Train sensing and positioning method, device and rail train

Abstract

The present invention provides a method, device and rail train for sensing and positioning a train, the method comprising: determining a first clock deviation based on an interactive process in which a train sensing module feeds back sensing position information to a train protection module; determining a delay time based on the first clock deviation, the positioning time, and the sensing time carried by the sensing position information; and compensating the sensing position information based on the delay time to obtain current position information. The method, device and rail train for sensing and positioning a train provided by the present invention realize delay position compensation for the sensing position information obtained from the train sensing module by calculating the relative delay time between the train protection module and the train sensing module, thereby ensuring the accuracy of train positioning.

Description

Technical Field

[0001] The present invention relates to the field of rail transit technology, and in particular to a method and device for sensing and positioning a train, and a rail train. Background Art

[0002] Train location information plays an important role in train automatic control technology. Almost every sub-function requires train location information as one of the parameters. Therefore, train positioning is a very important part of the train control system. Accurate location information is also a prerequisite for safe and efficient operation of trains.

[0003] At present, trains are mainly positioned using the method of "initial position + speed and time integration + transponder calibration". Although this positioning method can overcome the influence of environmental factors such as tunnels and mountain streams, the speed and time integration errors increase with the increase of running distance. It is necessary to arrange multiple transponders along the line for calibration to reduce the positioning error, resulting in huge construction and maintenance costs. In addition, continuous calibration cannot be achieved, and the positioning accuracy is low. Another method is to use lidar, vision and other sensor technologies to conduct a full range of "observation and perception" of the surrounding environment of the train, and then combine it with intelligent algorithms for processing to achieve positioning. Although there is no need to set up trackside positioning auxiliary equipment, the construction cost and maintenance cost of train positioning can be effectively reduced, but due to the delay problem of sensor data communication, it will also lead to poor positioning accuracy. Summary of the invention

[0004] The present invention provides a train sensing positioning method, device and rail train, which are used to solve the defect of poor positioning accuracy caused by communication delay of sensor data in the prior art.

[0005] The present invention provides a train sensing and positioning method, which is applied to a train protection module in a train control system, wherein the train control system further comprises a train sensing module, and the train protection module is communicatively connected with the train sensing module, comprising:

[0006] Determining a first clock deviation based on an interactive process in which the train sensing module feeds back the sensed position information to the train protection module;

[0007] Determine a delay time based on the first clock deviation, the positioning time, and the sensing time carried by the sensing position information;

[0008] Compensating the sensed position information based on the delay time to obtain current position information;

[0009] Among them, the first clock deviation is the clock deviation value between the train protection module and the train perception module; the positioning time is after receiving the perception position information; the perception time is the collection time corresponding to the perception data used when the train perception module generates the perception position information.

[0010] According to a train perception and positioning method provided by the present invention, the first clock deviation is determined based on an interactive process in which the train perception module feeds back the perception position information to the train protection module, including:

[0011] Record the request initiation time corresponding to when sending a positioning request message to the train sensing module;

[0012] Recording the feedback receiving time corresponding to the time when the sensed position information fed back by the train sensing module is received;

[0013] Determine the first clock deviation based on the request initiation time, the feedback reception time, and the request reception time and the request response time carried by the sensed location information;

[0014] Among them, the request reception time is the time corresponding to the train perception module receiving the positioning request message; the request response time is the time corresponding to the train perception module generating the perception position information using the perception data after responding to the positioning request message.

[0015] According to a train perception positioning method provided by the present invention, the recording of the feedback receiving time corresponding to when the perception position information fed back by the train perception module is received includes:

[0016] When it is determined that the driving layer of the train protection module receives the perceived position information, a timestamp is set for the perceived position information and then forwarded to the platform layer, so that the platform layer determines the feedback reception time according to the timestamp.

[0017] According to a train sensing and positioning method provided by the present invention, the delay time is determined based on the first clock deviation, the positioning time, and the sensing time carried by the sensing position information, including:

[0018] Acquire a second clock deviation carried by the sensed position information;

[0019] Determining the delay time based on the first clock deviation, the positioning time, the sensing time and the second clock deviation;

[0020] The second clock deviation is the clock deviation value between the processing element and the sensing element in the train sensing module.

[0021] According to a train sensing and positioning method provided by the present invention, the sensing position information is compensated based on the delay time to obtain the current position information, including:

[0022] Determine a compensation distance based on the delay time and the target running speed;

[0023] Determining the current location information based on the sensed location information and the compensated distance;

[0024] The target running speed is the running speed of the rail train corresponding to the positioning time.

[0025] The present invention also provides a train sensing and positioning device, which is provided in a train protection module in a train control system, wherein the train control system further comprises a train sensing module, and the train protection module is communicatively connected with the train sensing module, comprising:

[0026] A first clock deviation acquisition module, used to determine a first clock deviation based on an interactive process in which the train sensing module feeds back sensing position information to the train protection module;

[0027] A delay time determination module, configured to determine a delay time based on the first clock deviation, the positioning time, and the sensing time carried by the sensing position information;

[0028] A positioning compensation module, used to compensate the sensed position information based on the delay time to obtain current position information;

[0029] Among them, the first clock deviation is the clock deviation value between the train protection module and the train perception module; the positioning time is after receiving the perception position information; the perception time is the collection time corresponding to the perception data used when the train perception module generates the perception position information.

[0030] The present invention further provides a rail train, comprising a rail train body and a train control system arranged on the rail train body, wherein the train control system comprises a train protection module and a train perception module, wherein the train protection module is used to execute the train perception and positioning method as described in any one of the above items, and the train perception module comprises a processing element and a perception element;

[0031] The sensing element is used to transmit the collected sensing data to the processing element;

[0032] The processing element is used to feed back the sensed position information generated by using the sensed data to the train protection module in response to the positioning request message sent by the train protection module;

[0033] Wherein, the sensing element includes a radar sensor and / or a camera sensor.

[0034] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a method for sensing and positioning a train as described above is implemented.

[0035] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the method for sensing and positioning a train as described in any one of the above is implemented.

[0036] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the method for sensing and positioning a train as described above is implemented.

[0037] The train sensing and positioning method, device and rail train provided by the present invention determine the first clock deviation based on each interaction process between the train protection module and the train sensing module, and then use the first clock deviation to compensate for the time interval between the positioning operations respectively performed by the train protection module and the train sensing module to obtain the delay time, and correct the sensing position information obtained by the train sensing module according to the displacement occurring during the delay time to obtain the current position information. By calculating the relative delay time between the train protection module and the train sensing module, the sensing position information obtained from the train sensing module is compensated for the delay position, thereby ensuring the accuracy of the train positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 It is a flow chart of the train sensing and positioning method provided by the present invention;

[0040] Figure 2 It is a structural schematic diagram of a train sensing and positioning device provided by the present invention;

[0041] Figure 3 It is a structural schematic diagram of a rail train provided by the present invention;

[0042] Figure 4 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] The terms "first", "second", etc. in this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more.

[0045] It should be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present invention, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0046] The terms “include” and “comprising” indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0047] Figure 1 FIG. 1 is a flow chart of the train sensing and positioning method provided by the present invention. Figure 1 As shown, the train perception and positioning method provided by an embodiment of the present invention is applied to a train protection module in a train control system. The train control system also includes a train perception module, and the train protection module is communicatively connected with the train perception module, including: step 101, determining the first clock deviation based on the interactive process in which the train perception module feeds back the perception position information to the train protection module.

[0048] Among them, the first clock deviation is the clock deviation value between the train protection module and the train perception module.

[0049] It should be noted that the train control system is located on the train, and the train control system may include a train protection module and a train sensing module that are communicatively connected to each other, which is not specifically limited in the embodiment of the present invention.

[0050] For example, the train protection module may be an Intelligent Train Protection (ITP) system, and the train perception module may be an onboard Intelligent Train Eyes (ITE) system. Based on this, the ITE system can locate the train through its built-in multiple radars and cameras, and send the positioning results to the ITP system.

[0051] It should be noted that the executor of the train sensing and positioning method provided in the embodiment of the present invention is a train sensing and positioning device arranged on the ITP system.

[0052] Among them, the ITP system and the ITE system can be connected through the Gigabit Green Network and the Gigabit Purple Network, so there is also a delay in the communication interaction between the two. The ITP system directly uses the pending position information received from the ITE system as the basis for judging the current train position, which is not accurate. The train is generally in a high-speed driving state, which will make the ITP system unable to accurately determine the train status, which will cause safety hazards.

[0053] Therefore, the application scenario of the train perception positioning method provided in the embodiment of the present application is that after receiving the positioning information sent by the ITE system, the delay time between the ITP system and the ITE system can be calculated, and the acquired positioning information can be compensated for the delay position according to the delay time to obtain the current accurate position information.

[0054] It is understandable that the train control system may also include more or fewer components.

[0055] It should be noted that due to the different operating cycles of the ITP system and the ITE system, there is also a delay problem. Therefore, the interaction between the two is a request-response interaction. In each interaction process, the ITP system initiates a request to the ITE system, and the ITE system responds to the request and feeds back the perceived location information obtained by the ITE system to the intelligent ITP system.

[0056] Specifically, in step 101, the perception and positioning device of the train set on the ITP system calculates the first clock deviation based on the time information involved in an interaction process in which the current train protection module (i.e., the ITP system) requests the train perception module (i.e., the ITE system) to obtain the perception position information, and the train perception module (i.e., the ITE system) feeds back the perception position information to the train protection module (i.e., the ITP system) in response to the request.

[0057] The first clock deviation refers to the clock deviation value of the ITP system and the ITE system relative to the standard transmission and reception synchronization.

[0058] Step 102: Determine a delay time based on the first clock deviation, the positioning time, and the sensing time carried by the sensing position information.

[0059] The positioning time is after receiving the sensed position information. The sensed time is the collection time corresponding to the sensed data used by the train sense module to generate the sensed position information.

[0060] It should be noted that the perception moment refers to the process in which the train perception module (i.e., ITE system) feeds back the perception position information to the train protection module (i.e., ITP system) in response to a request. In essence, the ITE system calculates the perception position information using the perception data collected by the radar or camera. Therefore, the ITE system records the collection moment corresponding to the perception data involved in the calculation of the perception position information as the perception moment, and encapsulates it into the calculated perception position information, so that the ITP system can know the operation cycle of the ITE system upon receiving the perception position information.

[0061] Specifically, in step 102, after receiving the perceived position information fed back by the ITE system, the perception positioning device of the train installed in the ITP system records the positioning time, and uses the first clock deviation to compensate for the time interval between the positioning time and the perception time in the perception position information used to characterize the operation cycle of the ITE system, and calculates the delay time of the current positioning time relative to the perception positioning process of the ITE system.

[0062] Step 103: Compensate the sensed position information based on the delay time to obtain current position information.

[0063] Specifically, in step 103, the perception positioning device of the train installed on the ITP system compensates the perception position information obtained by the ITE system using the displacement occurring during the delay time, and outputs the compensated position information as the current position information.

[0064] The embodiment of the present invention determines the first clock deviation based on each interaction process between the train protection module and the train perception module, and then uses the first clock deviation to compensate for the time interval between the positioning operations respectively performed by the train protection module and the train perception module to obtain the delay time, and corrects the perceived position information obtained by the train perception module according to the displacement occurring during the delay time to obtain the current position information. By calculating the relative delay time between the train protection module and the train perception module, the perceived position information obtained from the train perception module is compensated for the delayed position, thereby ensuring the accuracy of train positioning.

[0065] On the basis of any of the above embodiments, based on the interactive process of the train perception module feeding back the perceived position information to the train protection module, the first clock deviation is determined, including: recording the request initiation time corresponding to when the positioning request message is sent to the train perception module.

[0066] Specifically, in step 101, the train sensing and positioning device installed on the ITP system records the time when the ITP system sends a positioning request message to the ITE system as the request initiation time in any request-response interaction between the ITP system and the ITE system.

[0067] Record the feedback reception time corresponding to the time when the perception position information fed back by the train perception module is received.

[0068] Specifically, the perception and positioning device of the train installed on the ITP system records the time when the ITP system receives the perception and positioning information fed back by the ITE system as the feedback reception time in any request-response interaction between the ITP system and the ITE system.

[0069] The first clock deviation is determined based on the request initiation time, the feedback reception time, and the request reception time and the request response time carried by the perceived location information.

[0070] The request receiving time is the time when the train sensing module receives the positioning request message. The request response time is the time when the train sensing module generates the sensing position information using the sensing data after responding to the positioning request message.

[0071] It should be noted that after the ITP system sends a positioning request message to the ITE system, the ITE system records the moment when the ITE system receives the positioning request message sent by the ITP system as the request reception moment. Next, the moment when the ITE system generates the perceived location information using the perception data in response to the positioning request message is recorded as the request response moment. Finally, the ITE system encapsulates the request reception moment and the request response moment into the perceived location information, and feeds it back to the ITP system together with the perceived location information after the request response moment.

[0072] Specifically, the perception and positioning device of the train arranged on the ITP system calculates the first clock deviation between the ITP system and the ITE system by using the running time nodes recorded by the ITP system and the ITE system in the request process and the response process respectively.

[0073] The embodiment of the present invention does not specifically limit the calculation method of the first clock deviation.

[0074] For example, since the ITP system and the ITE system are not powered on at the same time, a first clock offset offset1 needs to be calculated between the two for compensation, and the calculation formula is as follows:

[0075] t2-t1+offset1=delay1

[0076] t4-t3+offset1=delay2

[0077] Wherein, delay1 is the delay time between the ITP system sending the location request message and the ITE system receiving the location request message during the request process. t1 is the time from the ITP system powering on to sending the location request message, and t2 is the time from the ITE system powering on to receiving the location request message. delay2 is the delay time between the ITE system generating the perceived location information in response to the location request message and the ITP system receiving the perceived location information during the response process. t3 is the time from the ITE system powering on to generating the perceived location information corresponding to the location request message, and t4 is the time from the ITP system powering on to receiving the perceived location information.

[0078] Assuming that there is no delay, delay1 and delay2 are the same, and the calculation formula of the first clock offset offset1 is as follows:

[0079] offset1=[(t2-t1)+(t4-t3)] / 2

[0080] The embodiment of the present invention converts the first clock deviation based on the time nodes recorded by the train protection module and the train perception module respectively during the request process and the response process in each interaction, and then uses the first clock deviation to compensate for the time interval between the positioning operations respectively performed by the train protection module and the train perception module to obtain the delay time, and corrects the perceived position information obtained by the train perception module according to the displacement occurring during the delay time to obtain the current position information. By calculating the relative delay time between the train protection module and the train perception module, the perceived position information obtained from the train perception module is compensated for the delayed position, thereby ensuring the accuracy of train positioning.

[0081] Based on any of the above embodiments, the feedback reception time corresponding to the reception of the perception position information fed back by the train perception module is recorded, including: when it is determined that the driving layer of the train protection module has received the perception position information, a timestamp is set for the perception position information and then forwarded to the platform layer, so that the platform layer can determine the feedback reception time according to the timestamp.

[0082] It should be noted that the delay accuracy of the first clock deviation is related to the precise recorded values ​​of the time nodes involved in the request process and the response process. The closer the node recording time is to the Media Access Control (MAC) layer sending and receiving, the closer the corresponding delay is to the delay of the physical channel, and the more accurate it is. Therefore, a separate thread can be opened for the ITP system and the ITE system, and communication can be carried out through the network time protocol in this thread.

[0083] The embodiment of the present invention does not specifically limit the network time protocol used by the ITP system and the ITE system for communication.

[0084] Exemplarily, the ITP system and the ITE system can communicate via the precision clock synchronization protocol standard for network measurement and control systems (IEEE 1588), and the communication process is as follows:

[0085] At a fixed request initiation time on the platform, ITP packages the positioning request message into a communication packet via the 1588 protocol and sends it to the ITE system. The ITE system records the request reception time and the request response time in sequence, and then packages it and feeds it back to the network card of the ITP system via the 1588 protocol to record the feedback reception time.

[0086] Specifically, after determining that the driver layer of the ITP network card has received the perception location information, the perception and positioning device of the train installed on the ITP system adds a timestamp to the data structure of each communication packet when completing the direct memory access (DMA) data movement, and encapsulates the interface through the protocol stack so that the platform layer of the ITP network card can read the timestamp in sequence, and record the timestamp as the feedback reception time.

[0087] After the ITP system receives the sensed location information, the embodiment of the present invention timestamps the received communication packet through the driver layer of the network card, so that the platform layer parses the timestamp set by the driver layer to obtain the feedback reception time. This can avoid the inaccurate positioning caused by the time recording error caused by the direct reading and processing by the platform layer of the ITP.

[0088] On the basis of any of the above embodiments, the delay time is determined based on the first clock deviation, the positioning time, and the perception time carried by the perception position information, including: obtaining a second clock deviation carried by the perception position information.

[0089] The second clock deviation is the clock deviation value between the processing element and the sensing element in the train sensing module.

[0090] It should be noted that the train sensing module includes a processing element and a sensing element. The processing element is a processor that integrates the functions of the ITE system, and the sensing element is a sensor connected to the ITE system.

[0091] The sensing component sends the collected sensing data to the processing component at the sensing moment. After receiving the radar data, the processing component processes it through the platform software and application, and then sends it to the ITP platform. The platform processes it and gives it to the ITP application, so that the ITP can use the sensing location information for positioning at the positioning moment.

[0092] Since the processing elements and sensing elements in the ITE system have different operating cycles, when the processing element generates the sensing location information using the sensing data transmitted by the sensing element, the processing element also uses the clock deviation value of the processing element and the sensing element relative to the standard transmission and reception synchronization as the second clock deviation and encapsulates it into the sensing location information.

[0093] Specifically, in step 102, after receiving the sensed position information, the sensed positioning device of the train on the ITP system extracts the second clock deviation from the sensed position information.

[0094] The delay time is determined based on the first clock deviation, the positioning time, the perception time and the second clock deviation.

[0095] Specifically, the perception and positioning device of the train on the ITP system uses the first clock deviation and the second clock deviation to compensate for the time deviation generated by the ITP system and the ITE system from the perception moment to the positioning moment and the time deviation inside the ITE system, and calculates the delay time of the current positioning moment relative to the perception and positioning process of the ITE system.

[0096] The embodiment of the present invention does not specifically limit the calculation method of the delay time.

[0097] Exemplarily, the calculation formula of the delay time T is as follows:

[0098] T=T2-T1+offset1+offset2

[0099] Among them, T1 is the sensing time, T2 is the positioning time, offset1 is the first clock deviation, and offset2 is the second clock deviation.

[0100] The embodiment of the present invention compensates for the time intervals between the positioning operations respectively performed by the train protection module and the train perception module based on the first clock deviation between the train protection module and the train perception module, and the second clock deviation inside the train perception module, to obtain the delay time, and then corrects the perceived position information obtained by the train perception module according to the displacement occurring during the delay time, to obtain the current position information. The delay between the train protection module and the train perception module and the delay inside the train perception module are both included in the relative delay time between the train protection module and the train perception module, and the perceived position information obtained from the train perception module is compensated for the delay position, thereby ensuring the accuracy of the train positioning.

[0101] On the basis of any of the above embodiments, the sensed position information is compensated based on the delay time to obtain the current position information, including: determining the compensation distance based on the delay time and the target running speed.

[0102] Among them, the target running speed is the running speed of the rail train corresponding to the positioning time.

[0103] Specifically, in step 103, the train sensing positioning device on the ITP system uses the product of the target running speed of the train at the positioning moment and the delay time as the compensation distance to represent the displacement of the train during the delay time.

[0104] Based on the perceived position information and the compensated distance, the current position information is determined.

[0105] Specifically, the perception and positioning device of the train on the ITP system accumulates the compensation distance to the perception position information for compensation, and outputs the accumulated position information as the current position information.

[0106] The embodiment of the present invention converts the compensation distance based on the delay time and the instantaneous moving speed at the time of positioning, and then uses the compensation distance to accumulate the perception position information obtained by the train perception module for correction to obtain the current position information. By calculating the relative delay time between the train protection module and the train perception module, the perception position information obtained from the train perception module is compensated for the delay position, thereby ensuring the accuracy of train positioning.

[0107] Figure 2 FIG. 1 is a schematic diagram of the structure of the train sensing and positioning device provided by the present invention. Figure 2 As shown, the device is arranged in a train protection module in a train control system, and the train control system also includes a train perception module, and the train protection module is communicatively connected with the train perception module, and includes: a first clock deviation acquisition module 210, a delay time determination module 220 and a positioning compensation module 230, wherein:

[0108] The first clock deviation acquisition module 210 is used to determine the first clock deviation based on the interactive process in which the train perception module feeds back the perception position information to the train protection module.

[0109] The delay time determination module 220 is used to determine the delay time based on the first clock deviation, the positioning time, and the perception time carried by the perception position information.

[0110] The positioning compensation module 230 is used to compensate the perceived position information based on the delay time to obtain the current position information.

[0111] The first clock deviation is the clock deviation value between the train protection module and the train perception module. The positioning time is after receiving the perception position information. The perception time is the collection time corresponding to the perception data used by the train perception module to generate the perception position information.

[0112] Specifically, the first clock deviation acquisition module 210, the delay time determination module 220 and the positioning compensation module 230 are electrically connected in sequence.

[0113] The first clock deviation acquisition module 210 calculates the first clock deviation based on the time information involved in an interaction process in which the current train protection module (i.e., ITP system) requests the train perception module (i.e., ITE system) to obtain the perception position information, and the train perception module (i.e., ITE system) feeds back the perception position information to the train protection module (i.e., ITP system) in response to the request.

[0114] After receiving the perceived position information fed back by the ITE system, the delay time determination module 220 records the positioning time, and uses the first clock deviation to compensate for the time interval between the positioning time and the perceived time in the perceived position information used to characterize the operation cycle of the ITE system, and calculates the delay time of the current positioning time relative to the perception positioning process of the ITE system.

[0115] The positioning compensation module 230 compensates the sensed position information obtained by the ITE system using the displacement amount occurring during the delay time, and outputs the compensated position information as the current position information.

[0116] Optionally, the first clock deviation acquisition module 210 includes a request initiation time recording unit, a feedback reception time recording unit and a first clock deviation acquisition unit, wherein:

[0117] The request initiation time recording unit is used to record the request initiation time corresponding to when a positioning request message is sent to the train perception module.

[0118] The feedback receiving time recording unit is used to record the feedback receiving time corresponding to when the perception position information fed back by the train perception module is received.

[0119] The first clock deviation acquisition unit is used to determine the first clock deviation based on the request initiation time, the feedback reception time, and the request reception time and the request response time carried by the perceived location information.

[0120] The request receiving time is the time when the train sensing module receives the positioning request message. The request response time is the time when the train sensing module generates the sensing position information using the sensing data after responding to the positioning request message.

[0121] Optionally, the feedback reception time recording unit is specifically used to set a timestamp for the perceived position information and then forward it to the platform layer after determining that the driving layer of the train protection module has received the perceived position information, so that the platform layer can determine the feedback reception time according to the timestamp.

[0122] Optionally, the delay time determination module 220 includes a second clock deviation acquisition unit and a delay time determination unit, wherein:

[0123] The second clock deviation acquiring unit is used to acquire the second clock deviation carried by the sensed position information.

[0124] The delay time determining unit is used to determine the delay time based on the first clock deviation, the positioning time, the sensing time and the second clock deviation.

[0125] The second clock deviation is the clock deviation value between the processing element and the sensing element in the train sensing module.

[0126] Optionally, the positioning compensation module 230 includes a compensation distance determination unit and a positioning unit, wherein:

[0127] The compensation distance determination unit is used to determine the compensation distance based on the delay time and the target running speed.

[0128] The positioning unit is used to determine the current position information based on the sensed position information and the compensation distance.

[0129] Among them, the target running speed is the running speed of the rail train corresponding to the positioning time.

[0130] The train sensing and positioning device provided in an embodiment of the present invention is used to execute the above-mentioned train sensing and positioning method of the present invention. Its implementation method is consistent with the implementation method of the train sensing and positioning method provided by the present invention, and can achieve the same beneficial effects, which will not be repeated here.

[0131] The embodiment of the present invention determines the first clock deviation based on each interaction process between the train protection module and the train perception module, and then uses the first clock deviation to compensate for the time interval between the positioning operations respectively performed by the train protection module and the train perception module to obtain the delay time, and corrects the perceived position information obtained by the train perception module according to the displacement occurring during the delay time to obtain the current position information. By calculating the relative delay time between the train protection module and the train perception module, the perceived position information obtained from the train perception module is compensated for the delayed position, thereby ensuring the accuracy of train positioning.

[0132] Figure 3 FIG. 1 is a schematic diagram of the structure of the rail vehicle provided by the present invention. Figure 3 As shown, the rail train includes a rail train body 310 and a train control system 320 arranged on the rail train body 310. The train control system 320 includes a train protection module 321 and a train perception module 322. The train protection module 321 is used to execute the perception and positioning method of the train. The train perception module 322 includes a processing element 322-1 and a perception element 322-2.

[0133] The sensing element 322 - 2 is used to transmit the collected sensing data to the processing element 322 - 1 .

[0134] The processing element 322 - 1 is used to respond to the positioning request message sent by the train protection module 321 and feed back the sensed position information generated by using the sensing data to the train protection module 321 .

[0135] The sensing element 322 - 2 includes a radar sensor and / or a camera sensor.

[0136] Specifically, for any rail train, a train control system 320 is provided on its rail train body 310 .

[0137] The train control system 320 includes a train protection module 321 (ie, an ITP system) and a train sensing module 322 (ITE system) which are connected to each other by wireless communication technology.

[0138] At the perception moment, the perception element 322-2 in the train perception module 322 sends the perception data collected by the radar sensor and / or the camera sensor to the processing element 322-1. After receiving the perception data, the processing element 322-1 waits for the platform software and application to process it and then periodically generates the perception position information. When the positioning request message sent by the train protection module 321 is received and responded to, the perception position information carrying the second clock deviation, the request reception time and the request response time is fed back to the platform of the train protection module 321. After processing, the platform sends the information to the train protection module 321. The train protection module 321 uses the position information fed back by the processing element 322-1 for correction to obtain the current position information of the displacement generated during the compensation delay time.

[0139] The embodiment of the present invention determines the first clock deviation based on each interaction process between the train protection module and the train perception module, and then uses the first clock deviation to compensate for the time interval between the positioning operations respectively performed by the train protection module and the train perception module to obtain the delay time, and corrects the perceived position information obtained by the train perception module according to the displacement occurring during the delay time to obtain the current position information. By calculating the relative delay time between the train protection module and the train perception module, the perceived position information obtained from the train perception module is compensated for the delayed position, thereby ensuring the accuracy of train positioning.

[0140] Figure 4 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 4 As shown, the electronic device may include: a processor 410, a communication interface 420, a memory 430 and a communication bus 440, wherein the processor 410, the communication interface 420 and the memory 430 complete mutual communication through the communication bus 440. The processor 410 may call the logic instructions in the memory 430 to execute the train sensing and positioning method, which includes: determining the first clock deviation based on the interactive process of the train sensing module feeding back the sensing position information to the train protection module; determining the delay time based on the first clock deviation, the positioning time, and the sensing time carried by the sensing position information; compensating the sensing position information based on the delay time to obtain the current position information; wherein the first clock deviation is the clock deviation value between the train protection module and the train sensing module; the positioning time is after receiving the sensing position information; the sensing time is the collection time corresponding to the sensing data used by the train sensing module when generating the sensing position information.

[0141] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0142] On the other hand, the present invention also provides a computer program product, which includes a computer program, and the computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the train perception and positioning method provided by the above-mentioned methods, and the method includes: determining a first clock deviation based on an interactive process in which a train perception module feeds back perception position information to a train protection module; determining a delay time based on the first clock deviation, the positioning time, and the perception time carried by the perception position information; compensating the perception position information based on the delay time to obtain current position information; wherein the first clock deviation is the clock deviation value between the train protection module and the train perception module; the positioning time is after receiving the perception position information; and the perception time is the collection time corresponding to the perception data used by the train perception module when generating the perception position information.

[0143] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the train perception and positioning method provided by the above-mentioned methods, the method comprising: determining a first clock deviation based on an interactive process in which a train perception module feeds back perception position information to a train protection module; determining a delay time based on the first clock deviation, the positioning time, and the perception time carried by the perception position information; compensating the perception position information based on the delay time to obtain current position information; wherein the first clock deviation is the clock deviation value between the train protection module and the train perception module; the positioning time is after the perception position information is received; and the perception time is the collection time corresponding to the perception data used by the train perception module when generating the perception position information.

[0144] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0145] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0146] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for sensing and positioning a train, characterized in that: A train protection module applied to a train control system, wherein the train control system further comprises a train sensing module, wherein the train protection module is communicatively connected with the train sensing module, and comprises: Determining a first clock deviation based on an interactive process in which the train sensing module feeds back sensing position information to the train protection module; Determine a delay time based on the first clock deviation, the positioning time, and the sensing time carried by the sensing position information; Compensating the sensed position information based on the delay time to obtain current position information; Among them, the first clock deviation is the clock deviation value between the train protection module and the train perception module; the positioning time is after receiving the perception position information; the perception time is the collection time corresponding to the perception data used by the train perception module when generating the perception position information; The determining of the delay time based on the first clock deviation, the positioning time, and the sensing time carried by the sensing position information includes: Acquire a second clock deviation carried by the sensed position information; Using the first clock deviation and the second clock deviation, respectively compensate for the time deviation generated by the train protection module and the train perception module from the perception moment to the positioning moment and the time deviation inside the train perception module, and calculate the delay time of the current positioning moment relative to the perception and positioning process of the train perception module; The second clock deviation is the clock deviation value between the processing element and the sensing element in the train sensing module.

2. The train sensing and positioning method according to claim 1, characterized in that: The determining of the first clock deviation based on the interactive process of the train sensing module feeding back the sensed position information to the train protection module includes: Record the request initiation time corresponding to when sending a positioning request message to the train sensing module; Recording the feedback receiving time corresponding to the time when the sensed position information fed back by the train sensing module is received; Determine the first clock deviation based on the request initiation time, the feedback reception time, and the request reception time and the request response time carried by the sensed location information; Among them, the request reception time is the time corresponding to the train perception module receiving the positioning request message; the request response time is the time corresponding to the train perception module generating the perception position information using the perception data after responding to the positioning request message.

3. The train sensing and positioning method according to claim 2, characterized in that: The record includes the feedback receiving time corresponding to when the sensed position information fed back by the train sensing module is received: When it is determined that the driving layer of the train protection module receives the perceived position information, a timestamp is set for the perceived position information and then forwarded to the platform layer, so that the platform layer determines the feedback reception time according to the timestamp.

4. The train sensing and positioning method according to claim 1, characterized in that: The compensating the sensed position information based on the delay time to obtain current position information includes: Determine a compensation distance based on the delay time and the target running speed; Determining the current location information based on the sensed location information and the compensated distance; The target running speed is the running speed of the rail train corresponding to the positioning time.

5. A train sensing and positioning device, characterized in that: A train protection module is provided in a train control system, wherein the train control system further comprises a train sensing module, wherein the train protection module is communicatively connected with the train sensing module, and comprises: A first clock deviation acquisition module, configured to determine a first clock deviation based on an interactive process in which the train sensing module feeds back sensing position information to the train protection module; A delay time determination module, configured to determine a delay time based on the first clock deviation, the positioning time, and the sensing time carried by the sensing position information; A positioning compensation module, used to compensate the sensed position information based on the delay time to obtain current position information; Among them, the first clock deviation is the clock deviation value between the train protection module and the train perception module; the positioning time is after receiving the perception position information; the perception time is the collection time corresponding to the perception data used by the train perception module when generating the perception position information; The delay time determination module is specifically used for: Acquire a second clock deviation carried by the sensed position information; Using the first clock deviation and the second clock deviation, respectively compensate for the time deviation generated by the train protection module and the train perception module from the perception moment to the positioning moment and the time deviation inside the train perception module, and calculate the delay time of the current positioning moment relative to the perception and positioning process of the train perception module; The second clock deviation is the clock deviation value between the processing element and the sensing element in the train sensing module.

6. A rail train, comprising a rail train body and a train control system arranged on the rail train body, characterized in that: The train control system comprises a train protection module and a train perception module, wherein the train protection module is used to execute the train perception and positioning method according to any one of claims 1 to 4, and the train perception module comprises a processing element and a perception element; The sensing element is used to transmit the collected sensing data to the processing element; The processing element is used to feed back the sensed position information generated by using the sensed data to the train protection module in response to the positioning request message sent by the train protection module; Wherein, the sensing element includes a radar sensor and / or a camera sensor.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the train perception and positioning method as described in any one of claims 1 to 4 is implemented.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for sensing and positioning a train as described in any one of claims 1 to 4 is implemented.

9. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method for sensing and positioning a train as described in any one of claims 1 to 4 is implemented.

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