Train intelligent control system, method, electronic device and storage medium

Abstract

The present invention provides a train intelligent control system, method, electronic equipment and storage medium, belonging to the field of rail transit, the system comprises an A-type dedicated right-of-way mechanical guidance perception subsystem for detecting the deflection angle of guide wheels on both sides in real time through an angle sensor, and sending the result to the train intelligent main controller; a train position real-time sensor for acquiring the real-time position of the train, and sending the result to the train intelligent main controller; a B-type semi-dedicated right-of-way optical guidance perception subsystem for photographing the ground markings through the on-board camera, obtaining an image including the train and the ground markings, and sending the result to the train intelligent main controller; the train intelligent main controller for generating a train control signal based on one or more of the real-time position of the train, the deflection angle of guide wheels on both sides and the image, and sending the train control signal to a linear electric control actuator; the linear electric control actuator for adjusting the running state of the train based on the train control signal.

Description

Technical Field

[0001] The present invention relates to the field of rail transit technology, and in particular to a train intelligent control system, method, electronic equipment and storage medium. Background Art

[0002] In the relevant technology, rubber-wheeled trains are divided into electronically guided rubber-wheeled trains running on ground Type B semi-dedicated right-of-way and rubber-wheeled self-guided trains running on elevated Type A dedicated right-of-way. The technical characteristics of both types limit the operating scenarios. Rubber-wheeled trains cannot run on Type A dedicated right-of-way sections with guide rails on both sides, or on Type B semi-dedicated right-of-way sections mixed with ground transportation vehicles, and their flexibility is low. Summary of the invention

[0003] The present invention provides a train intelligent control system, method, electronic equipment and storage medium, so that a rubber-wheeled train can run on both a type A dedicated right-of-way section and a type B semi-dedicated right-of-way section, and can achieve seamless switching between the two without stopping, thereby improving the flexibility of the rubber-wheeled train.

[0004] The present invention provides a train intelligent control system, comprising: a type A dedicated right-of-way mechanical guidance perception subsystem, a train position real-time sensor, a type B semi-dedicated right-of-way optical guidance perception subsystem, a train intelligent main controller and a linear electric control actuator; wherein the type A dedicated right-of-way mechanical guidance perception subsystem comprises guide wheels on both sides and angle sensors installed on the guide wheels, and the type B semi-dedicated right-of-way optical guidance perception subsystem comprises a vehicle-mounted camera and ground markings;

[0005] The A-type dedicated right-of-way mechanical steering perception subsystem is used to detect the deflection angle of the guide wheels on both sides in real time through the angle sensor, and send the deflection angle of the guide wheels on both sides to the train intelligent main controller;

[0006] The train position real-time sensor is used to obtain the real-time position of the train and send the real-time position of the train to the train intelligent main controller;

[0007] The type B semi-dedicated right-of-way optical guidance perception subsystem is used to photograph the ground markings through the on-board camera to obtain an image including the train and the ground markings, and send the image to the train intelligent main controller;

[0008] The train intelligent main controller is used to generate a train control signal based on the real-time position of the train, the deflection angle of the guide wheels on both sides and one or more of the images, and send the train control signal to the linear electric control actuator;

[0009] The linear electric control actuator is used to adjust the running state of the train based on the train control signal.

[0010] According to a train intelligent control system provided by the present invention, the train intelligent main controller is also used for:

[0011] Before generating the train control signal, determining, based on the position of the train, whether the road on which the train is located is a type A dedicated right of way or a type B semi-dedicated right of way;

[0012] When the right of way of the road where the train is located is a type A dedicated right of way and the deflection angle of the guide wheels on both sides is not 0, determining to start the type A dedicated right of way control; or,

[0013] When the right of way of the road where the train is located is a Type B semi-dedicated right of way and the deflection angle of the guide wheels on both sides is 0, it is determined to start the Type B semi-dedicated right of way control.

[0014] According to a train intelligent control system provided by the present invention, the train intelligent main controller is specifically used for:

[0015] After determining to start the type A exclusive right-of-way control, determining, based on the position of the train, whether the section where the train is located is a straight section or a curved section;

[0016] When the section where the train is located is a straight section and the deflection angles of the guide wheels on both sides are the same, a first train control signal is generated so that the linear electric control actuator controls the train to travel in a straight line based on the first train control signal; or,

[0017] When the section where the train is located is a curved section and the deflection angle of the right guide wheel of the guide wheels on both sides is greater than the deflection angle of the left guide wheel, a second train control signal is generated to enable the linear electric control actuator to control the train to turn left based on the second train control signal; or,

[0018] When the section where the train is located is a curved section and the deflection angle of the right guide wheel among the two side guide wheels is smaller than the deflection angle of the left guide wheel, a third train control signal is generated so that the linear electric control actuator controls the train to turn right based on the third train control signal.

[0019] According to a train intelligent control system provided by the present invention, the train intelligent main controller is specifically used for:

[0020] After determining to start the type B semi-dedicated right-of-way control, identifying the direction and distance deviation of the train relative to the ground marking in the image;

[0021] Based on the direction and distance deviation of the train relative to the ground marking, a fourth train control signal is generated so that the linear electric control actuator controls the train to travel along the ground marking based on the fourth train control signal.

[0022] The present invention also provides a train intelligent control method, comprising:

[0023] Obtaining the deflection angles of the guide wheels on both sides of the train, the real-time position of the train, and an image containing the train and ground markings;

[0024] Generate a train control signal based on one or more of the real-time position of the train, the deflection angle of the guide wheels on both sides and the image;

[0025] Based on the train control signal, the running state of the train is adjusted.

[0026] According to a train intelligent control method provided by the present invention, before generating a train control signal, the method further includes:

[0027] Based on the position of the train, determining whether the road on which the train is located is a type A dedicated right of way or a type B semi-dedicated right of way;

[0028] When the right of way of the road where the train is located is a type A dedicated right of way and the deflection angle of the guide wheels on both sides is not 0, determining to start the type A dedicated right of way control; or,

[0029] When the right of way of the road where the train is located is a Type B semi-dedicated right of way and the deflection angle of the guide wheels on both sides is 0, it is determined to start the Type B semi-dedicated right of way control.

[0030] According to a train intelligent control method provided by the present invention, after determining to start type A dedicated right-of-way control, generating a train control signal based on the real-time position of the train, the deflection angle of the guide wheels on both sides and the image signal, includes:

[0031] Based on the position of the train, determining whether the section of the road where the train is located is a straight section or a curved section;

[0032] When the section where the train is located is a straight section and the deflection angles of the guide wheels on both sides are the same, a first train control signal is generated, and the first train control signal is used to control the train to travel in a straight line; or,

[0033] When the section where the train is located is a curved section, and the deflection angle of the right guide wheel of the guide wheels on both sides is greater than the deflection angle of the left guide wheel, a second train control signal is generated, and the second train control signal is used to control the train to turn left; or,

[0034] When the section where the train is located is a curved section and the deflection angle of the right guide wheel among the two side guide wheels is smaller than the deflection angle of the left guide wheel, a third train control signal is generated, and the third train control signal is used to control the train to turn right.

[0035] According to a train intelligent control method provided by the present invention, after determining to start the B-type semi-dedicated right-of-way control, generating a train control signal based on one or more of the real-time position of the train, the deflection angle of the guide wheels on both sides and the image, includes:

[0036] Identifying the direction and distance deviation of the train relative to the ground markings in the image;

[0037] Based on the direction and distance deviation of the train relative to the ground marking, a fourth train control signal is generated, and the fourth train control signal is used to control the train to travel along the ground marking.

[0038] 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, any of the above-described intelligent train control methods is implemented.

[0039] 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 train intelligent control method described in any one of the above is implemented.

[0040] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements any of the above-mentioned intelligent train control methods.

[0041] The intelligent train control system, method, electronic device and storage medium provided by the present invention can determine the right-of-way information of the section where the train is located by judging the train position, detecting the deflection angle of the guide wheels on both sides and the images including the train and the ground markings, and generate a control signal for the corresponding position. Different control methods are adopted in different rights of way, so that the rubber-wheeled train can run on both Type A dedicated right-of-way sections and Type B semi-dedicated right-of-way sections, and can realize seamless switching between the two without stopping, thereby improving the flexibility of the train. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] 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.

[0043] Figure 1 It is a structural schematic diagram of the train intelligent control system provided by the present invention;

[0044] Figure 2 It is a structural schematic diagram of the A-type dedicated right-of-way mechanical guidance perception subsystem provided by the present invention;

[0045] Figure 3 It is a structural schematic diagram of the train intelligent main controller provided by the present invention;

[0046] Figure 4 It is a flow chart of the train intelligent control method provided by the present invention;

[0047] Figure 5 It is a schematic diagram of the process of A / B road right switching provided by the present invention;

[0048] Figure 6 It is a schematic diagram of the flow of Type A dedicated right of way control provided by the present invention;

[0049] Figure 7 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0050] 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.

[0051] First, the following contents are introduced:

[0052] According to the classification method of relevant technologies, my country's urban rail transit systems are divided into ten categories. From the perspective of technical systems, they are divided into three categories: wheel-rail, maglev and rubber-wheel. Among them, rubber-wheel trains have higher adaptability on lines with medium and low traffic volume, low noise and high requirements for operational flexibility.

[0053] In the relevant technology, rubber-wheeled trains are divided into electronically guided rubber-wheeled trains running on ground Type B semi-dedicated right of way and rubber-wheeled self-guided trains running on elevated Type A dedicated right of way. Both have limited operating scenarios due to their technical characteristics. Rubber-wheeled trains cannot run on Type A dedicated right of way sections with guide rails on both sides.

[0054] Urban rail transit systems should be as flexible as possible in terms of right of way and laying methods, and should be flexibly selected according to actual passenger flow and line conditions. Based on this, the present invention provides a train intelligent control system, method, electronic device and storage medium, so that rubber-wheeled trains can run on both Type A dedicated right of way sections and Type B semi-dedicated right of way sections, and can achieve seamless switching between the two without stopping.

[0055] Combine the following Figure 1-Figure 3 The intelligent train control system of the present invention is described.

[0056] Figure 1 Schematic diagram of the structure of the train intelligent control system provided by the present invention. Figure 1 As shown, the system includes: a type A dedicated right of way mechanical guidance perception subsystem 110, a train position real-time sensor 120, a type B semi-dedicated right of way optical guidance perception subsystem 130, a train intelligent main controller 140 and a linear electric control actuator 150; wherein, the type A dedicated right of way mechanical guidance perception subsystem includes two-side guide wheels 111 and an angle sensor 112 installed on the guide wheels, and the type B semi-dedicated right of way optical guidance perception subsystem includes a vehicle-mounted camera 131 and ground markings 132;

[0057] The A-type dedicated right-of-way mechanical steering perception subsystem 110 is used to detect the deflection angles of the guide wheels on both sides in real time through the angle sensor, and send the deflection angles of the guide wheels on both sides to the train intelligent main controller;

[0058] Optionally, the train may be a wheel-rail train, a maglev train, a rubber-wheel train, or other trains.

[0059] Optionally, the rubber-tyred train can be a four-axle, rubber-wheel-supported, double-end-driving rubber-tyred rail train equipped with an intelligent control system.

[0060] Optionally, Type A dedicated right of way can be a fully enclosed right of way, and other means of transportation except rubber-wheeled trains cannot enter the line.

[0061] Optionally, the guide wheels on both sides may be guide wheels installed on both sides of the rubber-wheeled train, and the Type A dedicated right-of-way mechanical guidance perception subsystem may also include guide rails on both sides, and the guide wheels travel on the guide rails.

[0062] Optionally, an angle sensor may be installed on the guide wheel, and the angle sensor may detect the deflection angle of the guide wheel in real time.

[0063] Optionally, the Type A dedicated right-of-way mechanical guidance perception subsystem can be communicatively connected to the train intelligent main controller to send the deflection angles of the guide wheels on both sides to the train intelligent main controller.

[0064] Figure 2Schematic diagram of the structure of the A-type dedicated right-of-way mechanical guidance perception subsystem provided by the present invention, such as Figure 2 As shown, in one embodiment of the present invention, the type A dedicated right of way mechanical guidance perception subsystem is composed of 4 mechanical guide wheels on both sides of axis 1 and axis 4, guide rails on both sides of the ground and angle sensors installed on the guide wheels. Axis 1 and axis 4 are arranged completely symmetrically, and the guide wheels and angle sensors on the left and right sides are arranged completely symmetrically.

[0065] Optionally, when the train is going down, the guide wheels on both sides of axle 1 are working, and when the train is going up, the guide wheels on both sides of axle 4 are working.

[0066] Optionally, the Type A dedicated right-of-way mechanical guidance sensing subsystem will detect the train's running direction and the contact angle between the guide wheels and the guide rails on both sides, that is, the deflection angle, in real time, and convert the deflection angle signal into a steering signal for use by the train's intelligent main controller in decision-making.

[0067] Optionally, after receiving the deflection angles of the guide wheels on both sides, the train intelligent main controller can determine the right of way of the section where the train is located, or generate a train control signal so that the linear electronic control actuator can adjust the driving state of the train based on the train control signal.

[0068] The train position real-time sensor 120 is used to obtain the real-time position of the train and send the real-time position of the train to the train intelligent main controller;

[0069] Optionally, the real-time train position sensor can be installed at any position of the train, such as on the roof, inside the carriage, or under the train, and the present invention is not limited to this.

[0070] Optionally, the real-time train position sensor can be communicatively connected to the train intelligent main controller so that the real-time train position sensor can send the real-time position of the train to the train intelligent main controller.

[0071] Optionally, a real-time train position sensor can be used to obtain the real-time position of the train, and then send it to the train intelligent main controller, so that the train intelligent main controller can determine the right of way information of the section where the train is located based on the real-time position of the train, and make corresponding control plans for the train.

[0072] Optionally, the real-time train position sensor can also have a built-in speed sensing function, that is, it can detect the real-time speed of the train and send the real-time speed of the train to the train intelligent main controller, so that the train intelligent main controller can make control decisions based on the real-time speed of the train.

[0073] The type B semi-dedicated right-of-way optical guidance perception subsystem 130 is used to photograph the ground markings through the vehicle-mounted camera, obtain an image including the train and the ground markings, and send the image to the train intelligent main controller;

[0074] Optionally, Type B semi-dedicated right of way can be mainly laid on the ground for rubber-wheeled trains, and the right of way can be shared with other road vehicles at level crossings.

[0075] Optionally, the ground markings may be markings pre-laid on a Type B semi-dedicated right-of-way section.

[0076] Optionally, the vehicle-mounted camera may be installed in front of the train, or above the train, or at any other location where the distance between the train and the ground marking can be captured, and the present invention is not limited thereto.

[0077] Optionally, several on-board cameras may be installed on the train, and the present invention does not limit the number of on-board cameras.

[0078] Optionally, the on-board camera can take pictures of the ground markings at a certain period, such as once every 1 second, or once every 5 seconds, etc., or take videos of the ground markings, extract images from the videos, and then send the images to the train intelligent main controller, so that the train intelligent main controller can recognize the positional relationship between the train and the ground markings in the image, and make control decisions based on this.

[0079] The train intelligent main controller 140 is used to generate a train control signal based on the real-time position of the train, the deflection angle of the guide wheels on both sides and one or more of the images, and send the train control signal to the linear electric control actuator;

[0080] Optionally, after receiving the real-time position of the train sent by the real-time position sensor, the train intelligent main controller can compare it with the line parameters stored in the train intelligent main controller in advance to determine whether the right of way of the road where the train is currently located belongs to Type A dedicated right of way or Type B semi-dedicated right of way.

[0081] Optionally, the train intelligent main controller can be communicated with the Type A dedicated right-of-way mechanical guidance perception subsystem, the train position real-time sensor, the Type B semi-dedicated right-of-way optical guidance perception subsystem and the linear electric control actuator to receive the deflection angles of the guide wheels on both sides sent by the Type A dedicated right-of-way mechanical guidance perception subsystem, receive the real-time position of the train sent by the train position real-time sensor, receive the image signal sent by the Type B semi-dedicated right-of-way optical guidance perception subsystem, and send train control signals to the linear electric control actuator.

[0082] Figure 3 Schematic diagram of the structure of the train intelligent main controller provided by the present invention. Figure 3As shown, in one embodiment of the present invention, the train intelligent main controller includes a type A dedicated right of way control algorithm module, a type B semi-dedicated right of way control algorithm module, an A / B right of way switching algorithm module and a track following and multi-axis collaborative control algorithm module, wherein: the type A dedicated right of way control algorithm module is used to determine the control scheme of the train in the type A dedicated right of way section, the type B semi-dedicated right of way control algorithm module is used to determine the control scheme of the train in the type B semi-dedicated right of way section, the A / B right of way switching algorithm module is used to determine whether to enable the type A dedicated right of way control algorithm module or to enable the type B semi-dedicated right of way control algorithm module, the track following and multi-axis collaborative control algorithm module is used to determine the train steering angle based on the recognition of ground signs and markings by the on-board camera, and determine the 2nd, 3rd, and 4th axis following steering angles based on the steering angle and speed of the 1st axis.

[0083] Optionally, the train's intelligent main controller can receive the deflection angles of the guide wheels on both sides sent by the Type A dedicated right-of-way mechanical guidance sensing subsystem, and determine the currently enabled control mode of the Type A dedicated right-of-way section or the Type B semi-dedicated right-of-way section in combination with the real-time position of the train.

[0084] Optionally, if the control mode of Type A dedicated right-of-way section is enabled, the train intelligent main controller can determine the control signal used to adjust the driving state of the train, such as going straight or turning, based on the deflection angle of the guide wheels on both sides, and then send the control signal to the linear electric control actuator to adjust the driving state of the train based on the control signal.

[0085] Optionally, if the control mode of the Type B semi-dedicated right-of-way section is enabled, the train intelligent main controller can determine a control signal for adjusting the driving state of the train based on an image signal including ground markings, and then send the control signal to the linear electric control actuator to adjust the driving state of the train based on the control signal.

[0086] The linear electric control actuator 150 is used to adjust the running state of the train based on the train control signal.

[0087] Optionally, the linear electric control actuator can be communicatively connected to the train intelligent main controller to receive a control signal sent by the train intelligent main controller.

[0088] Optionally, the control signal includes control instruction information of the train, such as instructing the train to go straight or to turn, etc. After the linear electronic control actuator receives the control signal sent by the train intelligent main controller, it can adjust the driving state of the train according to the control instruction information.

[0089] The intelligent train control system provided by the present invention can determine the right-of-way information of the section where the train is located by judging the position of the train, detecting the deflection angle of the guide wheels on both sides and the images of the train and the ground markings, and generate a control signal for the corresponding position. Different control methods are adopted in different rights of way, so that the rubber-wheeled train can run on both Type A dedicated right-of-way sections and Type B semi-dedicated right-of-way sections, and can achieve seamless switching between the two without stopping.

[0090] Optionally, the train intelligent main controller is also used for:

[0091] Before generating the train control signal, determining, based on the position of the train, whether the road on which the train is located is a type A dedicated right of way or a type B semi-dedicated right of way;

[0092] When the right of way of the road where the train is located is a type A dedicated right of way and the deflection angle of the guide wheels on both sides is not 0, determining to start the type A dedicated right of way control; or,

[0093] When the right of way of the road where the train is located is a Type B semi-dedicated right of way and the deflection angle of the guide wheels on both sides is 0, it is determined to start the Type B semi-dedicated right of way control.

[0094] Optionally, after receiving the real-time position of the train sent by the real-time position sensor of the train, the train intelligent main controller can compare it with the line parameters stored in advance in the train intelligent main controller to determine whether the right of way of the road where the train is currently located belongs to Type A dedicated right of way or Type B semi-dedicated right of way.

[0095] Optionally, after determining the right of way of the road on which the train is located, it can be determined whether to start Type A dedicated right of way control or Type B semi-dedicated right of way control based on the deflection angle of the guide wheels on both sides received from the Type A dedicated right of way mechanical guidance sensing subsystem.

[0096] Optionally, when the right of way of the road where the train is currently located belongs to Type A special right of way, and the deflection angle of the guide wheels on both sides is not 0, it is determined to start Type A special right of way control.

[0097] For example, if the road A where the train is currently on is a Type A dedicated right of way, and the deflection angle of the left guide wheel is 10°, and the deflection angle of the right guide wheel is 12°, the train intelligent main controller can determine to start the Type A dedicated right of way control.

[0098] Optionally, after determining to start Type A dedicated right-of-way control, the train intelligent main controller may use the Type A dedicated right-of-way control algorithm module to determine a control scheme for the train in the Type A dedicated right-of-way section.

[0099] Optionally, when the right of way of the road where the train is currently located belongs to Type B semi-dedicated right of way and the deflection angle of the guide wheels on both sides is 0, it is determined to start Type B semi-dedicated right of way control.

[0100] For example, if the road B where the train is currently located is a Type B semi-dedicated right of way, and the deflection angle of the left guide wheel is 0°, and the deflection angle of the right guide wheel is also 0°, then the train intelligent main controller can determine to start Type B semi-dedicated right of way control.

[0101] Optionally, after determining to start Type B semi-dedicated right-of-way control, the train intelligent main controller may use the Type B semi-dedicated right-of-way control algorithm module to determine a control scheme for the train in the Type B semi-dedicated right-of-way control section.

[0102] The intelligent train control system provided by the present invention determines whether the train starts type A dedicated right-of-way control or type B semi-dedicated right-of-way control by combining the real-time position of the train and the deflection angle of the guide wheels on both sides, so as to realize seamless switching between A and B rights of way without stopping, thereby improving the flexibility of rubber-wheeled trains.

[0103] Optionally, the train intelligent main controller is specifically used for:

[0104] After determining to start the type A exclusive right-of-way control, determining, based on the position of the train, whether the section where the train is located is a straight section or a curved section;

[0105] When the section where the train is located is a straight section and the deflection angles of the guide wheels on both sides are the same, a first train control signal is generated so that the linear electric control actuator controls the train to travel in a straight line based on the first train control signal; or,

[0106] When the section where the train is located is a curved section and the deflection angle of the right guide wheel of the guide wheels on both sides is greater than the deflection angle of the left guide wheel, a second train control signal is generated to enable the linear electric control actuator to control the train to turn left based on the second train control signal; or,

[0107] When the section where the train is located is a curved section and the deflection angle of the right guide wheel among the two side guide wheels is smaller than the deflection angle of the left guide wheel, a third train control signal is generated so that the linear electric control actuator controls the train to turn right based on the third train control signal.

[0108] Optionally, when the train intelligent main controller determines to start Type A special right-of-way control, that is, when the right-of-way of the road where the train is currently located belongs to Type A special right-of-way, and the deflection angle of the guide wheels on both sides is not 0, the train intelligent main controller can use the Type A special right-of-way control algorithm module to determine the control scheme of the train in the Type A special right-of-way section.

[0109] Optionally, the train intelligent main controller can compare the real-time position of the train with the line parameters stored in the train intelligent main controller in advance, so as to determine whether the section where the train is currently located is a straight section or a curved section.

[0110] Optionally, if the section of road where the train is located is a straight section, the train intelligent main controller can determine the deflection angle of the guide wheels on both sides. If the deflection angle is 0, it can be determined that the train should go straight at this time, and generate a first train control signal and send it to the linear electric control actuator. After receiving the first train control signal, the linear electric control actuator controls the train to go straight.

[0111] For example, the section C where the train is located is a straight section, and the deflection angle of the guide wheels on both sides is 0. The train intelligent main controller generates a first train control signal and sends it to the linear electric control actuator. After receiving the first train control signal, the linear electric control actuator controls the train to travel in a straight line.

[0112] Optionally, if the section where the train is located is a curved section, the train intelligent main controller can determine the deflection angles of the guide wheels on both sides. If the deflection angle of the right guide wheel is greater than the deflection angle of the left guide wheel, it can be determined that the train should turn left at this time, and generate a second train control signal and send it to the linear electric control actuator. After receiving the second train control signal, the linear electric control actuator controls the train to turn left.

[0113] For example, the section D where the train is located is a curved line section, the deflection angle of the right guide wheel is 20°, and the deflection angle of the left guide wheel is 15°. The train intelligent main controller generates a second train control signal and sends it to the linear electric control actuator. After receiving the second train control signal, the linear electric control actuator controls the train to turn left.

[0114] Optionally, if the section where the train is located is a curved section, the train intelligent main controller can determine the deflection angles of the guide wheels on both sides. If the deflection angle of the right guide wheel is smaller than the deflection angle of the left guide wheel, it can be determined that the train should turn right at this time, and generate a third train control signal and send it to the linear electric control actuator. After receiving the third train control signal, the linear electric control actuator controls the train to turn right.

[0115] For example, the section E where the train is located is a curved line section, the deflection angle of the right guide wheel is 15°, and the deflection angle of the left guide wheel is 20°. The train intelligent main controller generates a third train control signal and sends it to the linear electric control actuator. After receiving the third train control signal, the linear electric control actuator controls the train to turn right.

[0116] Optionally, when controlling the train to turn left or right, its steering angle may be related to the deflection angle of the guide wheel. Specifically, the steering angle may be proportional to the deflection angle of the guide wheel.

[0117] Optionally, since the speed of the train will affect the turning angle of the train, the train intelligent main controller can set the turning angle of the train based on the real-time speed of the train, and generate a train control signal with the steering angle, so that the linear electronic control actuator adjusts the train to turn according to the steering angle.

[0118] Optionally, the steering angle is adjustable within the range of 0°-30°.

[0119] The intelligent train control system provided by the present invention determines whether the train goes straight, turns left or turns right based on the section type and the deflection angles of the guide wheels on both sides when the train is in a type A dedicated right-of-way section, thereby realizing the control of the train in type A dedicated right-of-way, and combining it with type B semi-dedicated right-of-way control to realize seamless switching between the two without stopping, thereby improving the flexibility of the train.

[0120] Optionally, the train intelligent main controller is specifically used for:

[0121] After determining to start the type B semi-dedicated right-of-way control, identifying the direction and distance deviation of the train relative to the ground marking in the image;

[0122] Based on the direction and distance deviation of the train relative to the ground marking, a fourth train control signal is generated so that the linear electric control actuator controls the train to travel along the ground marking based on the fourth train control signal.

[0123] Optionally, when the train intelligent main controller determines to start Type B semi-dedicated right-of-way control, that is, when the right-of-way of the road where the train is currently located belongs to Type B semi-dedicated right-of-way and the deflection angle of the guide wheels on both sides is 0, the train intelligent main controller can use the Type B semi-dedicated right-of-way control algorithm module to determine the control scheme of the train in the Type B semi-dedicated right-of-way section.

[0124] Optionally, after determining to start Type B semi-dedicated right-of-way control, the train intelligent main controller can identify the direction and distance deviation of the train relative to the ground marking in the image signal. The identification method can be using a recognition algorithm, or manual recognition, or other recognition methods, which is not limited to the present invention.

[0125] In one embodiment of the present invention, the train intelligent main controller utilizes a charge-coupled device (CCD) system to dynamically capture the marking image and identify the direction and distance deviation of the train relative to the marking.

[0126] Optionally, after identifying the direction and distance deviation of the train relative to the markings, the train intelligent main controller can plan a route so that the train runs along the ground markings and generate a fourth train control signal, which can be a series of control instructions. After receiving the fourth train control signal, the linear electric control actuator can control the train to run along the ground markings.

[0127] The intelligent train control system provided by the present invention identifies the direction and distance deviation of the train relative to the ground markings in the image signal based on the image including the ground markings when the train is in a Type B semi-dedicated right-of-way section, and generates a fourth train control signal to instruct the train to travel along the ground markings, thereby realizing the control of the train in the Type B semi-dedicated right-of-way, and combining it with the Type A dedicated right-of-way control to realize seamless switching between the two without stopping, thereby improving the flexibility of the train.

[0128] The train intelligent control method provided by the present invention is described below.

[0129] Figure 4 It is a flow chart of the train intelligent control method provided by the present invention, such as Figure 4 As shown, the method comprises the following steps:

[0130] Step 400, obtaining the deflection angles of the guide wheels on both sides of the train, the real-time position of the train, and an image including the train and ground markings;

[0131] Optionally, the train may be a wheel-rail train, a maglev train, a rubber-wheel train, or other trains.

[0132] Optionally, the rubber-tyred train can be a four-axle, rubber-wheel-supported, double-end-driving rubber-tyred rail train equipped with an intelligent control system.

[0133] Optionally, the guide wheels on both sides may be guide wheels installed on both sides of the train, and the Type A dedicated right-of-way mechanical guidance perception subsystem may also include guide rails on both sides, and the guide wheels travel on the guide rails.

[0134] Optionally, the ground markings may be markings pre-laid on a Type B semi-dedicated right-of-way section.

[0135] Optionally, an angle sensor may be installed on the guide wheel, and the angle sensor may detect the deflection angle of the guide wheel in real time.

[0136] Optionally, the real-time position of the train may be detected by a real-time train position sensor, a roadside camera, or other methods, which is not limited in the present invention.

[0137] Optionally, the image including the train and the ground markings may be obtained by photographing with a vehicle-mounted camera, a roadside camera, or other methods, and the present invention is not limited thereto.

[0138] Optionally, in order to generate a train control signal, the deflection angle of the guide wheels on both sides, the real-time position of the train and the image signal containing the ground markings taken by the on-board camera can be obtained first.

[0139] Step 410, generating a train control signal based on one or more of the real-time position of the train, the deflection angle of the guide wheels on both sides and the image;

[0140] Optionally, the real-time position of the train is compared with preset line parameters to determine whether the right of way of the road where the train is currently located belongs to Type A dedicated right of way or Type B semi-dedicated right of way.

[0141] Optionally, Type A dedicated right of way can be a fully enclosed right of way, and other means of transportation except rubber-wheeled trains cannot enter the line.

[0142] Optionally, Type B semi-dedicated right of way can be mainly laid on the ground for rubber-wheeled trains, and the right of way can be shared with other road vehicles at level crossings.

[0143] Optionally, the control mode of the currently enabled Type A dedicated right-of-way section or the control mode of the Type B semi-dedicated right-of-way section can be determined based on the deflection angles of the guide wheels on both sides and the real-time position of the train.

[0144] Optionally, if the control mode of Type A dedicated right-of-way section is enabled, the control signal for adjusting the driving state of the train, such as going straight or turning, can be determined based on the deflection angle of the guide wheels on both sides, and then the driving state of the train is adjusted based on the control signal.

[0145] Optionally, if the control mode of the Type B semi-dedicated right-of-way section is enabled, a control signal for adjusting the driving state of the train can be determined based on an image signal including the train and ground markings, and then the driving state of the train is adjusted based on the control signal.

[0146] Step 420: Adjust the running state of the train based on the train control signal.

[0147] Optionally, the control signal includes control instruction information of the train, such as instructing the train to go straight, or instructing the train to turn, etc. The running state of the train can be adjusted according to the control instruction information.

[0148] The intelligent train control method provided by the present invention can determine the right-of-way information of the section where the train is located by judging the position of the train, detecting the deflection angles of the guide wheels on both sides and the images of the train and the ground markings, and generate a control signal for the corresponding position. Different control methods are adopted in different rights of way, so that the rubber-wheeled train can run on both Type A dedicated right-of-way sections and Type B semi-dedicated right-of-way sections, and can achieve seamless switching between the two without stopping.

[0149] Optionally, before generating the train control signal, the method further includes:

[0150] Based on the position of the train, determining whether the road on which the train is located is a type A dedicated right of way or a type B semi-dedicated right of way;

[0151] When the right of way of the road where the train is located is a type A dedicated right of way and the deflection angle of the guide wheels on both sides is not 0, determining to start the type A dedicated right of way control; or,

[0152] When the right of way of the road where the train is located is a Type B semi-dedicated right of way and the deflection angle of the guide wheels on both sides is 0, it is determined to start the Type B semi-dedicated right of way control.

[0153] Optionally, the real-time position of the train may be compared with preset line parameters to determine whether the right of way of the road where the train is currently located belongs to Type A dedicated right of way or Type B semi-dedicated right of way.

[0154] Optionally, after determining the right of way of the road on which the train is located, it can be determined whether to start Type A dedicated right of way control or to start Type B semi-dedicated right of way control based on the deflection angle of the guide wheels on both sides.

[0155] Optionally, when the right of way of the road where the train is currently located belongs to Type A special right of way, and the deflection angle of the guide wheels on both sides is not 0, it is determined to start Type A special right of way control.

[0156] For example, if the road A where the train is currently located is a type A dedicated right of way, and the deflection angle of the left guide wheel is 10°, and the deflection angle of the right guide wheel is 12°, it can be determined to start the type A dedicated right of way control.

[0157] Optionally, after determining to start the Type A dedicated right-of-way control, a control scheme for the train in the Type A dedicated right-of-way section may be determined.

[0158] Optionally, when the right of way of the road where the train is currently located belongs to Type B semi-dedicated right of way and the deflection angle of the guide wheels on both sides is 0, it is determined to start Type B semi-dedicated right of way control.

[0159] For example, if the road B where the train is currently located is a Type B semi-dedicated right of way, and the deflection angle of the left guide wheel is 0°, and the deflection angle of the right guide wheel is also 0°, it can be determined to start the Type B semi-dedicated right of way control.

[0160] Optionally, after determining to start the Type B semi-dedicated right-of-way control, a control scheme for the train in the Type B semi-dedicated right-of-way control section may be determined.

[0161] Figure 5 Schematic diagram of the process of A / B road right switching provided by the present invention, such as Figure 5As shown, in one embodiment of the present invention, it is possible to first detect whether the right of way at the current position of the train is a Type A dedicated right of way or a Type B semi-dedicated right of way is activated, and then determine whether the deflection angle of the guide wheels on both sides is 0. When the right of way at the train's position is a Type A dedicated right of way and the deflection angle of the guide wheels on both sides is not 0, determine to activate the Type A dedicated right of way control; when the right of way of the road where the train is located is a Type B semi-dedicated right of way and the deflection angle of the guide wheels on both sides is 0, determine to activate the Type B semi-dedicated right of way control.

[0162] The intelligent train control method provided by the present invention determines whether the train starts type A dedicated right-of-way control or type B semi-dedicated right-of-way control by combining the real-time position of the train and the deflection angle of the guide wheels on both sides, so as to realize seamless switching between A and B rights of way without stopping, thereby improving the flexibility of the train.

[0163] Optionally, after determining to start the type A dedicated right-of-way control, generating a train control signal based on the real-time position of the train, the deflection angle of the guide wheels on both sides and the image signal includes:

[0164] Based on the position of the train, determining whether the section of the road where the train is located is a straight section or a curved section;

[0165] When the section where the train is located is a straight section and the deflection angles of the guide wheels on both sides are the same, a first train control signal is generated, and the first train control signal is used to control the train to travel in a straight line; or,

[0166] When the section where the train is located is a curved section, and the deflection angle of the right guide wheel of the guide wheels on both sides is greater than the deflection angle of the left guide wheel, a second train control signal is generated, and the second train control signal is used to control the train to turn left; or,

[0167] When the section where the train is located is a curved section and the deflection angle of the right guide wheel among the two side guide wheels is smaller than the deflection angle of the left guide wheel, a third train control signal is generated, and the third train control signal is used to control the train to turn right.

[0168] Optionally, when it is determined to start Type A special right-of-way control, that is, the right-of-way of the road where the train is currently located belongs to Type A special right-of-way, and the deflection angle of the guide wheels on both sides is not 0, the control scheme of the train in the Type A special right-of-way section can be determined.

[0169] Optionally, the real-time position of the train may be compared with preset line parameters to determine whether the section where the train is currently located is a straight section or a curved section.

[0170] Optionally, if the section where the train is located is a straight section, the deflection angle of the guide wheels on both sides can be determined. If the deflection angle is 0, it can be determined that the train should go straight at this time, and a first train control signal is generated. Based on the first train control signal, the train is controlled to go straight.

[0171] For example, the section C where the train is located is a straight section, and the deflection angle of the guide wheels on both sides is 0. A first train control signal can be generated, and based on the first train control signal, the train is controlled to travel in a straight line.

[0172] Optionally, if the section where the train is located is a curved section, the deflection angles of the guide wheels on both sides can be determined. If the deflection angle of the right guide wheel is greater than the deflection angle of the left guide wheel, it can be determined that the train should turn left at this time, and a second train control signal is generated. Then, based on the second train control signal, the train is controlled to turn left.

[0173] For example, if the section D where the train is located is a curved line section, the deflection angle of the right guide wheel is 20°, and the deflection angle of the left guide wheel is 15°, then a second train control signal can be generated, and then based on the second train control signal, the train is controlled to turn left.

[0174] Optionally, if the section where the train is located is a curved section, the deflection angles of the guide wheels on both sides can be determined. If the deflection angle of the right guide wheel is smaller than the deflection angle of the left guide wheel, it can be determined that the train should turn right at this time, and a third train control signal is generated. Then, based on the third train control signal, the train is controlled to turn right.

[0175] For example, if the section E where the train is located is a curved line section, the deflection angle of the right guide wheel is 15°, and the deflection angle of the left guide wheel is 20°, then a third train control signal can be generated, and then based on the third train control signal, the train is controlled to turn right.

[0176] Optionally, when controlling the train to turn left or right, its steering angle may be related to the deflection angle of the guide wheel. Specifically, the steering angle may be proportional to the deflection angle of the guide wheel.

[0177] Optionally, since the speed of the train will affect the turning angle of the train, the turning angle of the train can be set based on the real-time speed of the train, and a train control signal with the turning angle can be generated to make the train turn according to the turning angle.

[0178] Optionally, the steering angle is adjustable within the range of 0°-30°.

[0179] Figure 6 : is a schematic diagram of the flow of type A dedicated right of way control provided by the present invention, such as Figure 6 As shown, in one embodiment of the present invention, the type A dedicated right of way control includes the following steps:

[0180] S11, detecting the current position of the train;

[0181] S12, determining whether the train is located in the right-of-way section A, if so, executing step S13, if not, executing step S11;

[0182] S13, detecting the deflection angles of the left guide wheel and the right guide wheel;

[0183] S14, comparing the deflection angles of the left guide wheel and the right guide wheel;

[0184] S15, determining whether the left deflection angle is greater than, equal to, or less than the right deflection angle, and executing the corresponding step in S16;

[0185] S16, if the deflection angle of the left guide wheel is greater than the deflection angle of the right guide wheel, a right turn signal is output; if the deflection angle of the left guide wheel is equal to the deflection angle of the right guide wheel, a straight-ahead signal is output; if the deflection angle of the left guide wheel is less than the deflection angle of the right guide wheel, a left turn signal is output.

[0186] The intelligent train control method provided by the present invention determines whether the train goes straight, turns left or turns right based on the section type and the deflection angles of the guide wheels on both sides when the train is in a type A dedicated right-of-way section, thereby realizing the control of the train in type A dedicated right-of-way, and combining it with type B semi-dedicated right-of-way control to realize seamless switching between the two without stopping, thereby improving the flexibility of the train.

[0187] Optionally, after determining to start the type B semi-dedicated right-of-way control, generating a train control signal based on one or more of the real-time position of the train, the deflection angle of the guide wheels on both sides and the image includes:

[0188] Identifying the direction and distance deviation of the train relative to the ground markings in the image;

[0189] Based on the direction and distance deviation of the train relative to the ground marking, a fourth train control signal is generated, and the fourth train control signal is used to control the train to travel along the ground marking.

[0190] Optionally, when it is determined to start Type B semi-dedicated right-of-way control, that is, when the right-of-way of the road where the train is currently located belongs to Type B semi-dedicated right-of-way and the deflection angle of the guide wheels on both sides is 0, the control scheme of the train in the Type B semi-dedicated right-of-way section can be determined.

[0191] Optionally, after determining to start Type B semi-dedicated right-of-way control, the direction and distance deviation of the train relative to the ground marking in the image can be identified. The identification method can be using a recognition algorithm, or manual recognition, or other recognition methods, which is not limited to the present invention.

[0192] In one embodiment of the present invention, a CCD system is used to dynamically capture a line marking image and identify the direction and distance deviation of the train relative to the line marking.

[0193] Optionally, after identifying the direction and distance deviation of the train relative to the marking, a route can be planned so that the train travels along the ground marking, and a fourth train control signal can be generated, which can be a series of control instructions. Then, based on the fourth train control signal, the train is controlled to travel along the ground marking.

[0194] The intelligent train control method provided by the present invention identifies the direction and distance deviation of the train relative to the ground markings in the image signal based on the image including the ground markings when the train is in a Type B semi-dedicated right-of-way section, and generates a fourth train control signal to instruct the train to travel along the ground markings, thereby realizing the control of the train in the Type B semi-dedicated right-of-way, and combining it with the Type A dedicated right-of-way control to realize seamless switching between the two without stopping, thereby improving the flexibility of the train.

[0195] Figure 7 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 7 As shown, the electronic device may include: a processor 710, a communication interface 720, a memory 730 and a communication bus 740, wherein the processor 710, the communication interface 720 and the memory 730 communicate with each other through the communication bus 740. The processor 710 may call the logic instructions in the memory 730 to execute the train intelligent control method, which includes: obtaining the deflection angle of the guide wheels on both sides of the train, the real-time position of the train and an image containing the train and ground markings; generating a train control signal based on the real-time position of the train, the deflection angle of the guide wheels on both sides and one or more of the images; and adjusting the driving state of the train based on the train control signal.

[0196] In addition, the logic instructions in the above-mentioned memory 730 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.

[0197] On the other hand, the present invention also provides a computer program product, which includes a computer program. 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 intelligent control method provided by the above-mentioned methods, which includes: obtaining the deflection angle of the guide wheels on both sides of the train, the real-time position of the train and an image containing the train and ground markings; generating a train control signal based on the real-time position of the train, the deflection angle of the guide wheels on both sides and one or more of the images; and adjusting the driving state of the train based on the train control signal.

[0198] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it is implemented to execute the train intelligent control method provided by the above-mentioned methods, the method comprising: obtaining the deflection angle of the guide wheels on both sides of the train, the real-time position of the train and an image containing the train and ground markings; generating a train control signal based on the real-time position of the train, the deflection angle of the guide wheels on both sides and one or more of the images; and adjusting the driving state of the train based on the train control signal.

[0199] 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. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0200] 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.

[0201] 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 train intelligent control system, characterized in that: include: A-type dedicated right-of-way mechanical guidance perception subsystem, a real-time train position sensor, a B-type semi-dedicated right-of-way optical guidance perception subsystem, a train intelligent main controller and a linear electric control actuator; wherein the A-type dedicated right-of-way mechanical guidance perception subsystem includes guide wheels on both sides and angle sensors installed on the guide wheels, and the B-type semi-dedicated right-of-way optical guidance perception subsystem includes a vehicle-mounted camera and ground markings; The A-type dedicated right-of-way mechanical steering perception subsystem is used to detect the deflection angle of the guide wheels on both sides in real time through the angle sensor, and send the deflection angle of the guide wheels on both sides to the train intelligent main controller; The train position real-time sensor is used to obtain the real-time position of the train and send the real-time position of the train to the train intelligent main controller; The type B semi-dedicated right-of-way optical guidance perception subsystem is used to photograph the ground markings through the on-board camera to obtain an image including the train and the ground markings, and send the image to the train intelligent main controller; The train intelligent main controller is used to generate a train control signal based on the real-time position of the train, the deflection angle of the guide wheels on both sides and one or more of the images, and send the train control signal to the linear electric control actuator; The linear electric control actuator is used to adjust the running state of the train based on the train control signal.

2. The train intelligent control system according to claim 1, characterized in that: The train intelligent main controller is also used for: Before generating the train control signal, determining, based on the position of the train, whether the road on which the train is located is a type A dedicated right of way or a type B semi-dedicated right of way; When the right of way of the road where the train is located is a type A dedicated right of way and the deflection angle of the guide wheels on both sides is not 0, determining to start the type A dedicated right of way control; or, When the right of way of the road where the train is located is a Type B semi-dedicated right of way and the deflection angle of the guide wheels on both sides is 0, it is determined to start the Type B semi-dedicated right of way control.

3. The train intelligent control system according to claim 2, characterized in that: The train intelligent main controller is specifically used for: After determining to start the type A exclusive right-of-way control, determining, based on the position of the train, whether the section where the train is located is a straight section or a curved section; When the section where the train is located is a straight section and the deflection angles of the guide wheels on both sides are the same, a first train control signal is generated so that the linear electric control actuator controls the train to travel in a straight line based on the first train control signal; or, When the section where the train is located is a curved section and the deflection angle of the right guide wheel of the guide wheels on both sides is greater than the deflection angle of the left guide wheel, a second train control signal is generated to enable the linear electric control actuator to control the train to turn left based on the second train control signal; or, When the section where the train is located is a curved section and the deflection angle of the right guide wheel among the two side guide wheels is smaller than the deflection angle of the left guide wheel, a third train control signal is generated so that the linear electric control actuator controls the train to turn right based on the third train control signal.

4. The train intelligent control system according to claim 2, characterized in that: The train intelligent main controller is specifically used for: After determining to start the type B semi-dedicated right-of-way control, identifying the direction and distance deviation of the train relative to the ground marking in the image; Based on the direction and distance deviation of the train relative to the ground marking, a fourth train control signal is generated so that the linear electric control actuator controls the train to travel along the ground marking based on the fourth train control signal.

5. A train intelligent control method implemented based on the train intelligent control system according to any one of claims 1 to 4, characterized in that: include: Obtaining the deflection angles of the guide wheels on both sides of the train, the real-time position of the train, and an image containing the train and ground markings; Generate a train control signal based on one or more of the real-time position of the train, the deflection angle of the guide wheels on both sides and the image; Based on the train control signal, the running state of the train is adjusted.

6. The train intelligent control method according to claim 5, characterized in that: Before generating the train control signal, the method further includes: Based on the position of the train, determining whether the road on which the train is located is a type A dedicated right of way or a type B semi-dedicated right of way; When the right of way of the road where the train is located is a type A special right of way and the deflection angle of the guide wheels on both sides is not 0, determining to start the type A special right of way control; or, When the right of way of the road where the train is located is a Type B semi-dedicated right of way and the deflection angle of the guide wheels on both sides is 0, it is determined to start the Type B semi-dedicated right of way control.

7. The train intelligent control method according to claim 6, characterized in that: After determining to start the A-type dedicated right-of-way control, generating a train control signal based on the real-time position of the train, the deflection angle of the guide wheels on both sides and the image signal includes: Based on the position of the train, determining whether the section of the road where the train is located is a straight section or a curved section; When the section where the train is located is a straight section and the deflection angles of the guide wheels on both sides are the same, a first train control signal is generated, and the first train control signal is used to control the train to travel in a straight line; or, When the section where the train is located is a curved section, and the deflection angle of the right guide wheel of the guide wheels on both sides is greater than the deflection angle of the left guide wheel, a second train control signal is generated, and the second train control signal is used to control the train to turn left; or, When the section where the train is located is a curved section and the deflection angle of the right guide wheel among the two side guide wheels is smaller than the deflection angle of the left guide wheel, a third train control signal is generated, and the third train control signal is used to control the train to turn right.

8. The train intelligent control method according to claim 6, characterized in that: After determining to start the type B semi-dedicated right-of-way control, generating a train control signal based on one or more of the real-time position of the train, the deflection angle of the guide wheels on both sides and the image, includes: Identifying the direction and distance deviation of the train relative to the ground markings in the image; Based on the direction and distance deviation of the train relative to the ground marking, a fourth train control signal is generated, and the fourth train control signal is used to control the train to travel along the ground marking.

9. 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, the train intelligent control method as described in any one of claims 5 to 8 is implemented.

10. 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 train intelligent control method as described in any one of claims 5 to 8 is implemented.

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