning is extremely dependent on the trackside balise. If a sudden failure occurs during the train operation, such as external factors such as damage to the BTM antenna causing the train to lose the balise message data, the train will not be able to accurately locate itself and cannot maintain its own position. Summary of the invention

[0003] In order to solve one of the above-mentioned technical defects, a train positioning method and device are provided in an embodiment of the present application.

[0004] According to a first aspect of an embodiment of the present application, a train positioning method is provided, wherein the train is provided with a response positioning system and a multi-sensor perception positioning system, including:

[0005] Acquiring initial positioning information of the train based on the response positioning system or the multi-sensor perception positioning system;

[0006] After completing the initial positioning information, the positioning information of the train is determined based on the response positioning system or the multi-sensor perception positioning system, wherein if the pre-set target switching conditions are met, the response positioning system and the multi-sensor perception positioning system are switched.

[0007] According to a train positioning method provided by an embodiment of the present application, the initial positioning information of the train is obtained based on the response positioning system or the multi-sensor perception positioning system, including:

[0008] Based on a preset initial positioning principle, selecting to use the response positioning system or the multi-sensor perception positioning system to obtain initial positioning information of the train;

[0009] Among them, the preset initial positioning principles are as follows:

[0010] If the train first completes the initial positioning based on the answer positioning system, the position obtained by the answer positioning system shall be used as the actual position of the train; if the train first completes the initial positioning based on the multi-sensor perception positioning system, the perceived position obtained by the multi-sensor perception positioning system shall be used as the actual position of the train; if the train completes the answer initial positioning and the multi-sensor perception initial positioning at the same time, the position obtained based on the multi-sensor perception positioning system shall be used as the actual position of the train.

[0011] According to a train positioning method provided by an embodiment of the present application, the initial positioning information of the train is obtained based on the multi-sensor perception positioning system, including:

[0012] Acquire sign information based on sensors, and determine point cloud features and position information of the current environment of the train according to the sign information;

[0013] The point cloud features and the position information are compared with the pre-stored information in the line map data to obtain the current position of the train, and the initial positioning information of the train is determined based on the current position of the train.

[0014] A train positioning method provided according to an embodiment of the present application also includes:

[0015] If a preset target calibration scenario occurs, calibrating the positioning information of the train;

[0016] Among them, the target calibration scenario at least includes that the cumulative perceived ranging error during the train section operation is greater than or equal to a set value, and the cumulative perceived ranging error is determined based on the perceived ranging error initial value, the cumulative periodic running distance and the ranging error rate.

[0017] A train positioning method provided according to an embodiment of the present application also includes:

[0018] Calculate the safety information of the train based on the response positioning system and the multi-sensor perception positioning system;

[0019] Calculate the unsafe position of the train based on the multi-sensor sensing and positioning system and calculate the safe position of the train based on the sensing cumulative ranging error;

[0020] The non-safe front position is offset along the train running direction to sense the accumulated ranging error and obtain the maximum safe front position of the train;

[0021] The non-safe front position is offset in the opposite direction of the train running to sense the accumulated ranging error and obtain the minimum safe front position of the train;

[0022] The non-safe rear position is offset along the train running direction to sense the accumulated ranging error and obtain the maximum safe rear position of the train;

[0023] The non-safe rear position is offset in the opposite direction of the train running to sense the accumulated ranging error and obtain the minimum safe rear position of the train;

[0024] When the unsafe position of the train is invalid, the safe position is set to invalid; if the calculation of the safe position of the front of the train fails, the unsafe position is cleared, and the safe position and unsafe position are invalid; if the calculation of the safe position of the rear of the train fails, the unsafe position of the rear is cleared, and the safe and unsafe positions of the rear are invalid, and the safe and unsafe positions of the front of the train are retained.

[0025] A train positioning method provided according to an embodiment of the present application also includes:

[0026] If the train arrives at the turnout, the train position is determined to be turnout positioning or reverse position according to the state of the object controller or the start signal of the route;

[0027] If the train cannot obtain the current state of the turnout, the train determines whether the position is in the turnout position or reverse position by identifying the state of the start signal of the route;

[0028] If the train obtains the current state of the turnout, it determines whether the train is in the turnout positioning or reverse position according to the turnout state.

[0029] According to a second aspect of an embodiment of the present application, a train positioning device is provided, comprising:

[0030] An initial positioning module, used for acquiring initial positioning information of the train based on the response positioning system or the multi-sensor perception positioning system;

[0031] The positioning module is used to determine the positioning information of the train based on the response positioning system or the multi-sensor perception positioning system after completing the initial positioning information, wherein if the pre-set target switching conditions are met, the response positioning system and the multi-sensor perception positioning system are switched.

[0032] According to a third aspect of an embodiment of the present application, there is provided an electronic device, including:

[0033] Memory;

[0034] Processor; and

[0035] Computer programs;

[0036] The computer program is stored in the memory and is configured to be executed by the processor to implement the method.

[0037] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored; the computer program is executed by a processor to implement the described method.

[0038] According to a fifth aspect of an embodiment of the present application, a computer program product is provided, including a computer program, and the computer program implements the method when executed by a processor.

[0039] The train positioning method and device provided in the embodiments of the present application are provided with a response positioning system and a multi-sensor perception positioning system. The two positioning systems are switched and updated under pre-set target switching conditions, thereby improving the train operation efficiency and ensuring the train's driving safety in any mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0041] Figure 1 A flow chart of a train positioning method provided in an embodiment of the present application;

[0042] Figure 2 Provided in the embodiments of this application Figure 1 Schematic diagram of the process of step S110;

[0043] Figure 3 Schematic diagram of the calculation principle of the ITE input position delay time;

[0044] Figure 4 This is a schematic diagram of a train running to a turnout;

[0045] Figure 5 A block diagram of a train positioning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] In order to make the technical solutions and advantages in the embodiments of the present application more clearly understood, the exemplary embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than an exhaustive list of all the embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0047] Figure 1 The flow chart of the train positioning method provided in the embodiment of the present application is shown in FIG. Figure 1 The embodiment of the present application provides a train positioning method, wherein the train is provided with a response positioning system and a multi-sensor perception positioning system, including:

[0048] S110, acquiring initial positioning information of the train based on the response positioning system or the multi-sensor perception positioning system;

[0049] S120, after completing the initial positioning information, determine the positioning information of the train based on the response positioning system or the multi-sensor perception positioning system, wherein if the pre-set target switching conditions are met, the response positioning system and the multi-sensor perception positioning system are switched.

[0050] In step S110, the answering positioning system includes a BTM antenna, the acquired position information is set as the BTM position, and the position information acquired by the multi-sensor sensing positioning system is set as the sensing position.

[0051] The multi-sensor perception and positioning system is based on multi-sensor and intelligent analysis technology, which enables the train to have autonomous environmental perception and decision-making capabilities, forming the train eagle eye system (Intelligent Train Eye), referred to as ITE. ITE is the input and processing module of ITP (intelligent train protection system) perception data, responsible for sensor data collection and data fusion, mainly calculating high-precision positioning of the train, active obstacle identification and detection in front, etc., and providing position information for ITP. The position information includes Link, Link offset and running direction. Position validity refers to whether the train position is valid, invalid or in a transition state. ITP measures and monitors the position information provided by ITE and calculates the available perception position of the train.

[0052] In step S120, the preset target switching conditions include a first target switching condition for switching from the answering positioning system to the multi-sensor perception positioning system and a second target switching condition for switching from the multi-sensor perception positioning system to the answering positioning system.

[0053] The first target switching condition includes that the error of the multi-sensor perception positioning system is smaller than the error of the response positioning system, and the position obtained by the response positioning system is invalid.

[0054] It can be understood that the train positioning method provided in the embodiment of the present application is equipped with a response positioning system and a multi-sensor perception positioning system, and the two positioning systems are switched and updated under pre-set target switching conditions, thereby improving the train operation efficiency and ensuring the train's driving safety in any mode.

[0055] Optionally, if the current actual train position uses the position calculated based on the BTM and the sensed position is valid, the sensed position is used as the actual train position if one of the following conditions is met;

[0056] a1. The BTM cumulative ranging error is greater than or equal to 5m, the difference between the BTM position and the sensed position does not exceed the BTM cumulative ranging error, and the sensed cumulative ranging error is less than the BTM cumulative ranging error;

[0057] a2. When the non-safety locomotive is in the platform parking area, the platform is configured to use the sensing position without the accurate parking transponder, and the difference between the BTM position and the sensing position does not exceed the BTM cumulative ranging error;

[0058] a3. The BTM position becomes invalid.

[0059] Optionally, the second target switching condition specifically includes:

[0060] b1. The train passes through the balise to complete the initial positioning of the BTM;

[0061] b2. The BTM position is valid and the train passes through the balise to complete the BTM position correction;

[0062] b3. The sensing position becomes invalid and the BTM position is valid;

[0063] b4. When the non-safety locomotive of the train is in the platform parking area, the platform is configured with a precise parking transponder to use the BTM position. The train switches to the BTM position after the BTM position correction is completed by the transponder in the parking area.

[0064] If the current actual train position uses the ITE calculated perception position as the actual train position, and the BTM communication is normal (reserved), and the BTM working status is normal, if one of the above situations occurs, the BTM position will be used as the actual train position.

[0065] It should be noted that if both the BTM position and the sensed position are invalid, the train position is invalid.

[0066] As an embodiment, the obtaining the initial positioning information of the train based on the response positioning system or the multi-sensor perception positioning system includes:

[0067] Based on a preset initial positioning principle, the response positioning system or the multi-sensor perception positioning system is selected to obtain the initial positioning information of the train.

[0068] Among them, the preset initial positioning principles are as follows:

[0069] If the train first completes the initial positioning based on the answer positioning system, the position obtained by the answer positioning system shall be used as the actual position of the train; if the train first completes the initial positioning based on the multi-sensor perception positioning system, the perceived position obtained by the multi-sensor perception positioning system shall be used as the actual position of the train; if the train completes the answer initial positioning and the multi-sensor perception initial positioning at the same time, the position obtained based on the multi-sensor perception positioning system shall be used as the actual position of the train.

[0070] The optional, pre-set initial positioning principle is described in detail as follows:

[0071] If the train position is invalid, if the train completes the initial positioning through the balise first, the BTM position will be used as the actual position of the train; if the train completes the initial positioning based on the multi-sensor perception positioning system first, the perception position calculated based on ITE will be used as the actual position of the train; if the train completes the balise initial positioning and the perception initial positioning at the same time, the BTM position calculated based on BTM will be used as the actual position of the train.

[0072] It can be understood that the embodiment of the present application sets the initial positioning principle and chooses to use the response positioning system or the multi-sensor perception positioning system to obtain the initial positioning information of the train, thereby ensuring real-time, accurate and safe positioning of the train position.

[0073] As an example, Figure 2 As shown, the obtaining of the initial positioning information of the train based on the multi-sensor perception positioning system includes:

[0074] S210, acquiring sign information based on a sensor, and determining point cloud features and position information of the current environment of the train according to the sign information;

[0075] S220, comparing the point cloud features and the position information with pre-stored information in the line map data to obtain the current position of the train, and determining the initial positioning information of the train based on the current position of the train.

[0076] In step S210, signboards are arranged at intervals on the train line according to engineering requirements. ITE can extract point cloud features of the current environment of the train and the location information of the train from the image of the signboard based on the signboard information obtained by the sensor, such as the image of the signboard.

[0077] In step S220, the point cloud features and the position information are compared with the pre-stored information in the route map data to obtain the current position of the train, i.e., the unsafe position of the front of the train, and the position is sent to the ITP. The ITP compensates for the unsafe position of the front of the train based on this position and the delay time, and obtains the unsafe position of the rear of the train based on the unsafe position of the front of the train minus the length of the vehicle body, thereby realizing the initial positioning function of the train perception. After the perception completes the initial positioning, the perception cumulative ranging error value is initialized to 3m+ITE position error.

[0078] It can be understood that the embodiment of the present application obtains signboard information through sensors, determines the point cloud features and location information of the current environment of the train, and by comparing with the pre-stored information in the line map data, ITE can obtain the current position of the train, thereby improving the accuracy of train positioning.

[0079] like Figure 3As shown, delayed running distance (cm) = current train speed (cm / s) * (delay time (ms) / 1000);

[0080] Delay time (ms) = ((((((ITP system current cycle number - ITE feedback ITP system cycle number)*200-175)+49)-ITE response ITP time)-3)+delay from radar scanning to ITE sending position information;

[0081] Among them: 200 is the ITP system cycle time (ms), 175 is the time when IVOC sends a frame cycle to ITE (ms), 49 is the time when IVOC receives the frame cycle sent by ITE (ms), and 3 is the network transmission delay compensation (ms).

[0082] As an embodiment, a train positioning method provided in an embodiment of the present application further includes:

[0083] If a preset target calibration scenario occurs, calibrating the positioning information of the train;

[0084] Among them, the target calibration scenario at least includes that the cumulative perceived ranging error during the train section operation is greater than or equal to a set value, and the cumulative perceived ranging error is determined based on the perceived ranging error initial value, the cumulative periodic running distance and the ranging error rate.

[0085] In any driving mode or operation level, after the train completes the initial positioning, it updates the perceived position by accumulating the periodic running distance, and calculates the perceived cumulative ranging error value by accumulating the periodic running distance * ranging error rate. The calculation formula is: perceived cumulative ranging error = perceived ranging error initial value + periodic running distance * ranging error rate;

[0086] The ranging error rate is 2% under normal conditions and 3% under air-slip conditions.

[0087] Optional, pre-set target calibration scenarios include:

[0088] c1. The cumulative sensing distance measurement error during the train section operation is greater than or equal to 5m;

[0089] c2. The link where the sensing position is located belongs to the platform parking area, and the sensing position correction is continuously performed when it is 5m away from the parking point in the same direction;

[0090] c3. The ITE sending position is in a transitional state. After the ITE correctly identifies the train position, the validity of the sent position becomes valid. At this time, the perceived position should be corrected.

[0091] c4. If the train currently uses the BTM valid position as the actual train position, when the BTM ranging error is greater than or equal to 5m and attempts to switch the sensed position, the sensed position should be corrected.

[0092] The following is a detailed description of the conditions for determining the location validity of the perceived location:

[0093] If the cumulative travel distance of the sensed position in the transition state exceeds 15m, the ITE still cannot correctly identify the train position, and the sensed position is invalid. The new sensed position is obtained by using the position in the latest frame of data sent by the ITE and compensating the delayed travel distance after receiving the ITE data frame based on the delay time.

[0094] ITP should ensure that the difference between the perceived position calculated based on the distance traveled in the current period and the new perceived position is less than the perceived cumulative ranging error, otherwise the perceived position is invalid and the window is reported to the ITE. If the position sent by the ITE is invalid, the perceived position is maintained through the periodic distance traveled until the perceived cumulative ranging error value exceeds the maximum threshold value configured by the data, and the perceived position is invalid.

[0095] When there is a four-way turnout within the vehicle body, the position is updated or corrected. If the rear position can be found after subtracting one vehicle length from the front position according to the electronic map data, the position update is successful, otherwise the rear position is invalid. After the correction is successful, the perception cumulative ranging error value is initialized to the ITE position error + 3m.

[0096] The ITE input position should be consistent with the sensed position direction, otherwise the sensed position is invalid.

[0097] It can be understood that, in the embodiment of the present application, by setting a target calibration scenario, if a pre-set target calibration scenario occurs, the train's rated positioning information is calibrated, which can improve the accuracy of train positioning.

[0098] As an embodiment, a train positioning method provided in an embodiment of the present application further includes:

[0099] The safety information of the train is calculated based on the response positioning system and the multi-sensor perception positioning system.

[0100] If the BTM position is valid, the ITP should check whether the sensed position direction is consistent with the BTM position direction, otherwise the sensed position is invalid.

[0101] Calculate the unsafe position of the train based on the multi-sensor sensing and positioning system and calculate the safe position of the train based on the sensing cumulative ranging error;

[0102] The non-safe front position is offset along the train running direction to sense the accumulated ranging error and obtain the maximum safe front position of the train;

[0103] The non-safe front position is offset in the opposite direction of the train running to sense the accumulated ranging error and obtain the minimum safe front position of the train;

[0104] The non-safe rear position is offset along the train running direction to sense the accumulated ranging error and obtain the maximum safe rear position of the train;

[0105] The non-safe rear position is offset in the opposite direction of the train running to sense the accumulated ranging error and obtain the minimum safe rear position of the train;

[0106] When the unsafe position of the train is invalid, the safe position is also set to invalid. If the calculation of the safe position of the front of the train fails, the unsafe position will be cleared, resulting in the invalidation of the safe and unsafe positions; if the calculation of the safe position of the rear of the train fails, the unsafe position of the rear will be cleared, resulting in the invalidation of the safe and unsafe positions of the rear, and the safe and unsafe positions of the front will be retained.

[0107] It can be understood that the embodiment of the present application provides a technical solution for train perception position calculation, which can improve the safety of the train.

[0108] As an embodiment, a train positioning method provided in an embodiment of the present application further includes:

[0109] If the train arrives at the turnout, the train position is determined to be turnout positioning or reverse position according to the state of the object controller or the start signal of the route;

[0110] If the train cannot obtain the current state of the turnout, the train determines whether the position is in the turnout position or reverse position by identifying the state of the start signal of the route;

[0111] If the train obtains the current state of the turnout, it determines whether the train is in the turnout positioning or reverse position according to the turnout state.

[0112] Due to the technical limitations of the sensors used in ITE, when the train passes the turnout at high speed and enters the position or reverse position from the merging, ITE cannot identify whether the train is currently in the turnout position or reverse position, and reports the position validity to ITP as a transitional state. ITP determines whether the current ITE position is in the turnout position or reverse position based on the state of the signal machine identified in front or the signal machine at the beginning of the route.

[0113] If the ITE input position is in a transition state, the ITP cannot sense the initial positioning based on this position.

[0114] When the ITP receives the location sent by the ITE in a transitional state, it determines whether the location needs to be converted, such as Figure 4As shown in the figure, if the train enters the turnout from the turnout merging link to position or reverse, and the distance from the turnout tip is less than or equal to 5m, the position is considered to be in the turnout transition area; if the position is not in the turnout transition area, the position sent by the ITE is considered invalid.

[0115] If the train cannot obtain the current status of the turnout through the OC (object controller), the ITP needs to identify the status of the start signal of the route through the ITE to determine whether the position is in the turnout positioning or reverse position:

[0116] d1. If the ITE sending position is at the switch positioning point A, and the ITE recognizes that the signal at the beginning of the route is yellow before the train enters the route, it is necessary to obtain the sensing position point B according to the distance between point A and the switch tip, which is the same as the switch reverse position offset.

[0117] d2. If the ITE sending position is at the reverse point B of the turnout, and the ITE recognizes that the signal at the beginning of the route is green before the train enters the route, it is necessary to offset the turnout position to the same distance between point B and the turnout tip according to the turnout tip position to obtain the sensing position point A.

[0118] If the train can obtain the current state of the turnout through OC, the ITP needs to pass the turnout state through OC to determine whether the position is in the turnout positioning or reverse position:

[0119] e1. If the ITE sending position is at the switch positioning point A, and the OC input switch state is reversed, it is necessary to offset the switch tip position to the reverse position of the switch by the same distance between point A and the switch tip to obtain the correct sensing position point B.

[0120] e2. If the ITE sending position is at the reverse point B of the turnout, and the OC input turnout status is positioning, it is necessary to offset the turnout positioning position to the same distance between point B and the turnout tip according to the turnout tip position to obtain the correct sensed position point A.

[0121] No conversion is required in other cases.

[0122] It can be understood that the train positioning method provided in the embodiment of the present application is implemented based on a response positioning system and a multi-sensor perception positioning system, providing a technical solution for determining whether a train is in a switch positioning or reverse position, determining the current position of the train, and helping to improve the accuracy of train position determination.

[0123] Figure 5 The block diagram of the train positioning device provided in the embodiment of the present application is shown in FIG. Figure 5 , an embodiment of the present application provides a train positioning device, comprising:

[0124] An initial positioning module 510, configured to obtain initial positioning information of the train based on the response positioning system or the multi-sensor perception positioning system;

[0125] The positioning module 520 is used to determine the positioning information of the train based on the response positioning system or the multi-sensor perception positioning system after completing the initial positioning information, wherein if the pre-set target switching conditions are met, the response positioning system and the multi-sensor perception positioning system are switched.

[0126] As an embodiment, based on a pre-set initial positioning principle, the response positioning system or the multi-sensor perception positioning system is selected to obtain the initial positioning information of the train.

[0127] As an embodiment, the initial positioning module 510 is further configured to:

[0128] Acquire sign information based on sensors, and determine point cloud features and position information of the current environment of the train according to the sign information;

[0129] The initial positioning information of the train is determined according to the point cloud features and the position information.

[0130] As an embodiment, a train positioning device provided in an embodiment of the present application further includes:

[0131] If a preset target calibration scenario occurs, the positioning information of the train is calibrated.

[0132] As an embodiment, a train positioning device provided in an embodiment of the present application further includes:

[0133] The safety information of the train is calculated based on the response positioning system and the multi-sensor perception positioning system.

[0134] As an embodiment, a train positioning device provided in an embodiment of the present application further includes:

[0135] If the train arrives at the turnout, the position of the train is determined as the turnout position or reverse position according to the state of the object controller or the starting signal of the route.

[0136] The present application also provides an electronic device, including:

[0137] Memory;

[0138] Processor; and

[0139] Computer programs;

[0140] The computer program is stored in the memory and is configured to be executed by the processor to implement the train positioning method, the train is provided with a response positioning system and a multi-sensor perception positioning system, and the method includes:

[0141] Acquiring initial positioning information of the train based on the response positioning system or the multi-sensor perception positioning system;

[0142] After completing the initial positioning information, the positioning information of the train is determined based on the response positioning system or the multi-sensor perception positioning system, wherein if the pre-set target switching conditions are met, the response positioning system and the multi-sensor perception positioning system are switched.

[0143] The present application provides a computer-readable storage medium having a computer program stored thereon; the computer program is executed by a processor to implement the train positioning method, wherein the train is provided with a response positioning system and a multi-sensor perception positioning system, and the method comprises:

[0144] Acquiring initial positioning information of the train based on the response positioning system or the multi-sensor perception positioning system;

[0145] After completing the initial positioning information, the positioning information of the train is determined based on the response positioning system or the multi-sensor perception positioning system, wherein if the pre-set target switching conditions are met, the response positioning system and the multi-sensor perception positioning system are switched.

[0146] The embodiment of the present application provides a computer program product, including a computer program. When the computer program is executed by a processor, the train positioning method is implemented. The train is provided with a response positioning system and a multi-sensor perception positioning system. The method includes:

[0147] Acquiring initial positioning information of the train based on the response positioning system or the multi-sensor perception positioning system;

[0148] After completing the initial positioning information, the positioning information of the train is determined based on the response positioning system or the multi-sensor perception positioning system, wherein if the pre-set target switching conditions are met, the response positioning system and the multi-sensor perception positioning system are switched.

[0149] The train positioning method and device provided in the embodiments of the present application are provided with a response positioning system and a multi-sensor perception positioning system. The two positioning systems are switched and updated under pre-set target switching conditions, thereby improving the train operation efficiency and ensuring the train's driving safety in any mode.

[0150] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of complete hardware embodiments, complete software embodiments, or embodiments in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code. The scheme in the embodiments of the present application can be implemented in various computer languages, for example, C language, VHDL language, Verilog language, object-oriented programming language Java and literal scripting language JavaScript, etc.

[0151] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0152] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0153] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0154] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0155] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0156] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0157] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0158] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A train positioning method, characterized in that: The train is equipped with a transponder positioning system and a multi-sensor perception positioning system, including: Acquiring initial positioning information of the train based on the response positioning system or the multi-sensor perception positioning system; After the initial positioning information is completed, the positioning information of the train is determined based on the transponder positioning system or the multi-sensor perception positioning system, wherein if a preset target switching condition is met, the transponder positioning system and the multi-sensor perception positioning system are switched; The train positioning method also includes: Calculate the safety information of the train based on the response positioning system and the multi-sensor perception positioning system; Calculate the unsafe position of the train based on the multi-sensor sensing and positioning system and calculate the safe position of the train based on the sensing cumulative ranging error; The non-safe front position is offset along the train running direction to sense the accumulated ranging error and obtain the maximum safe front position of the train; The non-safe front position is offset in the opposite direction of the train running to sense the accumulated ranging error and obtain the minimum safe front position of the train; The non-safe rear position is offset along the train running direction to sense the accumulated ranging error and obtain the maximum safe rear position of the train; The non-safe rear position is offset in the opposite direction of the train running to sense the accumulated ranging error and obtain the minimum safe rear position of the train; When the unsafe position of the train is invalid, the safe position is set to invalid; if the calculation of the safe position of the front of the train fails, the unsafe position is cleared, and the safe position and unsafe position are invalid; if the calculation of the safe position of the rear of the train fails, the unsafe position of the rear is cleared, and the safe and unsafe positions of the rear are invalid, and the safe and unsafe positions of the front of the train are retained.

2. The train positioning method according to claim 1, characterized in that: The obtaining of the initial positioning information of the train based on the response positioning system or the multi-sensor perception positioning system includes: Based on a preset initial positioning principle, selecting to use the response positioning system or the multi-sensor perception positioning system to obtain initial positioning information of the train; Among them, the preset initial positioning principles are as follows: If the train first completes the initial positioning based on the answer positioning system, the position obtained by the answer positioning system shall be used as the actual position of the train; if the train first completes the initial positioning based on the multi-sensor perception positioning system, the perceived position obtained by the multi-sensor perception positioning system shall be used as the actual position of the train; if the train completes the answer initial positioning and the multi-sensor perception initial positioning at the same time, the position obtained based on the multi-sensor perception positioning system shall be used as the actual position of the train.

3. The train positioning method according to claim 1, characterized in that: The obtaining of the initial positioning information of the train based on the multi-sensor perception positioning system includes: Acquire sign information based on sensors, and determine point cloud features and position information of the current environment of the train according to the sign information; The point cloud features and the position information are compared with pre-stored information in the line map data to obtain the current position of the train, and the initial positioning information of the train is determined based on the current position of the train.

4. The train positioning method according to claim 1, characterized in that: Also includes: If a preset target calibration scenario occurs, calibrating the positioning information of the train; Among them, the target calibration scenario at least includes that the cumulative perceived ranging error during the train section operation is greater than or equal to a set value, and the cumulative perceived ranging error is determined based on the perceived ranging error initial value, the cumulative periodic running distance and the ranging error rate.

5. The train positioning method according to claim 1, characterized in that: Also includes: If the train arrives at the turnout, the train position is determined to be turnout positioning or reverse position according to the state of the object controller or the start signal of the route; If the train cannot obtain the current state of the turnout, the train determines whether the position is in the turnout position or reverse position by identifying the state of the start signal of the route; If the train obtains the current state of the turnout, it determines whether the train is in the turnout positioning or reverse position according to the turnout state.

6. A train positioning device, characterized in that: include: An initial positioning module, used to obtain initial positioning information of the train based on a response positioning system or a multi-sensor perception positioning system; A positioning module, used for determining the positioning information of the train based on the answering positioning system or the multi-sensor sensing positioning system after completing the initial positioning information, wherein if a preset target switching condition is met, the answering positioning system and the multi-sensor sensing positioning system are switched; Calculate the safety information of the train based on the response positioning system and the multi-sensor perception positioning system; Calculate the unsafe position of the train based on the multi-sensor sensing and positioning system and calculate the safe position of the train based on the sensing cumulative ranging error; The non-safe front position is offset along the train running direction to sense the accumulated ranging error and obtain the maximum safe front position of the train; The non-safe front position is offset in the opposite direction of the train running to sense the accumulated ranging error and obtain the minimum safe front position of the train; The non-safe rear position is offset along the train running direction to sense the accumulated ranging error and obtain the maximum safe rear position of the train; The non-safe rear position is offset in the opposite direction of the train running to sense the accumulated ranging error and obtain the minimum safe rear position of the train; When the train's non-safe position is invalid, the safe position is set to invalid; The calculation of the safe position of the front of the train fails, the non-safe position is cleared, and the safe and non-safe positions are invalid; the calculation of the safe position of the rear of the train fails, the non-safe position of the rear is cleared, and the safe and non-safe positions of the rear are invalid, and the safe and non-safe positions of the front of the train are retained.

7. An electronic device, characterized in that: include: Memory; processor; as well as Computer programs; The computer program is stored in the memory and is configured to be executed by the processor to implement the method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: A computer program is stored thereon; the computer program is executed by a processor to implement the method according to any one of claims 1 to 5.

9. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

Images