Dormancy management method of train, electronic equipment and storage medium

Abstract

The invention relates to the field of rail transit, in particular to a train sleep management method, electronic equipment and a storage medium. A self-positioning device is arranged at the end of the train, and the method comprises the steps that under the condition that a sleep instruction is received, position information is obtained through the self-positioning device; the train is positioned according to the position information; and the position of the train is sent to dormant train management equipment, and the train is controlled to be dormant.

Description

Technical Field

[0001] The present disclosure relates to the field of rail transit, and more specifically, to a sleep management method, electronic device and storage medium for a train. Background Art

[0002] At present, in the rail transit industry, trains generally adopt the sleep wake-up transponder solution when they are asleep and awakened. First, after the train returns to the depot and stops at the position of the sleep wake-up transponder, it saves the positioning information sent by the sleep wake-up transponder and enters the sleep state. After that, after the train is powered on by the remote wake-up command, the positioning information saved before sleep and the information of the sleep wake-up transponder read after awakening are checked for consistency to ensure that sleep and awakening are at the same position.

[0003] However, the above solution requires that the train must stop accurately at a designated location before going into sleep mode, and stop at the location of the sleep wake-up transponder. If accurate parking cannot be guaranteed for a short parking space, sleep wake-up cannot be performed. Summary of the invention

[0004] The embodiments of the present disclosure provide a train sleep management method, an electronic device, and a storage medium, which can solve the problem of the train needing to stop accurately before sleeping.

[0005] According to one aspect of the present disclosure, a dormancy management method for a train is provided, wherein the train is provided with an autonomous positioning device, and the method comprises:

[0006] When receiving the sleep instruction, obtaining the location information through the autonomous positioning device;

[0007] Positioning the train according to the position information;

[0008] The position of the train is sent to a dormant train management device, and the train is controlled to go dormant.

[0009] Optionally, when receiving the sleep instruction, obtaining the location information through the autonomous positioning device includes:

[0010] The first position coordinates of the train in the local city coordinate system are determined by the positioning data of the positioning sensor in the autonomous positioning device and a preset algorithm.

[0011] Optionally, the positioning the train according to the position information includes:

[0012] Matching the first position coordinate with a plurality of pre-configured position coordinates, wherein the plurality of position coordinates are determined based on a global navigation satellite system;

[0013] When the distance between the first position coordinate and a second position coordinate among the plurality of position coordinates is within a preset range, determining a track segment and an offset corresponding to the second position coordinate;

[0014] The position of the train is determined based on the track segment and offset corresponding to the second position coordinates.

[0015] Optionally, the positioning the train according to the position information includes:

[0016] Determining a projection position of the first position coordinate on the train line;

[0017] Comparing the projection position with electronic map data to determine the track section and offset corresponding to the projection position;

[0018] The track segment and offset corresponding to the projection position are used as the position of the train.

[0019] Optionally, autonomous positioning equipment is provided at the ends of the train, the ends including a head end and a tail end, and the first position coordinates include at least one of the head end coordinates and the tail end coordinates of the train.

[0020] Optionally, when there are multiple autonomous positioning devices at the same end of the train, determining the first position coordinates of the train in the local city coordinate system by using positioning data of the positioning sensor in the autonomous positioning device and a preset algorithm includes:

[0021] Determine the third position coordinates of each autonomous positioning device at the same end in the local city coordinate system through the positioning data of the positioning sensor in the autonomous positioning device and a preset algorithm;

[0022] respectively calculating the difference between each third position coordinate and the remaining third position coordinates;

[0023] When the first difference is less than a preset threshold, any of the third position coordinates corresponding to the first difference is used as the first position coordinate of the train in the local coordinate system of the city, and the first difference is any one of the differences between each of the third position coordinates and the remaining third position coordinates;

[0024] When the differences between each third position coordinate and the remaining third position coordinates are all greater than the preset threshold, the third position coordinates of each autonomous positioning device at the same end in the local city coordinate system are determined again through the positioning data of the positioning sensor in the autonomous positioning device and the preset algorithm.

[0025] Optionally, the positioning sensor includes at least one of a global navigation satellite system positioning device, an inertial sensor, a wheel speed meter, a laser radar, and an image sensor, and the preset algorithm includes a SLAM algorithm.

[0026] Optionally, the dormant train management device is used to send the actual position to other trains after the train goes dormant, so as to prevent other trains from conflicting with the dormant train.

[0027] Optionally, after determining the first position coordinates of the train in the city local coordinate system, the method further comprises:

[0028] The first position coordinates are compensated according to the distance between the location where the autonomous positioning device is set and the vehicle end corresponding to the autonomous positioning device.

[0029] Optionally, the method further comprises:

[0030] When receiving the wake-up command, obtaining the location information through the autonomous positioning device;

[0031] Positioning the train according to the position information;

[0032] The actual position and registration information of the train are sent to the dormant vehicle management device, and the train is controlled to wake up.

[0033] According to a second aspect of the present disclosure, an electronic device is provided, including a processor and a memory, wherein the memory stores computer instructions, and when the computer instructions are executed by the processor, the steps of any one of the methods described in the first aspect are implemented.

[0034] According to a third aspect of the present disclosure, there is provided a storage medium on which computer instructions are stored, and when the computer instructions are executed by a processor, the steps of any one of the methods described in the first aspect are implemented.

[0035] One of the technical effects of the present disclosure is that a method for managing train sleepiness is provided. When a sleep instruction is received, the train can be located by obtaining position information through an autonomous positioning device arranged at the end of the train, and the position of the train is sent to a sleep car management device to control the train to sleep. In the above manner, the train can determine its own position at any time through the autonomous positioning device, and report the position so that the sleep car management device can manage it, so that the train can sleep anytime and anywhere, solving the problem of the need for precise parking before the train sleeps. In addition, there is no need to set up additional transponders in the track, thereby reducing the overall cost.

[0036] Other features and advantages of the embodiments of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings, which constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the embodiments of the present disclosure.

[0038] Figure 1 is a flow chart of a sleep management method for a train according to an embodiment;

[0039] Figure 2 is a schematic diagram of an electronic device according to an embodiment. DETAILED DESCRIPTION

[0040] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0041] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0042] Techniques and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the techniques and equipment should be considered part of the specification.

[0043] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0044] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0045] The embodiment of the present application discloses a sleep management method for a train, which can be applied to a VOBC (Vehicle on-board controller) of a train. The train is provided with an autonomous positioning device, such as Figure 2 As shown, it includes steps S11 to S13.

[0046] Step S11, when receiving the sleep instruction, obtaining the location information through the autonomous positioning device.

[0047] In this embodiment, the train can communicate with an ATS (Automatic train supervision system) and receive various instructions issued by the ATS based on the communication, such as a sleep instruction, a wake-up instruction, etc.

[0048] In an embodiment of the present application, the autonomous positioning device can be set at the end of the train, that is, at both ends of the train. The number of autonomous positioning devices can be set according to actual needs. For example, only one autonomous positioning device can be set at the front end of the train, or multiple positioning devices can be set at each end.

[0049] In an example of this embodiment, a positioning sensor may be provided in the autonomous positioning device, and the positioning sensor includes at least one of a global navigation satellite system positioning device, an inertial sensor, a wheel speed meter, a laser radar, and an image sensor.

[0050] The autonomous positioning device can be equipped with one or more positioning sensors as needed, including GNSS (Global Navigation Satellite System) equipment, which can receive signals from multiple satellites for positioning, inertial sensors can provide the train's attitude information and speed information, laser radar can provide high-precision environmental map information, cameras can capture images of the surrounding environment, and wheel speed meters can obtain the speed and displacement of the train. Through the above sensors, the autonomous positioning device can locate and obtain the position. The autonomous positioning device can obtain sensor information through the above positioning sensors.

[0051] In this embodiment, when a sleep instruction is received, location information is obtained through an autonomous positioning device, including: determining the first position coordinates of the train in the local coordinate system of the city through the positioning data of the positioning sensor in the autonomous positioning device and a preset algorithm.

[0052] In this embodiment, the preset algorithm may be a SLAM (Simultaneous Localization and Mapping) algorithm.

[0053] In one example, the train is equipped with an autonomous positioning device, and the sensors in the device can collect sensor data and process the data through the SLAM algorithm. For example, the global navigation satellite system positioning device provides basic geographic location coordinates, including longitude, latitude and altitude. Inertial sensors provide vehicle attitude and acceleration information. By fusing with GNSS data, the accuracy and stability of positioning can be further improved. The wheel speed meter is used to provide vehicle speed and distance information, which is very helpful for positioning supplement in areas with poor GNSS signals. LiDAR and image sensors are used to build a three-dimensional model of the surrounding environment. Through SLAM technology, the train's position and posture can be estimated in real time, and a map of the environment can be constructed. After obtaining these multiple information, data fusion and coordinate conversion are required. It can be converted into position coordinates in the local coordinate system of the city through 7-parameter conversion.

[0054] In an embodiment of the present application, the first position coordinates include at least one of the train head end coordinates and the train tail end coordinates.

[0055] When determining the first position coordinates of the train, the position coordinates of only one of the front end or the rear end of the train can be determined, that is, determined by the autonomous positioning device set in the section in the aforementioned manner, and the position of the other end can be determined based on the length information of the train. Alternatively, the position coordinates of both ends can be determined synchronously by the autonomous positioning devices at both ends of the train.

[0056] In an example of this embodiment, after determining the first position coordinates of the train in the local coordinate system of the city, the method further includes: compensating the first position coordinates according to the distance between the position where the autonomous positioning device is set and the vehicle end corresponding to the autonomous positioning device.

[0057] The location of the autonomous positioning device may still have a small distance and error from the head end. In one example, when determining the position coordinates of the vehicle, additional compensation can be made based on the distance from the location of the autonomous positioning device to the corresponding vehicle end. This distance can be measured in advance when the autonomous positioning device is set on the train.

[0058] In an example of the present embodiment, when there are multiple autonomous positioning devices at the same end of a train, the first position coordinates of the train in the local city coordinate system are determined through the positioning data of the positioning sensors in the autonomous positioning devices and a preset algorithm, including: determining the third position coordinates of each autonomous positioning device at the same end in the local city coordinate system through the positioning data of the positioning sensors in the autonomous positioning devices and a preset algorithm; respectively calculating the difference between each third position coordinate and the remaining third position coordinates; when the first difference is less than a preset threshold, taking any third position coordinate corresponding to the first difference as the first position coordinate of the train in the local city coordinate system, the first difference being any one of the differences between each third position coordinate and the remaining third position coordinates; when the differences between each third position coordinate and the remaining third position coordinates are all greater than the preset threshold, re-determining the third position coordinates of each autonomous positioning device at the same end in the local city coordinate system through the positioning data of the positioning sensors in the autonomous positioning devices and a preset algorithm.

[0059] In one example, when there are multiple autonomous positioning devices at the front or rear end of the train, the position coordinates of each autonomous positioning device in the local coordinate system of the city can be determined by the positioning sensor and preset algorithm in each autonomous positioning device. After that, the difference between each third position coordinate and the remaining position coordinates can be calculated. For example, there are three autonomous positioning devices at the front of the train, the position coordinate obtained by positioning device 1 is A, the position coordinate obtained by device 2 is B, and the position coordinate obtained by device 3 is C. At this time, the difference between the coordinates of A and B, C and B and C can be calculated respectively, that is, the distance between them. When any difference is less than the preset threshold, it proves that the positioning of at least two positioning devices is relatively close, and the two positionings are relatively accurate. One position coordinate can be selected as the position coordinate of the train in the local coordinate system of the city. Among all the differences, when none is less than the preset threshold, that is, when all the differences are greater than or equal to the preset threshold, the position coordinates in the positioning sensor can be obtained again through the autonomous positioning device and the third position coordinate can be determined through the above steps.

[0060] In another example, when all the differences are less than the preset threshold, any third position coordinate can be used as the first position coordinate of the local city coordinate system. For example, when any difference is greater than the threshold, it proves that the position coordinate obtained by a certain autonomous positioning device has a large error. At this time, the position coordinate in the positioning sensor can be obtained again through the autonomous positioning device and re-determined. When all the differences are less than the preset threshold, it proves that the position coordinate of each positioning sensor is relatively accurate. At this time, any position coordinate can be selected as the position coordinate of the train in the local city coordinate system.

[0061] In one example, when there is only one autonomous positioning device at the vehicle end of a train, the position coordinates obtained by the device can be directly used as the position coordinates of the train.

[0062] Step S12, positioning the train according to the position information.

[0063] In an example of this embodiment, positioning a train according to position information includes: matching a first position coordinate with a plurality of preconfigured position coordinates, wherein the plurality of position coordinates are determined based on a global navigation satellite system; determining a track segment and an offset corresponding to the second position coordinate when a distance between the first position coordinate and a second position coordinate among the plurality of position coordinates is within a preset range; and determining the position of the train according to the track segment and the offset corresponding to the second position coordinate.

[0064] In one example, after determining the first position coordinate of the train, the first position coordinate can be matched with a plurality of pre-configured position coordinates, and the distances between the first position coordinate and the plurality of position coordinates can be calculated respectively. When the distances are within a preset range, the position of the corresponding position coordinate can be determined to be the position of the train, and the track segment and offset corresponding to the position coordinate can be further determined. In this example, the pre-configured coordinates can be GNSS coordinates, and the coordinates and the corresponding track segment and offset can be pre-stored in an electronic map.

[0065] In this example, the track section and offset corresponding to the train position can be determined by preselecting and storing GNSS coordinates and matching the GNSS coordinates with the first position coordinates of the train, so as to manage the dormant train later. In addition, the error that the first position coordinates of the train deviate and do not fall on the track can be eliminated.

[0066] In an example of this embodiment, positioning a train based on position information includes: determining a projection position of a first position coordinate on the train line; comparing the projection position with electronic map data to determine a track segment and offset corresponding to the projection position; and using the track segment and offset corresponding to the projection position as the position of the train.

[0067] In one example, after determining the position coordinates of the train in the local city coordinate system, the coordinate system can be projected onto the train line, and then the track segment and offset corresponding to the projected position can be found in the electronic map data as the train position.

[0068] In this embodiment, when determining the track section and offset of the train, it can also be considered whether the vehicle position has changed during the period when the autonomous positioning device determines the position information and sends it to VOBC to determine the position of the train. For example, the speed of the train during this period can be determined by the train's speed sensor, and the train's position change can be determined based on the train speed and time, and the train's position can be corrected when the train's position is determined.

[0069] Step S13, sending the position of the train to the dormant car management device, and controlling the train to go dormant.

[0070] In one example, the dormant train management device is used to send the actual position of the train to other trains after the train goes dormant, so as to prevent other trains from conflicting with the dormant train.

[0071] In one example, after the train is positioned, a communication connection may be established in advance with the corresponding OC based on the position of the train.

[0072] After locating the train, the train's location can be sent to a dormant vehicle management device. In this embodiment, the dormant vehicle management device can be an OC (Object controller). In this embodiment, the train's location, such as the track segment and offset, can be sent to the OC so that the OC can store and manage it. For example, when the communication between the train and the OC is interrupted, it can be determined that the train has successfully gone dormant. The OC can send the parking position of the dormant train to all vehicles it manages to prevent other trains from colliding with the dormant train.

[0073] In this embodiment, a train sleep management method is provided. When a sleep instruction is received, the train can be located by obtaining position information through an autonomous positioning device installed at the end of the train, and the train position is sent to a sleep car management device to control the train to sleep. In the above manner, the train can determine its own position at any time through the autonomous positioning device and report the position to the sleep car management device for management, so that the train can sleep anytime and anywhere, solving the problem of precise parking before the train sleeps. In addition, there is no need to set up additional transponders in the track, thereby reducing the overall cost.

[0074] In an example of this embodiment, the method also includes: when a wake-up command is received, obtaining location information through an autonomous positioning device; locating the train according to the location information; sending the actual location and registration information of the train to the dormant car management device, and controlling the train to wake up.

[0075] In this example, after the train goes into sleep mode, if it receives a wake-up command, the train can use the autonomous positioning device to locate itself according to the method of the aforementioned embodiment. At the same time, the actual position and registration information of the train are sent to the corresponding dormant car management device, i.e., OC. When the device determines that the registration conditions are met, it can save the location of the vehicle and register the train so that the train can be awakened and run later.

[0076] In this embodiment, after the train is positioned, the train can also be controlled to perform static and dynamic tests. The static test is a test of the basic functions of the train, including the train's emergency braking, full-service braking, brake relief, and door opening and closing tests, etc. The dynamic test is mainly a test under the condition of the vehicle moving, including the train's creeping mode forward, creeping mode backward, automatic driving mode control vehicle forward, backward, etc.

[0077] In this example, the train can determine its own position at any time through the autonomous positioning device and report the position so that the dormant car management device can manage it, so that it can sleep and wake up anytime and anywhere, making the operation and management of the train more flexible. There is no need to set up additional transponders on the track, reducing overall costs.

[0078] like Figure 2 As shown, an embodiment of the present application further provides an electronic device 200, including a processor 201 and a memory 202, wherein the memory 202 stores computer instructions, and when the computer instructions are executed by the processor 201, the steps of any parking management method in the parking management method embodiment are implemented.

[0079] The embodiment of the present application also provides a storage medium on which computer instructions are stored. When the computer instructions are executed by a processor, any one of the above-mentioned emergency power generation method embodiments is implemented and the same technical effect can be achieved. To avoid repetition, they will not be repeated here.

[0080] Each embodiment in the present disclosure is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and equipment embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0081] The above describes specific embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0082] The embodiments of the present disclosure may be systems, methods and / or computer program products. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the embodiments of the present disclosure.

[0083] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0084] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0085] The computer program instructions for performing the operation of the embodiments of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as "C" language or similar programming languages. Computer-readable program instructions may be executed completely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be personalized by utilizing the state information of a computer-readable program instruction, and the electronic circuit may execute a computer-readable program instruction, thereby realizing various aspects of the embodiments of the present disclosure.

[0086] Various aspects of the embodiments of the present disclosure are described herein with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer-readable program instructions.

[0087] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0088] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0089] The flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of an instruction, and a part of a module, a program segment or an instruction contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of the boxes in the block diagram and / or the flowchart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.

[0090] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A train sleep management method, characterized in that: The train is provided with an autonomous positioning device, and the method comprises: When receiving the sleep instruction, obtaining the location information through the autonomous positioning device; Positioning the train according to the position information; The position of the train is sent to a dormant train management device, and the train is controlled to go dormant.

2. The method according to claim 1, characterized in that The step of obtaining the location information by the autonomous positioning device when the sleep instruction is received includes: The first position coordinates of the train in the local city coordinate system are determined by the positioning data of the positioning sensor in the autonomous positioning device and a preset algorithm.

3. The method according to claim 2, characterized in that The positioning of the train according to the position information includes: Matching the first position coordinate with a plurality of preconfigured position coordinates, wherein the plurality of position coordinates are determined based on a global navigation satellite system; When the distance between the first position coordinate and a second position coordinate among the plurality of position coordinates is within a preset range, determining a track segment and an offset corresponding to the second position coordinate; The position of the train is determined based on the track segment and offset corresponding to the second position coordinates.

4. The method according to claim 2, characterized in that: The positioning of the train according to the position information includes: Determining a projection position of the first position coordinate on the train line; Comparing the projection position with electronic map data to determine the track section and offset corresponding to the projection position; The track segment and offset corresponding to the projection position are used as the position of the train.

5. The method according to claim 2, characterized in that: An autonomous positioning device is provided at the end of the train, the end includes a head end and a tail end, and the first position coordinate includes at least one of the head end coordinate and the tail end coordinate of the train.

6. The method according to claim 5, characterized in that In the case where there are multiple autonomous positioning devices at the same end of the train, determining the first position coordinates of the train in the local city coordinate system by using the positioning data of the positioning sensor in the autonomous positioning device and a preset algorithm includes: Determine the third position coordinates of each autonomous positioning device at the same end in the local city coordinate system through the positioning data of the positioning sensor in the autonomous positioning device and a preset algorithm; respectively calculating the difference between each third position coordinate and the remaining third position coordinates; When the first difference is less than a preset threshold, any of the third position coordinates corresponding to the first difference is used as the first position coordinate of the train in the local coordinate system of the city, and the first difference is any one of the differences between each of the third position coordinates and the remaining third position coordinates; When the differences between each third position coordinate and the remaining third position coordinates are all greater than the preset threshold, the third position coordinates of each autonomous positioning device at the same end in the local city coordinate system are determined again through the positioning data of the positioning sensor in the autonomous positioning device and the preset algorithm.

7. The method according to claim 2, characterized in that The positioning sensor includes at least one of a global navigation satellite system positioning device, an inertial sensor, a wheel speed meter, a laser radar, and an image sensor, and the preset algorithm includes a SLAM algorithm.

8. The method according to claim 1, characterized in that The dormant train management device is used to send the actual position to other trains after the train goes into dormancy, so as to prevent other trains from conflicting with the dormant train.

9. The method according to claim 2, characterized in that: After determining the first position coordinates of the train in the city local coordinate system, the method further includes: The first position coordinates are compensated according to the distance between the location where the autonomous positioning device is set and the vehicle end corresponding to the autonomous positioning device.

10. The method according to claim 1, characterized in that The method further comprises: When receiving the wake-up command, obtaining the location information through the autonomous positioning device; Positioning the train according to the position information; The actual position and registration information of the train are sent to the dormant vehicle management device, and the train is controlled to wake up.

11. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores computer instructions, and when the computer instructions are executed by the processor, the steps of the method described in any one of claims 1 to 10 are implemented.

12. A storage medium, characterized in that: Computer instructions are stored thereon, and when the computer instructions are executed by a processor, the steps of the method according to any one of claims 9 to 12 are implemented.

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