CN115352496A - Speed limit control method, device and system and train - Google Patents
Speed limit control method, device and system and train Download PDFInfo
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- CN115352496A CN115352496A CN202210906837.7A CN202210906837A CN115352496A CN 115352496 A CN115352496 A CN 115352496A CN 202210906837 A CN202210906837 A CN 202210906837A CN 115352496 A CN115352496 A CN 115352496A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/08—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in one direction only
- B61L23/14—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in one direction only automatically operated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
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Abstract
The embodiment of the application provides a speed limit control method, a speed limit control device, a speed limit control system and a train, which are applied to a vehicle control unit in the train, wherein the vehicle control unit is respectively in communication connection with an image acquisition device and a position acquisition device in the train, and the method comprises the following steps: acquiring image information acquired by the image acquisition device, wherein the image information comprises environmental information in front of a train; acquiring the position information of the train positioned by the position acquisition device; determining a target speed limit value of the train according to the image information and the position information; and carrying out speed limit control on the train according to the target speed limit value. The image information and the position information corresponding to the train are integrated, the target speed limit value of the train can be accurately determined, the automatic speed limit control is carried out on the train according to the target speed limit value, and the safe running of the train in a curve is ensured.
Description
Technical Field
The application relates to the technical field of rail transit, in particular to a speed limit control method, device and system and a train.
Background
Tramcars are light rail transit vehicles which are driven by electricity and run on rails, mainly run in cities, the radius of a plane curve of a running line can be as low as more than ten meters, and road conditions of multiple curve road sections are more. In order to ensure the safe operation of the tramcar, the limitation on the maximum speed of the vehicle operation is greatly necessary in a curve road section.
However, the tramcar signal system is simple, and generally does not have a speed limit control function, and the speed limit control of the vehicle in different operation modes is completed by a train network control system, for example: the highest speed limit requirements are different under different operation modes such as normal operation, retrogression, vehicle washing, degradation and the like.
In actual operation, different speed limit requirements are usually provided for different road sections, for example, in case of a curve, speed limit operation is required. However, in actual operation, the speed limit control is usually carried out manually, and cannot be realized automatically. Because manual control precision is lower, the easy emergence leads to the vehicle derailment accident because the hypervelocity, is difficult to guarantee tram's safe operation.
Disclosure of Invention
The embodiment of the application provides a speed limit control method, a speed limit control device, a speed limit control system and a train, and can effectively solve the problem that a tramcar is not safe enough when running on a curve.
According to a first aspect of the embodiments of the present application, there is provided a speed limit control method applied to a vehicle control unit in a train, where the vehicle control unit is connected to an image acquisition device and a position acquisition device in the train, respectively, and the method includes: acquiring image information acquired by the image acquisition device, wherein the image information comprises environmental information in front of a train; acquiring the position information of the train positioned by the position acquisition device; determining a target speed limit value of the train according to the image information and the position information; and carrying out speed limit control on the train according to the target speed limit value.
According to a second aspect of the embodiments of the present application, there is provided a speed limit control device applied to a vehicle control unit in a train, where the vehicle control unit is in communication connection with an image acquisition device and a position acquisition device in the train, respectively, and the device includes: the image acquisition module is used for acquiring image information acquired by the image acquisition device, wherein the image information comprises environmental information in front of a train; the position acquisition module is used for acquiring the position information of the train positioned by the position acquisition device; the determining module is used for determining a target speed limit value of the train according to the image information and the position information; and the control module is used for carrying out speed limit control on the train according to the target speed limit value.
According to a third aspect of the embodiments of the present application, there is provided a speed limit control system, including an image acquisition device, a position information acquisition device, and a vehicle control unit; the image acquisition device is used for acquiring image information and sending the image information to the vehicle control unit, and the image information comprises environmental information in front of a train; the position acquisition device is used for acquiring position information and sending the position information to the vehicle control unit; the vehicle control unit is used for determining a target speed limit value of the train according to the image information and the position information; and the vehicle control unit is used for carrying out speed limit control on the train according to the target speed limit value.
According to a fourth aspect of embodiments of the present application, there is provided a train comprising one or more processors; a memory; one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to perform the method as applied to a train as described above.
By adopting the speed limit control method provided by the embodiment of the application, the image information acquired by the image acquisition device is acquired, wherein the image information comprises the environmental information in front of the train; acquiring position information of a train positioned by a position acquisition device; determining a target speed limit value of the train according to the image information and the position information; and carrying out speed limit control on the train according to the target speed limit value. The image information and the position information corresponding to the train are integrated, the target speed limit value of the train can be accurately determined, the automatic speed limit control is carried out on the train according to the target speed limit value, and the safe running of the train in a curve is ensured.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic diagram of a speed limit control system provided in an embodiment of the present application;
FIG. 2 is a schematic diagram of a speed limit control system provided in another embodiment of the present application;
FIG. 3 is a flow chart of a method for controlling speed limit provided in an embodiment of the present application;
FIG. 4 is a flow chart of a method for controlling speed limit according to another embodiment of the present application;
FIG. 5 is a functional block diagram of a speed limit control apparatus according to an embodiment of the present application;
fig. 6 is a block diagram of a train for executing a speed limit control method according to an embodiment of the present application.
Detailed Description
Tramcars are light rail transit vehicles which are driven by electricity and run on rails, mainly run in cities, the radius of a plane curve of a running line can be as low as more than ten meters, and road conditions of multiple curve road sections are more. In order to ensure the safe operation of the tramcar, the limitation on the maximum speed of train operation is greatly necessary in a curve road section.
However, the tramcar signal system is simple, and generally does not have a speed limit control function, and the speed limit control of the vehicle in different operation modes is completed by a train network control system, for example: the highest speed limit requirements are different under different operation modes such as normal operation, retrogression, car washing, degradation and the like. In actual operation, the highest speed limit requirements of different curve road sections are usually controlled manually and cannot be automatically realized.
When the tramcar passes through a curve road section, the speed limit control is carried out on the tramcar in a manual mode, the manual control precision is low, the derailment accident of the tramcar caused by overspeed is easy to occur, and the safe operation of the tramcar is difficult to guarantee. The following refers to trams as trains.
The inventor finds that the train which is subjected to speed limit control by the signal system has complete functions and high price of the configured signal system. The simple signal system usually does not have an automatic speed limiting control function, depends on manual control for a long time, and is difficult to ensure the safety of the train in operation.
In order to solve the above problem, an embodiment of the present application provides a speed limit control method, which obtains image information acquired by an image acquisition device, where the image information includes environmental information in front of a train; acquiring the position information of the train positioned by the position acquisition device; determining a target speed limit value of the train according to the image information and the position information; and carrying out speed limit control on the train according to the target speed limit value. The image information and the position information corresponding to the train are integrated, the target speed limit value of the train can be accurately determined, the automatic speed limit control is carried out on the train according to the target speed limit value, and the safe running of the train in a curve is ensured.
The scheme in the embodiment of the present application may be implemented by using various computer languages, for example, object-oriented programming language Java and transliterated scripting language JavaScript, python, and the like.
In order to make the technical solutions and advantages of the embodiments of the present application more apparent, the following further detailed description of the exemplary embodiments of the present application with reference to the accompanying drawings makes it clear that the described embodiments are only a part of the embodiments of the present application, and are not exhaustive of all embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Referring to fig. 1, a speed-limiting control system 10 provided by the present application is shown, where the speed-limiting control system 10 includes an image acquisition device 11, a position acquisition device 12 and a vehicle control unit 13. The image acquisition device 11 is installed at the front side part of the cab of the train so as to acquire the environmental information in front of the train. The position acquiring device 12 may be any position installed on the train, and considering that the train generally has a certain length, in order to obtain more accurate position information, the position acquiring device 12 may be disposed near the image acquiring device 11.
The position collecting device 12 may collect the position information of the train through a Global Positioning System (GPS) or a BeiDou Navigation Satellite System (BDS).
The image acquisition device 11 and the position acquisition device 12 are respectively in communication connection with the vehicle control unit 13. Thus, the image capture device 11 can transmit the captured image information to the vehicle control unit 13.
In some embodiments, the image capturing device 11 may send the captured image information to the image recognition system host, send the image information to the vehicle control unit 13 by the image recognition system host, or send the recognition result to the vehicle control unit 13 directly by the image recognition system host.
In some embodiments, the vehicle control unit 13 may have an image recognition function integrated therein, and perform image recognition when receiving image information sent by the image capturing device 11.
The position acquisition device 12 may transmit the acquired position information to the vehicle control unit 13. In some embodiments, the position collecting device 12 may send the collected position Information to a Passenger Information System (PIS) host through a GPS antenna or a beidou antenna, and the PIS host transmits the position Information to the vehicle control unit through a train network control bus.
After receiving the image information and the position information, the vehicle control unit 13 determines a target speed limit value according to the image information and the position information, and further performs speed limit control on the train according to the target speed limit value.
Referring to fig. 2, the speed limit control system 10 may further include a control button 14, and the control button 14 is connected to the vehicle control unit 13 through a Remote Input/Output Module (RIOM) 15. The RIOM 15 is connected to the vehicle control unit 13 via a network control system. The control button 14 is used to turn on or off the automatic speed limit control function of the train. The control button 14 may be a self-locking light button, which is in a light state when the automatic speed limit control function is activated. The default of the automatic speed limiting control function is an on state, namely the default of the button with the lamp is in a lamp-on state. The control button 14 is operated to close the automatic speed limiting control function, and when the automatic speed limiting control function is closed, the control button 14 is in a light-off state.
When the automatic speed limit control function is started, the input port of the RIOM 15 can receive high level. When the control button 14 is pressed by a worker, the normally closed contact is disconnected, the lamp is turned off, namely, the automatic speed limiting control function is turned off, the input port of the RIOM 15 can receive low level. Thus, it is possible to determine whether the automatic speed limit control function is turned on according to the received high level or low level.
Under the condition that the automatic speed limit control function is started, after receiving the image information and the position information, the vehicle control unit 13 determines a target speed limit value according to the image information and the position information, and further performs speed limit control on the train according to the target speed limit value.
Referring to fig. 3, an embodiment of the present application provides a speed limit control method, which can be applied to a vehicle control unit in the aforementioned speed limit control system.
And 110, acquiring image information acquired by the image acquisition device, wherein the image information comprises environmental information in front of the train.
The image acquisition equipment can acquire image information and send the acquired image information to the vehicle control unit, so that the vehicle control unit can acquire the image information. The image information includes environmental information in front of the train, and the front of the train may refer to the front of the train head in the advancing direction of the train. The environment information may be a traffic sign and/or weather information, etc.
And 120, acquiring the position information of the train positioned by the position acquisition device.
The position acquisition equipment can position the position information of the train and send the obtained position information to the vehicle control unit, so that the vehicle control unit can obtain the position information.
And step 130, determining a target speed limit value of the train according to the image information and the position information.
After the vehicle control unit receives the image information and the position information, whether a preset speed limit requirement exists or not can be determined according to the position information; if the speed limit requirement exists, determining a target speed limit value of the train according to the image information and the speed limit requirement; and if the speed limit requirement does not exist, determining the target speed limit value according to the image information.
After the vehicle control unit receives the image information and the position information, whether a preset scene exists in the image information or not can be determined, and if the preset scene exists, the preset scene exists; if the preset scene exists, determining a target speed limit value according to the image information and the position information; and if the preset scene does not exist, determining a target speed limit value according to the position information. The preset scene is a scene needing speed limiting, and comprises abnormal weather and traffic signs.
In some embodiments, after the target speed limit is determined, the target speed limit may be displayed. Specifically, the vehicle control unit may send the target speed limit value to a human-computer interface, and display the target speed limit value through a display device connected to the human-computer interface.
In some embodiments, after the target speed limit is determined, the target speed limit may be broadcasted. Specifically, the vehicle control unit may be a broadcast control box that sends the target speed limit value to a PIS system, and performs voice prompt on the target speed limit value through the broadcast control box. For example, the target speed limit is 20km/h, and the voice prompt may be "curve ahead, vehicle will limit speed to 20 km/h".
And 140, performing speed limit control on the train according to the target speed limit value.
After the target speed limit value is determined, the speed limit control can be directly carried out on the train according to the target speed limit value. Specifically, the determined target speed limit value may be sent to a traction system through a vehicle control bus, so as to implement speed limit control of the train.
The Vehicle control Bus may be a Multifunction Vehicle Bus (MVB) or a Controller Area Network (CAN).
It should be noted that, if the train normally operates on a straight road, the speed limit control of the train network control system is executed. When the train runs at the speed limit due to the fault of the traction system or the brake system, the speed limit value of the speed limit running corresponding to the fault is compared with the speed limit value determined in the speed limit control system 10, namely the target speed limit value, and the running with a lower speed value is selected.
Generally, when a train network control system fails, the train can be degraded to run, and at the moment, the automatic speed limit control function cannot work normally due to the network failure, and can execute a corresponding speed limit value in a degradation mode. When the train washes in the road section, the speed limit value corresponding to the car washing mode can be executed.
The speed limit control method provided by the embodiment of the application acquires image information, wherein the image information comprises environmental information in front of a train; acquiring position information of a train; determining a target speed limit value of the train according to the image information and the position information; and carrying out speed limit control on the train according to the target speed limit value. The image information and the position information are integrated, the target speed limit value can be accurately determined, automatic speed limit control is carried out according to the target speed limit value, and the safe running of the train in a curve is ensured.
Referring to fig. 4, another embodiment of the present application provides a speed limit control method, where a process of determining a target speed limit value according to image information and location information is described with emphasis on the foregoing embodiment, and the method may specifically include the following steps.
and step 220, acquiring the position information of the train positioned by the position acquisition device.
Step 210 and step 220 can refer to the corresponding parts of the previous embodiments, and are not described herein again.
After the image information and the position information are obtained, whether a preset speed limit requirement exists or not can be determined according to the position information.
Specifically, the road section where the train is located in the operation route may be determined as the target road section according to the position information; and determining whether the target road section has a corresponding speed limit requirement or not according to the corresponding relation between the road section and the speed limit requirement.
When the train runs, a running route is planned in advance, and when the running route of the train is planned, speed limit can be set for each road section in the running route generally, so that when the running route of the train is obtained, the corresponding relation between the road section and the speed limit requirement can be obtained. Therefore, whether the corresponding speed limit requirement exists in the target road section can be determined according to the corresponding relation.
That is, it may be determined that the current train is located in the target road segment according to the location information, the speed limit requirement corresponding to the target road segment is searched in the corresponding relationship, and if the target road segment has the corresponding speed limit requirement, step 240 is executed; if the target road section does not have the corresponding speed limit requirement, step 250 is executed.
And 240, determining the target speed limit value according to the image information and the speed limit requirement.
And when the preset speed limit requirement is determined to exist according to the position information, indicating that the current train is positioned on the target road section and needs to be subjected to speed limit running. So that the target speed limit value can be determined according to the image information and the speed limit requirement.
The image information may be recognized first, and it may be determined whether a preset scene exists in the image information. In some embodiments, the image information may be pre-trained with an identification model, and it may be determined whether a preset scene exists in the image information through the identification model. The preset scene may be abnormal weather and/or traffic signs. That is to say, the preset scene may be abnormal weather, traffic signs, abnormal weather and traffic signs. Wherein the traffic signs may include a speed limit sign and a warning sign. It should be noted that the preset scene may also be set according to actual needs.
If the preset scene exists in the image information, a target speed limit value can be determined according to the first speed limit value and the preset requirement. Specifically, a second speed limit value can be obtained from the preset requirement; and determining the target speed limit value according to the first speed limit value and the second speed limit value.
And if the preset scene in the image information is identified as a speed limit sign, directly acquiring the speed limit value on the speed limit sign as the target speed limit value. Specifically, the speed limit value on the speed limit sign may be directly extracted as the first speed limit value through the recognition model.
When the first speed limit value is determined according to the image information, the first speed limit value may be determined according to the recognized preset scene. If a preset scene in the image information is identified as a warning sign, acquiring a speed limit value corresponding to the warning sign as the first speed limit value; when the recognition model recognizes the warning sign, the warning sign can be output, and the corresponding speed limit value can be determined according to the warning sign.
In some embodiments, a first relationship may be preset, where the first relationship includes a corresponding relationship between a warning sign and a speed limit value, and when the warning sign is recognized, the corresponding speed limit value is determined to be the first speed limit value according to the first relationship. For example, when the warning sign indicates school, the speed limit value corresponding to school is set to 30km/h in advance, and when the warning sign indicating school is recognized, the first speed limit value can be determined to be 30km/h.
If the preset scene in the image information is recognized to be abnormal weather, acquiring a speed limit value corresponding to the abnormal weather as the target speed limit value according to a preset corresponding relation between the weather and the speed limit value. Specifically, upon identifying the abnormal weather, the identification model may output the abnormal weather. And determining a corresponding speed limit value according to the abnormal weather. Wherein the abnormal weather may be a fog weather, a rain weather, or the like.
In some embodiments, a second relationship may be preset, where the second relationship includes a corresponding relationship between abnormal weather and a speed limit value, and when the abnormal weather is identified, the corresponding speed limit value is determined to be the first speed limit value according to the second relationship. For example, the abnormal weather may be fog weather, the speed limit value corresponding to the fog weather is preset to be 10km/h, and when the fog weather is identified, the first speed limit value may be determined to be 10km/h.
In some embodiments, if the preset scene in the image information is abnormal weather and a traffic sign, the speed limit value corresponding to the abnormal weather and the speed limit value corresponding to the traffic sign may be acquired, and the smaller speed limit value is determined as the first speed limit value. For example, the speed limit value corresponding to fog weather is 10km/h, the warning sign is a speed limit value corresponding to school is 30km/h, the fog weather and the warning sign can be identified in the image information, and the first speed limit value can be determined to be 10km/h.
After the first speed limit value and the second speed limit value are obtained, determining the size relationship between the first speed limit value and the second speed limit value; if the first speed limit value is equal to the second speed limit value, determining the first speed limit value or the second speed limit value as the target speed limit value; if the first speed limit value is smaller than the second speed limit value, determining the first speed limit value as the target speed limit value; and if the first speed limit value is larger than the second speed limit value, determining the second speed limit value as the target speed limit value.
That is, when the first speed limit value and the second speed limit value are not identical, the target speed limit value is selected as the speed limit value with the smaller speed limit value. For example, the first speed limit value is 30km/h, the second speed limit value is 20km/h, and the first speed limit value is greater than the second speed limit value, so that it can be determined that the second speed limit value is the target speed limit value.
In some embodiments, when the first speed limit value and the second speed limit value are not consistent, a fault prompt may be performed. To instruct the staff to confirm whether to continue the automatic speed limiting control.
And if the preset scene does not exist in the image information, directly taking a second speed limit value in the preset requirement as the target speed limit value.
And step 250, determining the target speed limit value according to the image information.
If the target road section does not have the corresponding speed limit requirement, the target speed limit value can be directly determined according to the image information. The preset scene in the image information can be identified through an identification model; if the preset scene is identified, determining a first speed limit value corresponding to the preset scene as the target speed limit value; and if the preset scene is not identified, indicating that the target road section does not need to limit the speed. Specifically, the process of determining the first speed limit value according to the image information may refer to the corresponding description in step 240, and is not described herein again.
In combination with the foregoing, there are the following three cases when determining the target speed limit value. And when the preset scene exists in the image information and the corresponding speed limit requirement does not exist in the position information, extracting a first speed limit value corresponding to the preset scene as a target speed limit value.
And a preset scene does not exist in the image information, a corresponding speed limit requirement exists in the position information, and a second speed limit value in the speed limit requirement is acquired as a target speed limit value.
And when the preset scene exists in the image information and the position information has a corresponding speed limit requirement, a first speed limit value and a second speed limit value can be obtained. And if the first speed limit value is consistent with the second speed limit value, taking the first speed limit value or the second speed limit value as a target speed limit value. And if the first speed limit value is inconsistent with the second speed limit value, taking the smaller speed limit value as a target speed limit value.
After the target speed limit value is determined, the target speed limit value can be displayed or broadcasted. The staff can operate the control button according to the displayed content or the broadcast content when the speed limit control is not needed, the automatic speed limit control function of the train is closed, and manual control is performed. In the running process of the train, the control button can be operated at any time to start the automatic speed limiting control function of the train, and if the train runs in a curve, the automatic speed limiting control function is started, and the speed limiting control is not executed.
And step 260, performing speed limit control on the train according to the target speed limit value.
Step 260 may refer to corresponding parts of the foregoing embodiments, and will not be described herein again.
The speed limit control method provided by the embodiment of the application determines whether a preset speed limit requirement exists according to the position information; if the speed limit requirement exists, determining a target speed limit value according to the speed limit requirement and the image information; and if the speed limit requirement does not exist, determining a target speed limit value according to the image information. The image information and the position information corresponding to the train are integrated, the target speed limit value of the train can be accurately determined, the automatic speed limit control is carried out on the train according to the target speed limit value, and the safe running of the train in a curve is ensured.
Referring to fig. 5, an embodiment of the present application provides a speed limiting control device 300, which is applied to a vehicle control unit in a train, where the vehicle control unit is in communication connection with an image acquisition device and a position acquisition device in the train, respectively. The speed limit control device 300 comprises an image acquisition module 310, a position acquisition module 320, a determination module 330 and a control module 340. The image acquisition module 310 is configured to acquire image information acquired by the image acquisition device, where the image information includes environmental information in front of a train; the position acquiring module 320 is configured to acquire position information of the train located by the position acquiring device; the determining module 330 is configured to determine a target speed limit value of the train according to the image information and the position information; and the control module 340 is configured to perform speed limit control on the train according to the target speed limit value.
Further, the determining module 330 is further configured to determine whether a preset speed limit requirement exists according to the location information; if the speed limit requirement exists, determining the target speed limit value according to the image information and the speed limit requirement; and if the speed limit requirement does not exist, determining the target speed limit value according to the image information.
Further, the determining module 330 is further configured to determine, according to the location information, a road segment in which the train is located in the operation route as a target road segment; and determining whether the target road section has a corresponding speed limit requirement or not according to the corresponding relation between the road section and the speed limit requirement.
Further, the determining module 330 is further configured to, when a preset scene in the image information is identified, acquire a first speed limit value corresponding to the preset scene as the target speed limit value, where the preset scene includes abnormal weather and a traffic sign.
Further, the traffic sign includes a speed limit sign and a warning sign, and the determining module 330 is further configured to directly acquire the speed limit value on the speed limit sign as the target speed limit value if it is recognized that the preset scene in the image information is the speed limit sign; if a preset scene in the image information is identified as a warning sign, acquiring a speed limit value corresponding to the warning sign as the target speed limit value; if the preset scene in the image information is identified to be abnormal weather, acquiring a speed limit value corresponding to the abnormal weather as the target speed limit value according to the preset corresponding relation between the weather and the speed limit value.
Further, the determining module 330 is further configured to determine whether the preset scene exists in the image information; if the preset scene exists, determining the target speed limit value according to the first speed limit value and the speed limit requirement; and if the preset scene does not exist, acquiring a second speed limit value in the speed limit requirement as the target speed limit value.
Further, the determining module 330 is further configured to obtain a second speed limit value in the speed limit requirement; and determining the target speed limit value according to the first speed limit value and the second speed limit value.
Further, the determining module 330 is further configured to determine a magnitude relationship between the first speed limit and the second speed limit; if the first speed limit value is equal to the second speed limit value, determining the first speed limit value or the second speed limit value as the target speed limit value; if the first speed limit value is smaller than the second speed limit value, determining the first speed limit value as the target speed limit value; and if the first speed limit value is greater than the second speed limit value, determining the second speed limit value as the target speed limit value.
Further, after the target speed limit value of the train is determined according to the image information and the position information, the speed limit control device 300 is further configured to display or broadcast the target speed limit value.
The speed limit control device provided by the embodiment of the application acquires image information acquired by an image acquisition device, wherein the image information comprises environmental information in front of a train; acquiring the position information of the train positioned by the position acquisition device; determining a target speed limit value of the train according to the image information and the position information; and carrying out speed limit control on the train according to the target speed limit value. The image information and the position information corresponding to the train are integrated, the target speed limit value of the train can be accurately determined, automatic speed limit control is carried out on the train according to the target speed limit value, and safe running of the train on a curve is ensured.
It should be noted that, as will be clear to those skilled in the art, for convenience and brevity of description, the specific working process of the above-described apparatus may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
Referring to fig. 6, the embodiment of the present application provides a structural block diagram of a train, where the train 400 includes a processor 410, a memory 420, and one or more application programs, where the one or more application programs are stored in the memory 420 and configured to be executed by the one or more processors 410, and the one or more programs are configured to execute the speed limit control method.
The train 400 of the present application may include one or more of the following components: a processor 410, a memory 420, and one or more applications, wherein the one or more applications may be stored in the memory 420 and configured to be executed by the one or more processors 410, the one or more programs configured to perform the methods as described in the aforementioned method embodiments.
Processor 410 may include one or more processing cores. The processor 410 interfaces with various interfaces and circuitry throughout the train 400 to perform various functions of the train 400 and process data by operating or executing instructions, programs, code sets, or instruction sets stored in the memory 420 and invoking data stored in the memory 420. Alternatively, the processor 410 may be implemented in hardware using at least one of Digital Signal Processing (DSP), field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 410 may integrate one or more of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a modem, and the like. The CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing display content; the modem is used to handle wireless communications. It is understood that the modem may not be integrated into the processor 410, but may be implemented by a communication chip.
The Memory 420 may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). The memory 420 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 420 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing various method embodiments described below, and the like. The storage data area may also store data created by the train 400 in use (such as control records, audio-visual data), and the like.
The electronic equipment provided by the embodiment of the application acquires the image information acquired by the image acquisition device, wherein the image information comprises the environmental information in front of a train; acquiring position information of a train positioned by a position acquisition device; determining a target speed limit value of the train according to the image information and the position information; and carrying out speed limit control on the train according to the target speed limit value. The image information and the position information corresponding to the train are integrated, the target speed limit value of the train can be accurately determined, the automatic speed limit control is carried out on the train according to the target speed limit value, and the safe running of the train in a curve is ensured.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (12)
1. A speed limit control method is characterized by being applied to a vehicle control unit in a train, wherein the vehicle control unit is respectively in communication connection with an image acquisition device and a position acquisition device in the train, and the method comprises the following steps:
acquiring image information acquired by the image acquisition device, wherein the image information comprises environmental information in front of a train;
acquiring the position information of the train positioned by the position acquisition device;
determining a target speed limit value of the train according to the image information and the position information;
and carrying out speed limit control on the train according to the target speed limit value.
2. The method of claim 1, wherein determining the target speed limit of the train according to the image information and the position information comprises:
determining whether a preset speed limit requirement exists or not according to the position information;
if the speed limit requirement exists, determining the target speed limit value according to the image information and the speed limit requirement;
and if the speed limit requirement does not exist, determining the target speed limit value according to the image information.
3. The method of claim 2, wherein the determining whether a preset speed limit requirement exists according to the position information comprises:
determining a road section in which the train is located in the running route as a target road section according to the position information;
and determining whether the target road section has a corresponding speed limit requirement or not according to the corresponding relation between the road section and the speed limit requirement.
4. The method according to claim 2, wherein the determining the target speed limit value according to the image information comprises:
and when a preset scene in the image information is identified, acquiring a first speed limit value corresponding to the preset scene as the target speed limit value, wherein the preset scene comprises abnormal weather and/or traffic signs.
5. The method according to claim 4, wherein the traffic sign comprises a speed limit sign and a warning sign, and the acquiring the first speed limit value corresponding to the preset scene as the target speed limit value comprises:
if the preset scene in the image information is identified as a speed limit sign, directly acquiring a speed limit value on the speed limit sign as the target speed limit value;
if a preset scene in the image information is identified as a warning sign, acquiring a speed limit value corresponding to the warning sign as the target speed limit value;
if the preset scene in the image information is identified to be abnormal weather, acquiring a speed limit value corresponding to the abnormal weather as the target speed limit value according to the preset corresponding relation between the weather and the speed limit value.
6. The method of claim 4, wherein the determining a target speed limit value of the train according to the image information and the speed limit requirement comprises:
judging whether the preset scene exists in the image information or not;
if the preset scene exists, determining the target speed limit value according to the first speed limit value and the speed limit requirement;
and if the preset scene does not exist, acquiring a second speed limit value in the speed limit requirement as the target speed limit value.
7. The method as claimed in claim 6, wherein the determining the target speed limit according to the first speed limit and the speed limit requirement comprises:
acquiring a second speed limit value in the speed limit requirement;
and determining the target speed limit value according to the first speed limit value and the second speed limit value.
8. The method of claim 7, wherein the determining the target speed limit value according to the first speed limit value and the second speed limit value comprises:
determining the magnitude relation between the first speed limit value and the second speed limit value;
if the first speed limit value is equal to the second speed limit value, determining the first speed limit value or the second speed limit value as the target speed limit value;
if the first speed limit value is smaller than the second speed limit value, determining the first speed limit value as the target speed limit value;
and if the first speed limit value is larger than the second speed limit value, determining the second speed limit value as the target speed limit value.
9. The method according to any one of claims 1 to 8, wherein after determining the target speed limit value of the train according to the image information and the position information, the method further comprises the following steps:
and displaying or broadcasting the target speed limit value.
10. The utility model provides a speed limit control device which characterized in that is applied to the vehicle control unit in the train, the vehicle control unit respectively with the image acquisition device in the train and position acquisition device communication connection, the device includes:
the image acquisition module is used for acquiring image information acquired by the image acquisition device, and the image information comprises environmental information in front of a train;
the position acquisition module is used for acquiring the position information of the train positioned by the position acquisition device;
the determining module is used for determining a target speed limit value of the train according to the image information and the position information;
and the control module is used for carrying out speed limit control on the train according to the target speed limit value.
11. A speed limit control system is characterized in that the speed limit control system comprises an image acquisition device, a position information acquisition device and a vehicle control unit;
the image acquisition device is used for acquiring image information and sending the image information to the vehicle control unit, and the image information comprises environmental information in front of a train;
the position acquisition device is used for acquiring position information and sending the position information to the vehicle control unit;
the vehicle control unit is used for determining a target speed limit value of the train according to the image information and the position information;
and the vehicle control unit is used for carrying out speed limit control on the train according to the target speed limit value.
12. A train, characterized in that the train comprises:
one or more processors;
a memory electrically connected with the one or more processors;
one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more applications configured to perform the method of any of claims 1-9.
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| CN202210906837.7A CN115352496A (en) | 2022-07-29 | 2022-07-29 | Speed limit control method, device and system and train |
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| CN202210906837.7A CN115352496A (en) | 2022-07-29 | 2022-07-29 | Speed limit control method, device and system and train |
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Application publication date: 20221118 |