An intelligent station-based full-automatic driving method, system, medium and device

Abstract

The application discloses a kind of full automatic driving method, system, medium and equipment based on wisdom station, which comprises the following steps: S1: obtaining the number of waiting passengers and the number of passengers expected to get off corresponding to each platform screen door of target station platform, and obtaining the actual opening time of train door corresponding to target station based on the number of waiting passengers and the number of passengers expected to get off;If the actual opening time of train door is greater than the preset opening time of train door, step S2 is entered, otherwise, step S4 is entered;S2: open the platform screen door and the train door, and control the train door and the platform screen door to close when the time reaches the actual opening time of train door;S3: calculate the time difference between the actual opening time of train door and the preset opening time of train door, and adjust the driving speed of train from target station to next station;S4: open the platform screen door and the train door, and control the train door and the platform screen door to close when the time reaches the preset opening time of train door, and the train drives to the next station at the preset speed.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of rail transit, in particular to a full-automatic driving method and system based on a smart station, a medium and equipment. BACKGROUND

[0002] With the continuous development of urban rail transit, network technology and automation technology, in order to improve the operation efficiency of the train, the unmanned driving technology is applied to the rail transit, and the unmanned driving of the subway is realized. The unmanned train (automatic driving train) has the following advantages:

[0003] More accurate and more efficient: automatic driving avoids the influence of human factors, and can more accurately control the running speed and arrival and departure time of the train;

[0004] More stable and safer: the acceleration and deceleration of the automatic driving train can be accurately controlled, the running speed is more stable, and passengers will not be uncomfortable due to sudden braking;

[0005] Drivers are released from busy work and can more flexibly deploy trains: automatic driving no longer needs to consider the scheduling plan of the driver during operation, the driver can be released from busy work, and can more flexibly deploy trains, and the role of the driver is mainly monitoring.

[0006] In the prior art, the operating personnel pre-set the running parameters of the train in the train control system, and the train control system controls the running of the train (including driving, stopping and opening and closing doors, etc.) according to the pre-set running parameters. Once the running parameters are set, the running process of the train is consistent with the pre-set running parameters unless the operating personnel remotely modify the running parameters.

[0007] When the train arrives at different stations or different time periods at the same station, the number of passengers getting on and off the train may differ greatly, resulting in a large difference in the time required for passengers to get on and off the train. When the passenger flow is large, the time required for passengers to get on and off the train is long, and if the door opening time is not matched with the time required for passengers to get on and off the train, some passengers may not be able to get on and off the train. In order to ensure the operation efficiency of the entire subway system, it is not suitable to pre-set the door opening time too long, therefore, how to control the length of the door opening time to match the time required for passengers to get on and off the train is very important. SUMMARY

[0008] The purpose of the present application is to solve at least one of the above technical problems by providing a full-automatic driving method and system based on a smart station, a medium and equipment.

[0009] According to one aspect of the present application, a full-automatic driving method based on a smart station is provided, comprising:

[0010] Step S1: before the train enters the station, the number of waiting passengers and the number of expected passengers for each screen door of the target station platform are obtained, the boarding and alighting time corresponding to each screen door is obtained based on the number of waiting passengers and the number of expected passengers, and the maximum boarding and alighting time is set as the actual opening time of the train door of the target station; if the actual opening time of the train door is greater than the preset opening time of the train door, step S2 is entered; if the actual opening time of the train door is less than or equal to the preset opening time of the train door, step S4 is entered; the actual / preset opening time of the train door refers to the actual / preset time during which the train door is opened and closed;

[0011] Step S2: when the train is parked at the target station, the screen door and the train door are opened, and when the time reaches the actual opening time of the train door, the train door and the screen door are controlled to be closed;

[0012] Step S3: the time difference between the actual opening time of the train door and the preset opening time of the train door is calculated, and the driving speed of the train from the target station to the next station is adjusted based on the time difference, so that the train arrives at the next station on time;

[0013] Step S4: when the train is parked at the target station, the screen door and the train door are opened, and when the time reaches the preset opening time of the train door, the train door and the screen door are controlled to be closed, and the train drives to the next station at the preset speed.

[0014] In the above technical solution, the number of boarding and alighting passengers is obtained before the train enters the station, and the boarding and alighting time of each carriage after the train arrives at the station is obtained according to the boarding and alighting time under the same number of boarding and alighting passengers in historical data, the maximum boarding and alighting time is taken as the actual opening time of the train door after the train arrives at the target station, so as to ensure that passengers in the carriage can alight in time when the number of boarding and alighting passengers is large, and passengers on the waiting platform can board in time.

[0015] At the same time, in order to improve the operation efficiency and safety of the entire subway line, when the opening time of the train door at the target station is longer than the preset time, the driving speed of the train after leaving the target station is adjusted to make up for the time of staying at the target station, so that the train can arrive at the next station on time.

[0016] Further, the method for obtaining the number of waiting passengers corresponding to each screen door comprises:

[0017] obtaining the monitoring picture of the waiting platform of the target station;

[0018] identifying the monitoring picture to obtain the number of waiting passengers at each screen door.

[0019] Further, the method for obtaining the number of expected passengers corresponding to each screen door comprises:

[0020] acquiring position information of each passenger in each carriage periodically within a preset time period before the train reaches the station;

[0021] calculating distances between each passenger in each carriage and the carriage door to be opened at each time based on the position information of each passenger in each carriage at each time and the position information of the carriage door to be opened;

[0022] constructing a change trend of the distance between each passenger in each carriage and the carriage door to be opened;

[0023] predicting a possibility of getting off of each passenger in each carriage based on the change trend, and marking the corresponding passenger in each carriage as a passenger getting off when the possibility of getting off is greater than a preset possibility threshold of getting off, to obtain a predicted number of passengers getting off at the shield door corresponding to the train door to be opened.

[0024] Further, after the train door and the shield door are controlled to be closed in the steps S2 and S4, the method further comprises:

[0025] acquiring a video picture between the train door and the shield door;

[0026] judging whether there is a foreign matter between the train door and the shield door based on the video picture, and if yes, the train is temporarily stopped.

[0027] Further, the adjusting of the driving speed of the train between the target station and the next station comprises:

[0028] acquiring a cruise distance and a preset cruise time of the train between the target station and the next station;

[0029] calculating an actual cruise time based on the preset cruise time and the time difference;

[0030] calculating an actual cruise speed based on the actual cruise time and the cruise distance;

[0031] controlling the train to drive at the actual cruise speed in the cruise stage.

[0032] According to another aspect of the present application, a full-automatic driving system based on a smart station is provided, comprising:

[0033] an on-off passenger number acquisition module, configured to acquire a waiting passenger number and a predicted getting-off passenger number corresponding to each shield door on a platform of a target station;

[0034] a train door actual opening time acquisition module, configured to acquire an on-off time corresponding to each shield door based on the waiting passenger number and the predicted getting-off passenger number, and set a maximum on-off time as a train door actual opening time corresponding to the target station;

[0035] a judgment module, configured to judge whether the train door actual opening time is greater than a preset train door opening time;

[0036] Control module: Used to control the train's movement and the opening and closing of train doors and platform screen doors.

[0037] In the above technical solution, the passenger entry / exit module acquires the number of passengers waiting and the expected number of passengers disembarking, and transmits this information to the actual train door opening time acquisition module. This module then uses historical data to determine the corresponding boarding / exit times for each passenger, further obtaining the actual train door opening time before transmitting it to the judgment module. The control module, based on the judgment result, controls the opening time of the train doors and platform screen doors after the train arrives at the station, as well as the train's speed. This system adjusts the train door opening time in real time based on the number of passengers waiting and the expected number of passengers disembarking to match changes in passenger flow, thereby improving passenger experience and safety.

[0038] Furthermore, the control module includes a door opening and closing control unit, a driving control unit, and an actual cruise speed calculation unit; the actual cruise speed calculation unit is used to calculate the actual cruise speed of the train during the cruise phase between the target station and the next station.

[0039] Furthermore, the fully automated driving system also includes a door monitoring module and a foreign object recognition module. The door monitoring module is used to acquire video footage between the train doors and the platform screen doors, and the foreign object recognition module is used to identify whether there are foreign objects in the video footage acquired by the door monitoring module.

[0040] According to another aspect of this invention, a computer-readable storage medium is provided, on which a computer program is stored, wherein when the computer program is executed by a processor, it implements the steps of the fully automated driving method based on a smart station.

[0041] According to another aspect of this invention, a computer device is provided, the computer device including a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, it implements the steps of a fully automated driving method based on a smart station.

[0042] Compared with the prior art, the beneficial effects of the present invention are:

[0043] (1) The present invention provides a fully automated driving method based on a smart station. Before entering the station, the number of passengers getting on and off the train is obtained, and the boarding and alighting times of each carriage after the train arrives at the station are obtained based on the boarding and alighting times of the same number of passengers in historical data. The maximum boarding and alighting time is used as the actual opening time of the train doors after the train arrives at the target station, ensuring that passengers in the carriages can get off the train in time when there are many passengers getting on and off, and passengers on the waiting platform can get on the train in time. At the same time, in order to improve the operating efficiency and safety of the entire subway line, when the train doors open for longer than the preset time at the target station, the train speed after leaving the target station is adjusted to make up for the extra time spent at the target station, so that the train can arrive at the next station on time.

[0044] (2) The method provided by the present invention determines whether there are foreign objects (including passengers or luggage) between the train door and the platform screen door after the train door and the platform screen door are closed by means of video footage. After confirming that there are no foreign objects between the train door and the platform screen door, the vehicle is started to prevent passengers or luggage trapped between the train door and the platform screen door from being injured or damaged.

[0045] (3) This invention provides a fully automated driving system based on a smart station. The passenger acquisition module obtains the number of passengers waiting and the expected number of passengers disembarking, and transmits this information to the actual train door opening time acquisition module. This module then obtains the boarding and alighting times corresponding to the number of passengers based on historical data, further obtaining the actual train door opening time and transmitting it to the judgment module. The control module controls the opening time of the train doors and platform screen doors, as well as the train's speed, based on the judgment result. This system adjusts the train door opening time in real time based on the number of passengers waiting and the expected number of passengers disembarking to match changes in passenger flow, thereby improving passenger experience and safety. Attached Figure Description

[0046] Figure 1 This is a flowchart of a fully automated driving method according to an embodiment of the present invention;

[0047] Figure 2 This is a flowchart of the method for obtaining the estimated number of passengers disembarking according to an embodiment of the present invention;

[0048] Figure 3 This is a schematic diagram of the structure of a fully automated driving system according to an embodiment of the present invention. Detailed Implementation

[0049] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0050] like Figure 1 As shown, this embodiment provides a method for automated driving based on a smart station, including:

[0051] Step S1: Before the train enters the station, obtain the number of people waiting for the train and the number of people expected to disembark for each platform screen door of the target station. Based on the number of people waiting for the train and the number of people expected to disembark, obtain the boarding and alighting time for each platform screen door. Set the maximum boarding and alighting time as the actual opening time of the train door corresponding to the target station. If the actual opening time of the train door is greater than the preset opening time of the train door, proceed to step S2. If the actual opening time of the train door is less than or equal to the preset opening time of the train door, proceed to step S4.

[0052] As an example of this embodiment: the train has 16 doors on one side, and the station platform has 16 platform screen doors. By obtaining the expected number of passengers getting off and waiting for each door, and further obtaining the boarding and alighting time for each door, 16 boarding and alighting times can be obtained. The largest of these times is taken as the actual opening time of the train door (assuming it is 35 seconds, that is, the train door lasts 35 seconds from opening to closing). The preset opening time of the train door is 20 seconds. If the actual opening time of the train door is greater than the preset opening time, then proceed to step S2; if the actual opening time of the train door is 15 seconds, then proceed to step S4.

[0053] Specifically, the method for obtaining the number of people waiting for each platform screen door includes:

[0054] Obtain surveillance footage of the waiting platform at the target station;

[0055] The number of people waiting at each platform screen door is obtained by identifying the surveillance footage.

[0056] The smart station's platform monitoring system captures video footage of the waiting platform, showing the distribution of waiting passengers across the entire platform. When a passenger is standing directly in front of a platform screen door, that passenger is counted in the number of passengers waiting for that door. When a passenger is standing between two platform screen doors, the distance between the passenger and the two doors is calculated to determine the door closest to the passenger, and that passenger is counted in the number of passengers waiting for that door. This allows for the calculation of the number of passengers waiting for each platform screen door.

[0057] The smart station is connected to the train. The process of identifying the number of people waiting at each platform screen door can be completed on the monitoring platform inside the station, and then the identified number of people waiting can be wirelessly transmitted to the train; alternatively, the images captured by the platform monitoring system can be directly transmitted wirelessly to the train, and the control platform inside the train can identify the number of people waiting at each platform screen door based on the monitoring images.

[0058] Specifically, such as Figure 2As shown, the method for obtaining the estimated number of passengers disembarking for each platform screen door includes:

[0059] The location information of passengers in each carriage is periodically acquired within a preset time period before the train arrives at the station.

[0060] The distance between the passengers and the doors to be opened at each moment is calculated based on the location information of the passengers in the carriage at each moment and the location information of the doors to be opened in the carriage.

[0061] Construct the trend of changes in the distance between each passenger in a train car and the door to be opened;

[0062] Based on the aforementioned trend, the probability of each passenger in the carriage getting off is predicted. When the probability of getting off is greater than a preset threshold, the corresponding passenger in the carriage is marked as a passenger getting off, thus obtaining the estimated number of passengers getting off at the platform screen door corresponding to the train door to be opened.

[0063] As an example of this embodiment: taking passenger A as an example, the positions of passenger A are obtained at 60s, 50s, 40s, 30s, 20s and 10s before entering the station, respectively. The distance S between passenger A and the door to be opened is calculated based on the position of passenger A at each time and the position of the door to be opened. 60 S 50 S 40 S 30 S 20 and S 10 If S 60 S 50 S 40 S 30 S 20 and S 10 The values ​​do not show a clear trend of change (e.g., S). 60 =2m, S 50 =2m, S 40 =2m, S 20 =1.9m, S 20 =2.1, S 10＝ If the distance is 1.8m, then the probability of passenger A getting off is considered low; if S 60 S 50 S 40 S 30 S 20 and S 10 Overall, it shows a downward trend, and the distance to the car door at 60 seconds is much greater than the distance to the car door at 10 seconds (e.g., S). 60 =2m, S 50 =2m, S 40 =2m, S 20 =1.5m, S 20 =1m, S 10=0.2m), then it is considered that passenger A is more likely to get off the bus, and S 10 The smaller the value, the greater the probability that passenger A will get off the bus. The formula for calculating the probability of getting off the bus can be set as:

[0064]

[0065] The method for obtaining the threshold for the probability of getting off the bus is as follows:

[0066] Let n be the number of times the probability of getting off the bus is greater than 0 in the historical data, and sort the greater than 0 probabilities of getting off the bus in descending order to obtain set A. P ={P1, P2, ..., P} n};

[0067] Get the actual number of passengers getting off the bus, i.

[0068] P i (P i ∈A P (1≤i≤n) is set as the threshold for the probability of getting off the bus.

[0069] Before the train officially starts running, an experiment is conducted using the above method to obtain the threshold for the probability of getting off the train. During the later operation, the threshold for the probability of getting off the train can be continuously optimized based on the actual number of people getting off the train and all probabilities of getting off the train greater than 0 as new historical data, so as to improve the accuracy of the prediction of the number of people getting off the train.

[0070] After obtaining the number of passengers boarding and alighting, the system searches historical data for instances where the same number of passengers boarding and alighting matches the number of passengers boarding and alighting on the current train. The system then retrieves the boarding and alighting times for these specific passenger numbers from the historical data and uses these times as the actual opening times of the train doors. The passenger numbers and corresponding boarding and alighting times in the historical data can be obtained through analysis of historical surveillance footage.

[0071] As a preferred implementation, to avoid the train stopping for too long, causing the distance between the train and the next train to be too close or to be unable to reach the next station on time due to speed adjustment, a maximum value should be set for the actual opening time of the train doors. The maximum value should be within twice the preset opening time of the train doors. The specific value can be determined based on human factors such as the distance between stations, the spacing between trains, and the maximum speed of the train. The determined maximum value of the train door opening time should be preset in the train control system. When the actual opening time of the train doors is greater than the maximum value, the actual opening time of the train doors should be adjusted to the maximum value.

[0072] Preferably, each station has a different maximum train door opening time.

[0073] Step S2: After the train comes to a complete stop at the target station, open the platform screen doors and train doors. When the actual opening time of the train doors is reached, control the train doors and platform screen doors to close.

[0074] As a preferred implementation, before the train starts, a real-time video feed between the train door and the platform screen door is acquired. Based on the real-time video feed, it is determined whether there are any foreign objects between the train door and the platform screen door (normally, when the train door and the platform screen door are closed, there should be nothing between them except the original mechanical components of the equipment; if an object other than the original mechanical components of the equipment is detected, it is considered a foreign object). If so, the train stops starting and an alarm message (including a foreign object presence reminder and the corresponding platform screen door number) is generated and sent to the station staff on duty, reminding them to go to the corresponding platform screen door for inspection and handling.

[0075] When passengers pass through the platform screen doors in the short time before the train doors close, their bodies or luggage may become stuck between the closed platform screen doors and the train doors. If the train starts moving directly at this time, it may cause serious damage to the people or luggage. This is a major safety hazard. Therefore, the train can only be started after this safety hazard has been eliminated.

[0076] Step S3: Calculate the time difference between the actual opening time of the train door and the preset opening time of the train door, and adjust the train's speed from the target station to the next station based on the time difference, so that the train arrives at the next station on time.

[0077] Specifically, adjusting the train speed from the target station to the next station includes:

[0078] Obtain the train's cruising distance and preset cruising time between the target station and the next station;

[0079] The actual cruise time is calculated based on the preset cruise time and the time difference.

[0080] The actual cruising speed is calculated based on the actual cruising time and cruising distance.

[0081] The train is controlled to travel at the actual cruising speed during the cruise phase.

[0082] As an alternative, in order to adjust the train's speed from the target station to the next station, the technical means in the existing patent with publication number CN102442323A can be used to obtain the train's automatic driving curve and control the train to travel according to the automatic driving curve.

[0083] Normally, trains do not reach full speed during the cruising phase; there is still some room for acceleration. Therefore, to arrive at the next station on time, the cruising speed can be increased to reduce the overall cruising time and compensate for the extra stop time at the target station (the longer the actual opening time of the train doors, the longer the train's stop time). Adjusting the speed during the cruising phase, rather than during acceleration or deceleration, avoids excessive acceleration during acceleration and deceleration, which can cause discomfort to passengers.

[0084] Step S4: After the train comes to a complete stop at the target station, the platform screen doors and train doors are opened. When the preset opening time of the train doors is reached, the train doors and platform screen doors are closed, and the train travels to the next station at the preset speed.

[0085] As a preferred implementation, before the train starts, a real-time video image between the train door and the platform screen door is acquired. Based on the real-time video image, it is determined whether there are foreign objects between the train door and the platform screen door. If so, the train stops starting and an alarm message is generated and sent to the station staff on duty, reminding them to go to the corresponding platform screen door for inspection and handling.

[0086] like Figure 3 As shown, this embodiment also provides a fully automated driving system based on a smart station, including:

[0087] Passenger Acquisition Module: Used to acquire the number of passengers waiting for the train and the estimated number of passengers disembarking for each platform screen door of the target station.

[0088] Specifically, the passenger entry and exit number acquisition module is used to complete the following two processes:

[0089] (1) Obtain the monitoring screen of the waiting platform of the target station;

[0090] The number of people waiting at each platform screen door is obtained by identifying the surveillance footage.

[0091] (2) Periodically acquire the location information of passengers in each carriage within a preset time period before the train arrives at the station;

[0092] The distance between the passengers and the doors to be opened at each moment is calculated based on the location information of the passengers in the carriage at each moment and the location information of the doors to be opened in the carriage.

[0093] Construct the trend of changes in the distance between each passenger in a train car and the door to be opened;

[0094] Based on the aforementioned trend, the probability of each passenger in the carriage getting off is predicted. When the probability of getting off is greater than a preset threshold, the corresponding passenger in the carriage is marked as a passenger getting off, thus obtaining the estimated number of passengers getting off at the platform screen door corresponding to the train door to be opened.

[0095] Train door actual opening time acquisition module: used to acquire the boarding and alighting time corresponding to each platform screen door based on the number of waiting passengers and the expected number of alighting passengers, and set the maximum boarding and alighting time as the actual opening time of the train door corresponding to the target station;

[0096] Judgment module: Used to determine whether the actual opening time of the train door is greater than the preset opening time of the train door;

[0097] Control module: Used to control the train's movement and the opening and closing of train doors and platform screen doors;

[0098] Specifically, the control module includes a door opening and closing control unit, a driving control unit, and an actual cruise speed calculation unit; the actual cruise speed calculation unit is used to calculate the actual cruise speed of the train during the cruise phase between the target station and the next station.

[0099] The actual cruising speed calculation unit is used to complete the following steps:

[0100] Obtain the train's cruising distance and preset cruising time between the target station and the next station;

[0101] The actual cruise time is calculated based on the preset cruise time and the time difference. Since the time difference is actually used to represent the extra time the train spends at the target station, the actual cruise time should be less than the preset cruise time. Therefore, the actual cruise time is the result of subtracting the time difference from the preset cruise time.

[0102] The actual cruising speed is calculated based on the actual cruising time and cruising distance.

[0103] The fully automated driving system also includes a door monitoring module and a foreign object recognition module. The door monitoring module is used to acquire video footage between the train doors and the platform screen doors, and the foreign object recognition module is used to identify whether there are foreign objects in the video footage acquired by the door monitoring module.

[0104] The fully automated driving system also includes a storage module that stores historical data, including the number of passengers boarding and alighting, the corresponding boarding and alighting times, and probability thresholds. The storage module also stores preset train operation parameters. The storage module is connected to the passenger boarding and alighting acquisition module, the actual train door opening time acquisition module, the judgment module, and the control module.

[0105] This embodiment also provides a computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, it implements the steps of the fully automated driving method based on a smart station.

[0106] The computer-readable storage medium may be an internal storage unit of the computer device described in the foregoing embodiments, such as the hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, SmartMediaCard (SMC), SecureDigital (SD) card, or FlashCard equipped on the computer device.

[0107] This embodiment also provides a computer device, which can be an industrial control computer, a server, or a computer terminal.

[0108] The computer device includes a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, it implements the steps of the fully automated driving method based on a smart station.

[0109] The computer device includes a processor, memory, and network interface connected via a system bus, wherein the memory may include non-volatile storage media and internal memory.

[0110] Non-volatile storage media can store operating systems and computer programs. These computer programs include program instructions that, when executed, cause the processor to perform any fully automated driving method based on a smart station.

[0111] The processor provides computing and control capabilities, supporting the operation of the entire computer device.

[0112] Internal memory provides an environment for the execution of computer programs in non-volatile storage media. When executed by a processor, the computer program enables the processor to execute any fully automated driving method based on smart stations.

[0113] This network interface is used for network communication, such as sending assigned tasks.

[0114] It should be understood that the processor can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among these, a general-purpose processor can be a microprocessor or any conventional processor.

[0115] In one embodiment, the processor is configured to run a computer program stored in memory to perform the following steps:

[0116] Step S1: Before the train enters the station, obtain the number of people waiting for the train and the number of people expected to disembark for each platform screen door of the target station. Based on the number of people waiting for the train and the number of people expected to disembark, obtain the boarding and alighting time for each platform screen door. Set the maximum boarding and alighting time as the actual opening time of the train door corresponding to the target station. If the actual opening time of the train door is greater than the preset opening time of the train door, proceed to step S2. If the actual opening time of the train door is less than or equal to the preset opening time of the train door, proceed to step S4.

[0117] Step S2: After the train comes to a complete stop at the target station, open the platform screen doors and train doors. When the actual opening time of the train doors is reached, control the train doors and platform screen doors to close.

[0118] Step S3: Calculate the time difference between the actual opening time of the train door and the preset opening time of the train door, and adjust the train's speed from the target station to the next station based on the time difference, so that the train arrives at the next station on time.

[0119] Step S4: After the train comes to a complete stop at the target station, the platform screen doors and train doors are opened. When the preset opening time of the train doors is reached, the train doors and platform screen doors are closed, and the train travels to the next station at the preset speed.

[0120] Preferably, the processor is also used to perform the following steps:

[0121] Obtain surveillance footage of the waiting platform at the target station;

[0122] The number of people waiting at each platform screen door is obtained by identifying the surveillance footage.

[0123] Preferably, the processor is also used to perform the following steps:

[0124] The location information of passengers in each carriage is periodically acquired within a preset time period before the train arrives at the station.

[0125] The distance between the passengers and the doors to be opened at each moment is calculated based on the location information of the passengers in the carriage at each moment and the location information of the doors to be opened in the carriage.

[0126] Construct the trend of changes in the distance between each passenger in a train car and the door to be opened;

[0127] Based on the aforementioned trend, the probability of each passenger in the carriage getting off is predicted. When the probability of getting off is greater than a preset threshold, the corresponding passenger in the carriage is marked as a passenger getting off, thus obtaining the estimated number of passengers getting off at the platform screen door corresponding to the train door to be opened.

[0128] Preferably, the processor is also used to perform the following steps:

[0129] Acquire video footage between the train doors and the platform screen doors;

[0130] Based on the video footage, it is determined whether there are foreign objects in the train doors and platform screen doors. If so, the train will be suspended from starting.

[0131] Preferably, the processor is also used to perform the following steps:

[0132] Obtain the train's cruising distance and preset cruising time between the target station and the next station;

[0133] The actual cruise time is calculated based on the preset cruise time and the time difference.

[0134] The actual cruising speed is calculated based on the actual cruising time and cruising distance.

[0135] The train is controlled to travel at the actual cruising speed during the cruise phase.

[0136] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A fully automated driving method based on a smart station, characterized in that, include: Step S1: Before the train enters the station, obtain the number of passengers waiting and the expected number of passengers disembarking for each platform screen door of the target station. Based on the number of passengers waiting and the expected number of passengers disembarking, obtain the boarding and alighting time for each platform screen door. Set the maximum boarding and alighting time as the actual opening time of the train door corresponding to the target station. If the actual opening time of the train door is greater than the preset opening time of the train door, proceed to step S2. If the actual opening time of the train door is less than or equal to the preset opening time of the train door, proceed to step S4. The method for obtaining the expected number of passengers disembarking for each platform screen door includes: periodically obtaining the location information of passengers in each carriage within a preset time period before the train arrives at the station; calculating the distance between passengers in each carriage and the door to be opened at each time based on the location information of passengers in each carriage and the location information of the door to be opened; constructing the trend of the change in the distance between passengers in each carriage and the door to be opened; predicting the probability of disembarking for each carriage passenger based on the trend of the change. When the probability of disembarking is greater than the preset threshold for the probability of disembarking, marking the corresponding carriage passenger as a disembarking passenger, and obtaining the expected number of passengers disembarking for the platform screen door corresponding to the door to be opened. Step S2: After the train comes to a complete stop at the target station, open the platform screen doors and train doors. When the actual opening time of the train doors is reached, control the train doors and platform screen doors to close. Step S3: Calculate the time difference between the actual opening time of the train door and the preset opening time of the train door, and adjust the train's speed from the target station to the next station based on the time difference, so that the train arrives at the next station on time. Step S4: After the train comes to a complete stop at the target station, the platform screen doors and train doors are opened. When the preset opening time of the train doors is reached, the train doors and platform screen doors are closed, and the train travels to the next station at the preset speed.

2. The fully automated driving method based on a smart station according to claim 1, characterized in that, The method for obtaining the number of people waiting for each platform screen door includes: Obtain surveillance footage of the waiting platform at the target station; The number of people waiting at each platform screen door is obtained by identifying the surveillance footage.

3. The fully automated driving method based on a smart station according to claim 1, characterized in that, In steps S2 and S4, after controlling the train doors and platform screen doors to close, the following steps are also included: Acquire video footage between the train doors and the platform screen doors; Based on the video footage, it is determined whether there are foreign objects in the train doors and platform screen doors. If so, the train will be suspended from starting.

4. The fully automated driving method based on a smart station according to claim 1, characterized in that, The adjustment of the train's speed from the target station to the next station includes: Obtain the train's cruising distance and preset cruising time between the target station and the next station; The actual cruise time is calculated based on the preset cruise time and the time difference. The actual cruising speed is calculated based on the actual cruising time and cruising distance. The train is controlled to travel at the actual cruising speed during the cruise phase.

5. A fully automated driving system based on a smart station, used to implement the steps of a fully automated driving method based on a smart station as described in any one of claims 1-4, characterized in that, include: Passenger Acquisition Module: Used to acquire the number of passengers waiting for the train and the estimated number of passengers disembarking for each platform screen door of the target station. Train door actual opening time acquisition module: used to acquire the boarding and alighting time corresponding to each platform screen door based on the number of waiting passengers and the expected number of alighting passengers, and set the maximum boarding and alighting time as the actual opening time of the train door corresponding to the target station; Judgment module: Used to determine whether the actual opening time of the train door is greater than the preset opening time of the train door; Control module: Used to control the train's movement and the opening and closing of train doors and platform screen doors.

6. A fully automated driving system based on a smart station according to claim 5, characterized in that, The control module includes a door opening and closing control unit, a driving control unit, and an actual cruise speed calculation unit; the actual cruise speed calculation unit is used to calculate the actual cruise speed of the train during the cruise phase between the target station and the next station.

7. A fully automated driving system based on a smart station according to claim 5, characterized in that, The fully automated driving system also includes a door monitoring module and a foreign object recognition module. The door monitoring module is used to acquire video footage between the train doors and the platform screen doors, and the foreign object recognition module is used to identify whether there are foreign objects in the video footage acquired by the door monitoring module.

8. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, wherein when the computer program is executed by a processor, it implements the steps of a fully automated driving method based on a smart station as described in any one of claims 1 to 4.

9. A computer device, characterized in that, The computer device includes a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, it implements the steps of a fully automated driving method based on a smart station as described in any one of claims 1 to 4.

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