Intelligent auxiliary driving method for rail locomotive and related equipment

Abstract

The invention relates to the technical field of rail locomotives, and provides an intelligent auxiliary driving method for a rail locomotive and related equipment. First satellite positioning information of a target rail locomotive is obtained in real time through a satellite positioning device, a first electronic map is obtained according to the first satellite positioning information, and meanwhile first environment information is obtained in real time through a vehicle wireless communication device; dynamic road information marking is carried out in the first electronic map according to the first environment information so as to generate a second electronic map, and first driving information of the target rail locomotive in the driving process is recorded in real time; and carrying out auxiliary driving according to the first driving information, the second electronic map and a preset auxiliary driving mode. Through the satellite positioning device and the vehicle wireless communication device, the satellite positioning information and the vehicle wireless communication information are obtained, and the traffic information is dynamically marked on the electronic map to realize driving assistance, so that the cost of the auxiliary driving system is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of rail locomotives, and in particular to an intelligent assisted driving method for rail locomotives and related equipment. Background Art

[0002] With the rapid development of urban rail transit, the safety and driving efficiency of tram locomotives have become the focus of attention. In the past, the driving of tram locomotives mainly relied on the driver's experience and judgment, but in the dark environment inside the track, the driver's vision was limited. When emergency braking is required, the driver's reaction is limited, which poses a safety hazard. Therefore, the introduction of advanced driver assistance systems (ADAS) and automatic driving systems on tram locomotives can help drivers deal with complex and changeable ground driving environments.

[0003] Existing locomotives usually use external environmental detection sensors to detect environmental data, which can easily cause damage to the ADAS system due to scratches and collisions during the technical process. At the same time, the use of sensors will increase the manufacturing cost of locomotives, thereby reducing the competitiveness of products. Therefore. In the field of locomotives, due to the high manufacturing and maintenance costs of existing intelligent assisted driving, the penetration rate of ADAS systems in locomotives is low. Summary of the invention

[0004] In view of this, the present application provides a method, device, electronic device and storage medium for intelligent assisted driving of a locomotive to solve the problem of low penetration rate of intelligent assisted driving.

[0005] The first aspect of the present application provides a method for intelligent assisted driving of a rail vehicle, the method comprising: Acquiring a first electronic map according to first satellite positioning information of the target locomotive obtained in real time; Acquiring first environmental information in the first electronic map through real-time vehicle wireless communication, wherein the first environmental information includes first sub-environmental information and second sub-environmental information; According to the first environmental information, dynamically marking road information in the first electronic map to generate a second electronic map; The first driving information of the target locomotive is recorded in real time, and assisted driving is performed according to the second electronic map, the first driving information and a preset assisted driving mode, wherein the assisted driving mode includes a first assisted driving mode and a second assisted driving mode.

[0006] In an optional implementation, the acquiring of the first electronic map according to the first satellite positioning information of the target locomotive obtained in real time includes: Acquiring destination satellite positioning information and initial satellite positioning information of the target rail locomotive; Performing coordinate fitting according to the destination satellite positioning information and the initial satellite positioning information to obtain a regional coordinate set; Acquire an electronic map of the region according to the regional coordinate set; The first satellite positioning information of the target locomotive is acquired in real time, and the first electronic map is acquired from the regional electronic map according to the first satellite positioning information and a preset display distance threshold.

[0007] In an optional implementation, the acquiring the first environmental information in the first electronic map through real-time vehicle wireless communication includes: Acquiring the first sub-environmental information of the rail locomotives around the target rail locomotive through real-time vehicle-to-vehicle wireless communication; The second sub-environment information of the target device is acquired according to the regional electronic map.

[0008] In an optional embodiment, the method further comprises: Driving road planning is performed in the regional electronic map according to the destination satellite positioning information and the first satellite positioning information.

[0009] In an optional implementation, the generating a second electronic map by dynamically marking road information in the first electronic map according to the first environmental information includes: Performing a first dynamic marking in the first electronic map according to the first sub-environment information and the first satellite positioning information; Performing a second dynamic marking in the first electronic map according to the second sub-environment information; A second electronic map is generated according to the first dynamic marker and the second dynamic marker.

[0010] In an optional embodiment, the real-time recording of the first driving information of the target locomotive and performing assisted driving according to the second electronic map, the first driving information and a preset assisted driving mode include: Determining a preset driving information type according to the first driving information, wherein the driving information type includes straight driving information and lane change driving information; When the first driving information is determined to be the straight driving information, performing assisted driving according to the second electronic map and the first assisted driving mode; When the first driving information is determined to be the lane change driving information, assisted driving is performed according to the second electronic map and the second assisted driving mode.

[0011] A second aspect of the present application provides an intelligent auxiliary driving device for a rail vehicle, the device comprising: A map acquisition module, used for acquiring a first electronic map according to first satellite positioning information of a target locomotive obtained in real time; A wireless communication module, used for acquiring first environmental information in the first electronic map through real-time vehicle wireless communication, wherein the first environmental information includes first sub-environment information and second sub-environment information; A map marking module, configured to mark the first electronic map with dynamic road information according to the first environmental information to generate a second electronic map; The assisted driving module is used to record the first driving information of the target locomotive in real time, and perform assisted driving according to the second electronic map, the first driving information and a preset assisted driving mode, wherein the assisted driving mode includes a first assisted driving mode and a second assisted driving mode.

[0012] In an optional embodiment, the device further comprises: The road planning module is used to plan a driving road in the regional electronic map according to the destination satellite positioning information and the first satellite positioning information.

[0013] The third aspect of the present application provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the above-mentioned method for intelligent assisted driving of a locomotive when executing the computer program.

[0014] A fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-mentioned method for intelligent assisted driving of a locomotive.

[0015] The present application provides a method for intelligent assisted driving of a tramcar and related equipment, which obtains the first satellite positioning information of the target tramcar in real time through a satellite positioning device, and obtains a first electronic map based on the first satellite positioning information, and simultaneously obtains the first environmental information in real time through a vehicle wireless communication device, thereby dynamically marking road information in the first electronic map based on the first environmental information to generate a second electronic map, and recording the first driving information of the target tramcar during driving in real time, thereby performing assisted driving based on the first driving information, the second electronic map, and a preset assisted driving method. The present application uses a common satellite positioning device and a vehicle wireless communication device to obtain satellite positioning information and vehicle wireless communication information to dynamically mark traffic information on an electronic map to achieve intelligent driving assistance, thereby reducing the cost of the intelligent assisted driving system and improving the popularity of intelligent assisted driving technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 is a flow chart of a method for intelligent assisted driving of a rail vehicle provided in an embodiment of the present application; Figure 2 It is a functional module diagram of an intelligent auxiliary driving device for a rail locomotive provided in an embodiment of the present application; Figure 3 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0019] like Figure 1 The figure is a flow chart of the intelligent assisted driving method for a locomotive provided in the embodiment of the present application. The intelligent assisted driving method for a locomotive provided in the embodiment of the present application comprises the following steps.

[0020] Step S11, acquiring a first electronic map according to first satellite positioning information of a target locomotive obtained in real time.

[0021] It should be understood that the target locomotive is equipped with a satellite positioning system, such as the Global Positioning System (GPS), the Beidou satellite positioning system, and the Galileo satellite positioning system. The following will be explained using a target locomotive equipped with a GPS system. The current satellite positioning information of the locomotive is obtained in real time through a GPS receiver mounted on the locomotive. In an optional embodiment, the target locomotive may also be equipped with an inertial navigation system (INS), which can complement each other in combination with the satellite positioning information to provide the target locomotive with more accurate and stable coordinate position data. Among them, the satellite positioning information may include but is not limited to the longitude, latitude, altitude and other three-dimensional spatial coordinate information of the locomotive, thereby ensuring the all-round and high-precision position of the target locomotive. Among them, the first satellite positioning information is the real-time satellite coordinate information of the target locomotive during driving.

[0022] For example, when encountering areas such as tunnels and viaducts where GPS signals are weak or cannot be received, INS can calculate the current position of the target locomotive through information such as the locomotive's acceleration and angular velocity, thereby complementing the GPS information to ensure the continuity and accuracy of positioning.

[0023] In an optional implementation, the acquiring of the first electronic map according to the first satellite positioning information of the target locomotive obtained in real time includes: Acquiring destination satellite positioning information and initial satellite positioning information of the target rail locomotive; Performing coordinate fitting according to the destination satellite positioning information and the initial satellite positioning information to obtain a regional coordinate set; Acquire an electronic map of the region according to the regional coordinate set; The first satellite positioning information of the target locomotive is acquired in real time, and the first electronic map is acquired from the regional electronic map according to the first satellite positioning information and a preset display distance threshold.

[0024] The intelligent auxiliary driving device for locomotives in the present application obtains the satellite coordinates of the destination according to the destination information input by the driver in the device. And according to the initial satellite coordinates of the target locomotive, the regional range on each spatial coordinate is respectively fitted in each direction of the three-dimensional space, and the regional coordinate set that meets the regional range requirements is screened out according to the regional range, and then the regional electronic map is loaded from the transportation network according to the regional coordinate set and the regional electronic map is temporarily stored. The device takes the first satellite positioning information as the midpoint, and screens out the area that needs to be displayed from the regional electronic map according to the preset display distance threshold to form a first electronic map.

[0025] For example, the driver enters a destination B in the device, where the coordinates of B are latitude: 30 o , longitude: 45 o , the initial coordinates of the target locomotive are latitude: 30.125 o , longitude: 45.63 o Therefore, the regional coordinate set obtained by the device is the latitude belonging to [30 o ,30.125 o ], longitude belongs to [45 o ,45.63 o ]. The device loads and temporarily stores a regional electronic map containing all regional coordinate sets according to the regional coordinate set. At the same time, the display distance threshold preset in the device is 5 kilometers, and the device selects a display area from the regional electronic map as the first electronic map according to the first satellite positioning information updated in real time during the driving of the target rail locomotive.

[0026] The regional coordinate set is obtained through coordinate fitting, so as to load the corresponding regional electronic map, which reduces the response time of the navigation system and also reduces the demand for storage space.

[0027] In an optional embodiment, the method further comprises: Driving road planning is performed in the regional electronic map according to the destination satellite positioning information and the first satellite positioning information.

[0028] Combined with the target locomotive's direction of travel and current satellite positioning information, the target locomotive's current lane and road are marked in the regional electronic map. Then, by combining the direction of travel and the preset target location, the accessible routes are displayed in the regional electronic map, thereby providing a variety of optional paths for drivers to choose from to meet different preferences and needs. Considering that the driver may need to stop or pass by a specific location along the way, providing a variety of path options can enhance the driving experience and convenience.

[0029] Step S12: acquiring first environmental information in the first electronic map through real-time vehicle wireless communication.

[0030] The target locomotive is also equipped with an on-board unit (OBU) with vehicle-to-everything (V2X) wireless communication technology. The target locomotive communicates with surrounding locomotives, traffic devices, and road condition cloud systems in real time through the V2X system to obtain information about the target locomotive's external driving environment.

[0031] It should be understood that by using on-board communication equipment, such as an on-board communication module or on-board communication unit, the communication network (such as LTE-V2X or 5G) carried by the locomotive can communicate with other locomotives, transportation infrastructure or cloud servers to exchange wireless communication information consisting of locomotive status, traffic information and other data. It should be understood that wireless communication information plays a vital role in the driving of the target locomotive. Therefore, in order to ensure that the wireless communication information is not tampered with, specific communication protocols and standards need to be used between V2X communication devices, such as the communication protocols defined by IEEE 802.11p, LTE-V2X or 3GPP.

[0032] V2X communication is based on wireless communication technologies such as Wi-Fi, cellular networks (such as 4G and 5G), and dedicated short-range communications (such as DSRC and C-V2X). These technologies enable rail locomotives to establish reliable communication links and transmit and receive data in real time. In V2X communication, each rail locomotive has a unique identifier (such as license plate number, rail locomotive identification code, etc.) to distinguish different rail locomotives. When the target rail locomotive communicates with multiple surrounding rail locomotives, each rail locomotive sending information will include its own identifier in the information so that the target rail locomotive can identify the source of the information.

[0033] Among them, V2X communication includes communication between locomotives (Vehicle-to-Vehicle, V2V), communication between locomotives and traffic equipment (Vehicle-to-Infrastructure, V2I), communication between locomotives and pedestrians (Vehicle-to-Pedestrian, V2P) and communication between locomotives and public networks (Vehicle-to-Network, V2N). The first environmental information can be labeled and classified according to needs so that the device of this application can adopt a more targeted and effective data processing method for each data, and this application does not impose any restrictions. In the following, this application is roughly divided into the first sub-environment information and the second sub-environment information based on the difference between the target locomotive and the communication object.

[0034] In an optional implementation, the acquiring the first environmental information in the first electronic map through real-time vehicle wireless communication includes: Acquiring the first sub-environmental information of the rail locomotives around the target rail locomotive through real-time vehicle-to-vehicle wireless communication; The second sub-environment information of the target device is acquired according to the regional electronic map.

[0035] The first sub-environmental information is V2V communication. Through V2V communication, the target locomotive exchanges relevant information and data with surrounding locomotives, including but not limited to satellite coordinates, speed, driving direction, driving, acceleration, and lighting operation. When the surrounding locomotives are equipped with cameras and other sensors, the target locomotive can also obtain driving environment information captured in real time by the surrounding locomotives through V2V communication, such as road conditions, traffic conditions, pedestrians and obstacles, etc.

[0036] Among them, the second sub-environment information is V2I communication and V2N communication. Through V2I communication, the target locomotive queries the relevant data of the traffic facilities within the scope of the first electronic map, such as the signal of the traffic light, the real-time picture captured by the intersection camera, the location of the speed camera and the speed limit of the current lane. Through V2N communication, the target locomotive can obtain traffic data within the scope of the first electronic map, such as the location and price information of the gas station, the location of the charging station, the number of vacant charging spaces and the price of each time period, the location of the parking lot and the price of each time period, and the current road restriction information.

[0037] Through V2X communication, the target locomotive can obtain the status information of surrounding locomotives in real time, so as to predict the potential risk of collision in advance and take corresponding preventive measures. V2X communication also allows the target locomotive to exchange information with traffic facilities and public networks, so as to more accurately understand the traffic conditions in the direction of travel, thus providing the device with accurate road conditions and traffic environment information.

[0038] Step S13: dynamically marking road information in the first electronic map according to the first environmental information to generate a second electronic map.

[0039] Road information marks are divided into first dynamic marks and second dynamic marks. When the device of the present application receives the first sub-environment information, it performs a first dynamic mark on the target locomotive and the surrounding locomotives in the first electronic map according to the satellite positioning information therein, and displays information including but not limited to speed, driving direction, and acceleration on the corresponding locomotive mark. When the second sub-environment information is received, the location of the target device is performed a second dynamic mark according to the second sub-environment information, and the relevant information is marked on the corresponding target device mark. Through the first dynamic mark and the second dynamic mark, the device of the present application generates a second electronic map based on the first electronic map in combination with the road condition information and the traffic environment information.

[0040] It should be understood that when the target locomotive is equipped with a human-machine interface (HMI) and displays the second electronic map to the driver through the HMI device, the first dynamic mark information will be updated and displayed in real time in the second electronic map. The second dynamic mark information will be updated in real time the day after tomorrow, and the second dynamic mark information will be displayed on the second electronic map only when the target locomotive meets the preset display conditions.

[0041] For example, when the target tram vehicle travels to the corresponding intersection, the device of the present application will display to the driver the intersection's real-time updates in the background, including but not limited to traffic light information, intersection speed limit, and the second dynamic marking information of the intersection monitoring face-changing light when the target tram vehicle approaches the intersection.

[0042] Step S14, recording the first driving information of the target locomotive in real time, and performing assisted driving according to the second electronic map, the first driving information and a preset assisted driving mode, wherein the assisted driving mode includes a first assisted driving mode and a second assisted driving mode.

[0043] The device of the present application records the driver's operating instructions for the target locomotive (i.e., the first driving information) in real time while acquiring the second electronic map information. The first driving information includes, but is not limited to, lighting information, throttle and brake information, and gear information. The first driving information is preset to be divided into straight driving information and lane change driving information according to the locomotive movement of the target locomotive.

[0044] When the turn signal is not received, the current first driving information is determined to be straight driving information. The device of the present application preferentially displays and reminds the locomotive information and road condition information in front of the target locomotive according to the preset first auxiliary driving mode. For example, the speed and distance of the locomotive in front of the same lane are highlighted, and the dynamic prediction and analysis of the driving direction of the locomotive in front is performed based on V2V communication to avoid driving safety problems caused by sudden braking and illegal lane changes of the locomotive in front.

[0045] When a turn signal is received, it is determined that the current first driving information is lane change driving information. The device of the present application prioritizes displaying the dynamic information of the front and rear locomotives on the target lane according to the preset second auxiliary driving mode and performs lane keeping driving intervention when the lane change conditions are not met. Exemplarily, the target locomotive changes lanes to the left and turns on the turn signal in advance. The device of the present application prioritizes displaying the speed of the locomotives located in front and behind the target locomotive in the left lane and the distance between the front and rear locomotives in the left lane. When the speed of the target locomotive is lower than the locomotive behind the left side or the distance between the front and rear vehicles on the left side is lower than the preset safe lane change distance, the device of the present application will remind the driver according to the preset alarm method, and intervene in the control of the steering gear to stabilize the body of the target locomotive and keep it driving in the current lane.

[0046] This application is applied to the intelligent assisted driving system, and the location information and other relevant communication data of the target locomotive are obtained through the satellite positioning device and vehicle wireless communication equipment that are necessary in the current locomotive, and the first electronic map is obtained in real time using the first satellite positioning information of the target locomotive, so as to mark the road condition information and road information on the first electronic map using the first satellite positioning information and vehicle wireless communication information of the target locomotive, generate a second electronic map, and provide intelligent assisted driving with functions such as navigation, real-time traffic information, road condition, etc. based on the second electronic map and the preset driving prompt method. Thereby reducing the installation and maintenance costs of the intelligent assisted driving device, and improving the popularity of intelligent assisted driving technology.

[0047] like Figure 2 , which is a functional module diagram of an intelligent auxiliary driving device for a rail locomotive provided in an embodiment of the present application.

[0048] In some embodiments, the intelligent auxiliary driving device 2 for locomotives may include a plurality of functional modules composed of computer program segments. The computer programs of the various program segments in the intelligent auxiliary driving device 2 for locomotives may be stored in a memory of an electronic device and executed by at least one processor to execute (see Figure 1 (Describe) the functions of the intelligent assisted driving method for rail locomotive.

[0049] In this embodiment, the locomotive intelligent auxiliary driving device 2 can be divided into multiple functional modules according to the functions it performs. The functional modules may include: a map acquisition module 21, a wireless communication module 22, a map marking module 23, an auxiliary driving module 24 and a road planning module 25. The module referred to in the present invention refers to a series of computer program segments that can be executed by at least one processor and can complete fixed functions, which are stored in a memory. In this embodiment, the functions of each module will be described in detail in subsequent embodiments.

[0050] The map acquisition module 21 is used to acquire a first electronic map according to first satellite positioning information of a target locomotive obtained in real time.

[0051] In an optional implementation, the map acquisition module 21 is specifically used for: Acquiring destination satellite positioning information and initial satellite positioning information of the target rail locomotive; Performing coordinate fitting according to the destination satellite positioning information and the initial satellite positioning information to obtain a regional coordinate set; Acquire an electronic map of the region according to the regional coordinate set; The first satellite positioning information of the target locomotive is acquired in real time, and the first electronic map is acquired from the regional electronic map according to the first satellite positioning information and a preset display distance threshold.

[0052] The wireless communication module 22 is used to obtain the first environment information in the first electronic map through real-time vehicle wireless communication, wherein the first environment information includes first sub-environment information and second sub-environment information.

[0053] In an optional implementation, the wireless communication module 22 is specifically used for: Acquiring the first sub-environmental information of the rail locomotives around the target rail locomotive through real-time vehicle-to-vehicle wireless communication; The second sub-environment information of the target device is acquired according to the regional electronic map.

[0054] The map marking module 23 is used to mark the first electronic map with dynamic road information according to the first environmental information to generate a second electronic map.

[0055] In an optional implementation, the map marking module 23 is specifically used for: Performing a first dynamic marking in the first electronic map according to the first sub-environment information and the first satellite positioning information; Performing a second dynamic marking in the first electronic map according to the second sub-environment information; A second electronic map is generated according to the first dynamic marker and the second dynamic marker.

[0056] The assisted driving module 24 is used to record the first driving information of the target locomotive in real time, and perform assisted driving according to the second electronic map, the first driving information and a preset assisted driving mode, wherein the assisted driving mode includes a first assisted driving mode and a second assisted driving mode.

[0057] In an optional embodiment, the auxiliary driving module 24 is specifically used for: Determining a preset driving information type according to the first driving information, wherein the driving information type includes straight driving information and lane change driving information; When the first driving information is determined to be the straight driving information, performing assisted driving according to the second electronic map and the first assisted driving mode; When the first driving information is determined to be the lane change driving information, assisted driving is performed according to the second electronic map and the second assisted driving mode.

[0058] In an optional embodiment, the locomotive intelligent auxiliary driving device 2 further includes a road planning module 25, and the road planning module 25 is specifically used for: Driving road planning is performed in the regional electronic map according to the destination satellite positioning information and the first satellite positioning information.

[0059] It should be understood that the various variations and specific embodiments of the methods provided in the above embodiments are also applicable to the intelligent assisted driving device for a locomotive in the present embodiment. Through the above detailed description of the intelligent assisted driving method for a locomotive, those skilled in the art can clearly understand the implementation method of the intelligent assisted driving device for a locomotive in the present embodiment. For the sake of brevity, it will not be described in detail here.

[0060] like Figure 3 , which is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0061] In a preferred embodiment of the present invention, the electronic device 3 may include, but is not limited to: a memory 31 , at least one processor 32 and at least one communication bus 33 .

[0062] Those skilled in the art should understand that Figure 3 The structure of the electronic device 3 shown does not constitute a limitation of the embodiment of the present invention, and the electronic device 3 may also include more or less other hardware or software than shown in the figure, or a different arrangement of components.

[0063] In some embodiments, the electronic device 3 is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application-specific integrated circuits, programmable gate arrays, digital processors and embedded devices.

[0064] It should be noted that the electronic device 3 is only an example, and other existing or future electronic products that are suitable for the present application should also be included in the protection scope of the present application and included here by reference.

[0065] In some embodiments, the memory 31 stores a computer program, and when the computer program is executed by the at least one processor 32, all or part of the steps in the intelligent assisted driving method of a rail vehicle are implemented. The memory 31 includes a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc memory, magnetic disk memory, magnetic tape memory, or any other computer-readable medium that can be used to carry or store data. Further, the computer-readable storage medium may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function, and the like.

[0066] In some embodiments, the at least one processor 32 is the control core (ControlUnit) of the electronic device 3, and uses various interfaces and lines to connect various components of the entire electronic device 3, and executes various functions and processes data of the electronic device 3 by running or executing programs or modules stored in the memory 31, and calling data stored in the memory 31. For example, when the at least one processor 32 executes the computer program stored in the memory 31, it implements all or part of the steps of the intelligent assisted driving method of a locomotive described in the embodiment of the present application; or implements all or part of the functions of the intelligent assisted driving device of a locomotive. The at least one processor 32 can be composed of an integrated circuit, for example, it can be composed of a single packaged integrated circuit, or it can be composed of multiple integrated circuits with the same or different functions, including one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and a combination of various control chips.

[0067] In some embodiments, the at least one communication bus 33 is configured to realize the connection and communication between the memory 31 and the at least one processor 32. Although not shown, the electronic device 3 may also include a power supply (such as a battery) for powering each component. Preferably, the power supply may be logically connected to the at least one processor 32 through a power management device, so as to realize the functions of managing charging, discharging, and power consumption management through the power management device. The power supply may also include any components such as one or more DC or AC power supplies, recharging devices, power failure detection circuits, power converters or inverters, power status indicators, etc. The electronic device 3 may also include a variety of sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be repeated here.

[0068] The above-mentioned integrated unit implemented in the form of a software function module can be stored in a computer-readable storage medium. The above-mentioned software function module is stored in a storage medium, including a number of instructions for enabling an electronic device (which can be a personal computer, electronic device, or network device, etc.) or a processor to execute part of the method described in each embodiment of the present application.

[0069] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative, for example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation.

[0070] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, and may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0071] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method for intelligent assisted driving of a rail vehicle, characterized in that: The method comprises: Acquiring a first electronic map according to first satellite positioning information of the target locomotive obtained in real time; Acquiring first environmental information in the first electronic map through real-time vehicle wireless communication, wherein the first environmental information includes first sub-environmental information and second sub-environmental information; According to the first environmental information, dynamically marking road information in the first electronic map to generate a second electronic map; The first driving information of the target locomotive is recorded in real time, and assisted driving is performed according to the second electronic map, the first driving information and a preset assisted driving mode, wherein the assisted driving mode includes a first assisted driving mode and a second assisted driving mode.

2. The intelligent assisted driving method for a rail vehicle according to claim 1, characterized in that: The step of acquiring the first electronic map according to the first satellite positioning information of the target locomotive obtained in real time comprises: Acquiring destination satellite positioning information and initial satellite positioning information of the target rail locomotive; Performing coordinate fitting according to the destination satellite positioning information and the initial satellite positioning information to obtain a regional coordinate set; Acquire an electronic map of the region according to the regional coordinate set; The first satellite positioning information of the target locomotive is acquired in real time, and the first electronic map is acquired from the regional electronic map according to the first satellite positioning information and a preset display distance threshold.

3. The intelligent assisted driving method for a rail vehicle according to claim 2, characterized in that: The obtaining of the first environmental information in the first electronic map through real-time vehicle wireless communication includes: Acquiring the first sub-environmental information of the rail locomotives around the target rail locomotive through real-time vehicle-to-vehicle wireless communication; The second sub-environment information of the target device is acquired according to the regional electronic map.

4. The intelligent assisted driving method for a rail vehicle according to claim 2, characterized in that: The method further comprises: Driving road planning is performed in the regional electronic map according to the destination satellite positioning information and the first satellite positioning information.

5. The intelligent assisted driving method for a rail vehicle according to claim 3, characterized in that: The generating a second electronic map by dynamically marking the road information in the first electronic map according to the first environmental information comprises: Performing a first dynamic marking in the first electronic map according to the first sub-environment information and the first satellite positioning information; Performing a second dynamic marking in the first electronic map according to the second sub-environment information; A second electronic map is generated according to the first dynamic marker and the second dynamic marker.

6. The intelligent assisted driving method for a rail vehicle according to claim 1, characterized in that: The real-time recording of the first driving information of the target locomotive and performing assisted driving according to the second electronic map, the first driving information and a preset assisted driving method include: Determining a preset driving information type according to the first driving information, wherein the driving information type includes straight driving information and lane change driving information; When the first driving information is determined to be the straight driving information, performing assisted driving according to the second electronic map and the first assisted driving mode; When the first driving information is determined to be the lane change driving information, assisted driving is performed according to the second electronic map and the second assisted driving mode.

7. An intelligent auxiliary driving device for a rail locomotive, characterized in that: The device comprises: A map acquisition module, used for acquiring a first electronic map according to first satellite positioning information of a target locomotive obtained in real time; A wireless communication module, used for acquiring first environmental information in the first electronic map through real-time vehicle wireless communication, wherein the first environmental information includes first sub-environment information and second sub-environment information; A map marking module, configured to mark the first electronic map with dynamic road information according to the first environmental information to generate a second electronic map; The assisted driving module is used to record the first driving information of the target locomotive in real time, and perform assisted driving according to the second electronic map, the first driving information and a preset assisted driving mode, wherein the assisted driving mode includes a first assisted driving mode and a second assisted driving mode.

8. The intelligent auxiliary driving device for a rail vehicle according to claim 7, characterized in that: The driving device also includes: The road planning module is used to plan a driving road in the regional electronic map according to the destination satellite positioning information and the first satellite positioning information.

9. An electronic device, characterized in that: The electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the intelligent assisted driving method for a locomotive according to any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for intelligent assisted driving of a rail vehicle according to any one of claims 1 to 6 are implemented.

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