CN116750046A - Train obstacle early warning method, system, device, electronic equipment and storage medium - Google Patents
Train obstacle early warning method, system, device, electronic equipment and storage medium Download PDFInfo
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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
- B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
- B61L23/041—Obstacle detection
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/009—On-board display devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
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Abstract
The embodiment of the application discloses a train obstacle early warning method, a train obstacle early warning system, a train obstacle early warning device, electronic equipment and a storage medium. Acquiring at least one running environment data in the running direction of the train when the current train runs on the parallel tracks; the running environment data comprise vehicle distance data between the current train and other trains positioned in the running direction of the current train, and collected video data in the running direction of the train; and controlling and generating braking early warning information according to the running environment data. The embodiment of the application reduces the line upgrading cost and improves the comprehensiveness and accuracy of early warning.
Description
Technical Field
The embodiment of the application relates to a communication technology, in particular to a train obstacle early warning method, a train obstacle early warning system, a train obstacle early warning device, an electronic device and a storage medium.
Background
The signal system used at present is mainly a CBTC system (Communication Based Train Control System, train automatic control system), the system is composed of an on-vehicle train automatic protection subsystem, ground interlocking and other devices, information interaction is generally carried out between train-ground devices by adopting a train-ground communication loop line or a wireless local area network and the like beside a track, and the on-vehicle device controls a train by route authorization information transmitted by the train-side device, so that the purposes of preventing the train from overspeed and running red light are achieved.
Many existing line signal systems are old and urgent to upgrade and reform, but the premise of implementing the CBTC system is that a large number of communication loop wires or cables must be laid along a railway line, and if old standard railways such as fixed block are to be upgraded and reformed into CBTC, the CBTC system can only be replaced by a whole system, the construction and maintenance costs are high, the early warning scene is limited, and the early warning accuracy is low.
Disclosure of Invention
The application provides a train obstacle early warning method, a train obstacle early warning system, a train obstacle early warning device, an electronic device and a storage medium, so that line upgrading cost is reduced, and early warning comprehensiveness and accuracy are improved.
In a first aspect, an embodiment of the present application provides a train obstacle early warning method, where the train obstacle early warning method includes:
acquiring at least one running environment data in the running direction of the train when the current train runs on the parallel tracks; the running environment data comprise vehicle distance data between the current train and other trains positioned in the running direction of the current train, and collected video data in the running direction of the train;
and controlling and generating braking early warning information according to the running environment data.
In a second aspect, an embodiment of the present application further provides a train obstacle early warning system, where the train obstacle early warning system includes:
the system comprises a vehicle-mounted host, a camera device and radar equipment, wherein the vehicle-mounted host is respectively in communication connection with the camera device and the radar equipment;
the radar equipment is used for acquiring vehicle distance data between the current train and other trains positioned in the running direction of the current train and transmitting the vehicle distance data to the vehicle-mounted host;
the camera equipment is used for acquiring video data in the running direction of the train and sending the video data to the vehicle-mounted host;
the method comprises the steps that a vehicle-mounted host acquires at least one running environment data in the running direction of a train when the current train runs on a parallel track; the driving environment data comprises vehicle distance data sent by the radar equipment and video data sent by the camera equipment; and controlling and generating braking early warning information according to the running environment data.
In a third aspect, an embodiment of the present application further provides a train obstacle early warning device, where the train obstacle early warning device includes:
the running environment data acquisition module is used for acquiring at least one running environment data in the running direction of the train when the current train runs on the parallel tracks; the running environment data comprise vehicle distance data between the current train and other trains positioned in the running direction of the current train, and collected video data in the running direction of the train;
and the brake early warning information generation module is used for controlling and generating brake early warning information according to the running environment data.
In a fourth aspect, an embodiment of the present application further provides an electronic device, including:
one or more processors;
a storage means for storing one or more programs;
when one or more programs are executed by one or more processors, the one or more processors implement any of the train obstacle early warning methods provided by the embodiments of the present application.
In a fifth aspect, embodiments of the present application also provide a storage medium including computer-executable instructions, which when executed by a computer processor, are configured to perform any of the train obstacle early warning methods provided by the embodiments of the present application.
According to the application, at least one running environment data in the running direction of the train is obtained when the current train runs on the parallel tracks; the running environment data comprise vehicle distance data between the current train and other trains positioned in the running direction of the current train, and collected video data in the running direction of the train; based on the vehicle distance data and the video data, the driving environment data under various scenes can be acquired, and the early warning scenes are enriched; according to the running environment data, the brake early warning information is controlled to be generated, the comprehensiveness and the accuracy of the brake early warning information can be improved based on analysis of various running environment data of the train, a large number of communication loops or cables are not required to be paved along a railway line, and the line upgrading cost is reduced. Therefore, by the technical scheme of the application, the problems of high construction and maintenance cost, limited early warning scene and low early warning accuracy are solved, and the effects of reducing the line upgrading cost and improving the comprehensiveness and accuracy of early warning are achieved.
Drawings
FIG. 1 is a flow chart of a train obstacle warning method in a first embodiment of the application;
fig. 2 is a flowchart of a train obstacle early warning method in a second embodiment of the present application;
fig. 3 is a schematic structural diagram of a train obstacle early warning system according to a third embodiment of the present application;
fig. 4 is a schematic structural diagram of a train obstacle early warning device in a fourth embodiment of the present application;
fig. 5 is a schematic structural diagram of an electronic device in a fifth embodiment of the present application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first" and "second" and the like in the description and the claims of the present application and the above drawings are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a train obstacle early warning method provided in an embodiment of the present application, where the embodiment is applicable to a situation of performing brake early warning on a train according to a running environment of the train, the method may be performed by a train obstacle early warning device, and the device may be implemented by software and/or hardware and is specifically configured in a vehicle-mounted host of the train.
Referring to the train obstacle early warning method shown in fig. 1, the method specifically includes the following steps:
s110, acquiring at least one running environment data in the running direction of the train when the current train runs on the parallel tracks; the running environment data comprise vehicle distance data between the current train and other trains positioned in the running direction of the current train, and collected video data in the running direction of the train.
The current train may be a train traveling on a parallel track. The running environment data can be data representing the environment of the train in the running process of the train and is used for timely generating braking early warning information. The driving environment data includes, for example, vehicle distance data between the current train and other trains in the driving direction of the train, collected video data in the driving direction of the train, and the like, which is not particularly limited in the present application.
The vehicle distance data may be real-time data of a distance between the current train and the train ahead of the traveling direction. Specifically, the vehicle distance data may be acquired by a secondary radar device. The video data may be video captured by a camera at the top of the cab of the current train. By way of example, the video data may include parallel track data in the traveling direction, traffic light data, and the like. Specifically, the traffic lights and parallel tracks in the image shot by the camera can be identified through an artificial intelligence algorithm, and parallel track data and traffic light data are obtained. For example, the traffic light data may be the color of the traffic light, the parallel track data may be whether there is an obstacle on the track, the vertical distance between two parallel tracks, and the like.
S120, controlling and generating braking early warning information according to the running environment data.
The brake early warning information can be information for carrying out early warning prompt on braking in a human-computer interface of a current train cab. Specifically, the vehicle-mounted train automatic protection subsystem displays brake early warning information on a human-computer interface, and the brake early warning information can be confirmed and released by a driver on the human-computer interface; if the driver does not confirm the release, the train automatic protection subsystem applies the emergency brake. The brake warning information may be in the form of a picture, a light or a sound, for example. For example, the braking early warning information may be at least one of a text flashing prompt, a lamplight flashing alarm, a voice prompt and the like in a human-computer interface, which is not particularly limited in the application.
And analyzing the running environment data through an artificial intelligence algorithm, and generating braking early warning information. The vehicle distance data is analyzed, whether the two vehicles run in the same direction or in different directions is determined, and braking early warning information is generated when the two vehicles run in different directions is determined. By way of example, the traffic lights in the video data are identified through an artificial intelligence algorithm, the colors of the traffic lights are analyzed, whether parking is needed is judged according to the running state of the current train, and braking early warning information is generated when the parking is judged to be needed. For example, in the limited manual driving mode, if the identified front signal lamp is a red light and is at a distance equal to or less than a preset distance from the traffic light, braking warning information is generated, and. By way of example, the parallel tracks in the video data are identified through an artificial intelligence algorithm, whether the states of the parallel tracks are abnormal or not is analyzed, and braking early warning information is generated when the states of the parallel tracks are judged to be abnormal. For example, the status of parallel tracks may be that there is an obstacle on the parallel tracks, or that the distance between parallel tracks is less than a preset threshold.
Many existing train line signal systems are old and urgent to upgrade and reform, but in consideration of construction cost, influence of construction on train operation and the like, the existing signal systems are hoped to be changed in a small range as much as possible, so that safety is ensured, and daily operation is not influenced. On the premise of realizing the CBTC system, a large number of communication loop wires or cables must be laid along a railway line, the construction and maintenance costs are very high, and if the old standard railways such as fixed block and the like are to be upgraded and changed into CBTC, the CBTC system can only be replaced by the whole system, and the construction difficulty is high. And only the braking early warning is carried out for running the red light, the early warning scene is limited, and the early warning accuracy is low.
According to the technical scheme, at least one running environment data in the running direction of the train is obtained when the current train runs on the parallel tracks; the running environment data comprise vehicle distance data between the current train and other trains positioned in the running direction of the current train, and collected video data in the running direction of the train; based on the vehicle distance data and the video data, the driving environment data under various scenes can be acquired, and the early warning scenes are enriched; according to the running environment data, the brake early warning information is controlled to be generated, the comprehensiveness and the accuracy of the brake early warning information can be improved based on analysis of various running environment data of the train, a large number of communication loops or cables are not required to be paved along a railway line, and the line upgrading cost is reduced. Therefore, by the technical scheme of the application, the problems of high construction and maintenance cost, limited early warning scene and low early warning accuracy are solved, and the effects of reducing the line upgrading cost and improving the comprehensiveness and accuracy of early warning are achieved.
Example two
Fig. 2 is a flowchart of a flowchart method of a train obstacle early warning method according to a second embodiment of the present application, where the technical solution of the present embodiment is further refined on the basis of the technical solution.
Further, "generating braking warning information based on the running environment data by control" is subdivided into: generating first brake early warning information according to the vehicle distance data; generating second brake early warning information according to the video data; the video data at least comprises traffic light data, parallel strand data and obstacle data "so as to control the generation of braking early warning information.
Referring to fig. 2, a train obstacle early warning method includes:
s210, acquiring at least one running environment data in the running direction of a train when the current train runs on a parallel track; the running environment data comprise vehicle distance data between the current train and other trains positioned in the running direction of the current train, and collected video data in the running direction of the train.
S220, generating first braking early warning information according to the vehicle distance data.
The first braking early warning information may be braking early warning information generated according to vehicle distance data, and is used for avoiding collision with an anisotropic vehicle running on the same parallel track. For example, the first brake early warning information may include a distance between a current train and a preceding train and an emergency brake prompt. For example, the first braking early warning information may be that there is a collision risk with the train 300 meters ahead, and ask to confirm whether to perform emergency braking. Judging whether the current vehicle and the train running on the same track have collision danger or not according to the distance data, and if so, generating first braking early warning information to avoid the collision of the vehicle.
In an alternative embodiment, generating the first brake warning information according to the vehicle distance data includes: determining a distance change trend of vehicle distance data between a current train and other trains positioned in the running direction of the current train; and determining whether to generate first braking early warning information according to the distance change trend.
The distance of the distance data between the current train and other trains positioned in the running direction of the current train is detected through the radar, and the distance change trend between the two trains is determined according to the obtained distance data. For example, if the distance change trend is smaller, determining that a vehicle running in the same parallel track as the current train in an opposite direction exists, and determining that collision danger exists and forming first braking early warning information; if the distance change trend is larger, determining that a vehicle running in the same direction on the same parallel track as the current train exists, and confirming that collision danger does not exist and the first brake early warning information is not generated.
Determining the distance change trend of the vehicle distance data between the current train and other trains positioned in the running direction of the current train; the distance information can be obtained through the radar equipment, the advantage of high accuracy and strong penetrability of the radar equipment is utilized, the distance change trend is timely and accurately, whether the first braking early warning information is generated or not is determined according to the distance change trend, the collision between the current train and the vehicle running on the same track is effectively avoided, and the running safety of the train is improved.
S230, generating second brake early warning information according to the video data; the video data includes at least traffic light data, parallel strand data, and obstacle data.
The second braking early warning information can be braking early warning information generated according to video data and used for braking in the state that the parallel tracks are abnormal or red light is generated, and accidents such as red light running and derailment collision are avoided. For example, the second braking early warning information may include a reason for requiring braking and an emergency braking prompt. For example, the second braking early warning information may be that there is currently a risk of running a red light, and ask to confirm whether to perform emergency braking.
The video data may be a video of a traveling direction of the train photographed by the camera, and the video data includes at least traffic light data, parallel track data, and obstacle data. Specifically, whether the risk of running the red light exists or not can be determined according to the traffic light data, and if yes, second braking early warning information is generated; whether the track is abnormal or not can be determined according to the parallel track data, and if yes, second braking early warning information is generated; and determining whether an obstacle exists according to the obstacle data, and if so, generating second brake early warning information.
In an alternative embodiment, generating the second brake warning information from the video data includes: based on an intelligent algorithm, identifying a parallel track state in a video image; determining obstacle data according to the obstacle state of the parallel track state, and determining parallel track data according to the track line state of the parallel track state; and determining whether to generate second braking early warning information according to the parallel track data and/or the obstacle data.
Based on an intelligent algorithm, the parallel track state in the video image is intelligently identified. By way of example, the intelligent algorithm may be a neural network model. The parallel track states may include obstacle states and track line states. The obstacle state may be whether an obstacle exists, and the obstacle data may be a result of whether an obstacle exists determined according to the obstacle state. For example, the obstacle data may be 0 and 1, respectively for indicating an obstacle and an obstacle-free. If the obstacle exists, second braking early warning information is generated. The track line state may be whether the track line is abnormal, and the parallel track data may be a result of whether the track line is abnormal, which is determined according to the track line state. By way of example, the track line condition anomaly may be an anomaly in spacing between track lines, or an anomaly in curvature of track lines at turns of parallel tracks, etc. And if the track line is abnormal, generating second braking early warning information.
Identifying the parallel track state in the video image based on an intelligent algorithm; determining obstacle data according to the obstacle state of the parallel track state, and determining parallel track data according to the track line state of the parallel track state; according to the parallel stock track data and/or the obstacle data, whether the second braking early warning information is generated is determined, various braking early warning scenes can be identified according to the intelligent algorithm, the comprehensiveness of early warning is improved, training samples are increased along with the increase of the service time of the intelligent algorithm, the accuracy of the intelligent algorithm output is improved, and the accuracy of the second braking early warning information generation is improved.
In an alternative embodiment, the generating the second brake warning information according to the video data further includes: identifying traffic lights in the video data based on an intelligent algorithm; determining traffic light data according to the state of the traffic light; and determining whether to generate second brake early warning information according to the traffic light data.
The status of the traffic light may be a color combination of traffic. By way of example, the status of the traffic light may be red, green, yellow, red-yellow, green-yellow. The traffic lights can be intelligently identified from the video images based on the intelligent algorithm, and the states of the traffic lights are determined according to the current states of the traffic lights and the change rule of the states of the traffic lights, the running speed of the current vehicle and the distance from the traffic lights. The traffic light data is red light running risk and is used for generating second braking early warning information. For example, traffic light data may be the presence of red light running risk and the absence of red light running risk. If the risk of running the red light exists, generating second braking early warning information; if the risk of running the red light does not exist, second braking early warning information is not generated.
Identifying traffic lights in the video data by an intelligent algorithm; determining traffic light data according to the state of the traffic light; and determining whether to generate second brake early warning information according to the traffic light data, and generating the second brake early warning information in time to prevent traffic accidents caused by running the red light of the train.
According to the technical scheme of the embodiment, first brake early warning information is generated according to vehicle distance data; generating second brake early warning information according to the video data; the video data at least comprises traffic light data, parallel track data and obstacle data, and can be used for braking early warning in a plurality of scenes, so that the comprehensiveness of early warning is improved, and the running safety of a train is improved.
In an alternative embodiment, the train obstacle early warning method further includes: and acquiring the transverse force and the vertical force of the train detected by the sensor, and generating third braking early warning information when the transverse force or the vertical force is abnormal.
The sensor can detect the transverse force or the vertical force on the parallel tracks in real time, and generates third braking early warning information when the transverse force or the vertical force is abnormal. The third brake early warning information is used for carrying out brake early warning when the transverse force or the vertical force is abnormal.
The transverse force and the vertical force of the train, which are detected by the sensor, are obtained, and when the transverse force or the vertical force is abnormal, third braking early warning information is generated, so that derailment can be prevented, and the running safety of the train is improved.
Example III
Fig. 3 is a schematic structural diagram of a train obstacle early warning system according to a third embodiment of the present application, where the present embodiment is applicable to a situation of performing brake early warning on a train according to a running environment of the train.
Referring to a schematic structural diagram of a train obstacle early warning system shown in fig. 3, the train obstacle early warning system includes:
the vehicle-mounted host 310, the camera device 320 and the radar device 330, wherein the vehicle-mounted host 310 is respectively in communication connection with the camera device 320 and the radar device;
the radar device 330 is used to acquire vehicle distance data between the current train and other trains located in the train traveling direction of the current train, and transmits the vehicle distance data to the on-board host 310. And 1 set of radar equipment 330 is respectively arranged in the left driver's consoles at two ends of each train. Radar device 330 is installed inside a windshield of a train cab for transmitting and receiving radio signals to and from a preceding train, and detects vehicle distance data between a current train and other trains located in a train traveling direction of the current train in real time at a medium-to-long distance. The radar detection has stronger penetrating power, other trains in front can be reliably detected in the curved tunnel section, and the detection blank of the video detection in the scene is made up. The radar apparatus 330 has the following features: the radar detection distance with the straight line segment not smaller than 500m can be realized; the static ranging error of the straight line segment is not more than 5m; spread spectrum modulation reduces the transmitting power and increases the anti-interference performance. The accuracy of the vehicle distance data can be improved.
The image capturing device 320 is used for capturing video data in the driving direction of the train and transmitting the video data to the on-vehicle host. Specifically, 1 set of imaging devices 320 for capturing video data in the traveling direction of the train are installed at the cab roofs at both ends of each train. The image capturing apparatus 320 may be a combination camera including 1 far-focus camera and 1 near-focus camera for enlarging an image capturing range and improving image capturing sharpness in a sensitive area. The adverse effect of the train operation vibration environment is fully considered, the mounting bracket of the camera comprehensively adopts various technical measures to buffer and absorb shock, and good image acquisition can be provided under the driving working condition.
The circuit of the image capturing apparatus 320 is provided with various protection functions including polarity reversal protection, overheat protection, surge protection, and the like, and is sufficiently adapted to the severe application scenario of a train. The image pickup apparatus 320 has the following features: video output has multiple formats, adjustable, default to 720p 25fps; the position of the straight line segment 215m can still obtain clearer picture quality, and the obstacle detection distance is ensured; the method has the measures of laser light filling and the like, and image software enhancement algorithms of low brightness enhancement, haze enhancement, noise removal and the like at night; the camera structure is specially reinforced and buffered, so that vibration interference generated when the train runs at high speed is reduced.
The in-vehicle host 310 acquires at least one running environment data in a running direction of the train when the current train runs on the parallel tracks; the driving environment data comprises vehicle distance data sent by the radar equipment and video data sent by the camera equipment; and controlling and generating braking early warning information according to the running environment data.
The on-board host 310 adopts a modular design, which may specifically include: the system comprises a power module, an MVB module, an IO module, a radar module, a switch module, a video processing module, a passive sensor interface module and the like. The in-vehicle host 310 has the following functions: analyzing the vehicle distance data collected by the radar device 330 to generate first brake warning information; analyzing the video data in the train traveling direction collected by the image capturing device 320, and generating second brake early warning information; processing end wall anticollision information in the section, and immediately triggering emergency braking when a beacon reader reads a ground protection beacon (transponder and electronic tag information); video information of not less than 7×24h and a system operation log of not less than 15 days can be recorded; the train network interface such as MVB or TRDP is provided with the function of transporting alarm information to the TCMS through the train network, so that the TCMS transmits the alarm information to the OCC for implementing dispatching control on serious faults, and the train operation safety is ensured; obstacle warning and early warning information, equipment working information and fault information can be transmitted to the TCMS; the modularized design is adopted, so that the performance can be independently upgraded, and the device can be plugged and replaced, so that maintenance work is simplified, and the detection performance can be conveniently and continuously upgraded and optimized; the system has a fault self-checking function, can monitor the system work in real time, can quickly lock the fault module according to fault prompt information when the system is in fault, and shortens maintenance time; the maintenance Ethernet interface is arranged, the downloading and centralized maintenance of train data can be completed through the maintenance Ethernet, the analysis of data by the ground server is realized, and the specific setting scheme is determined in the design and contact stage.
Example IV
Fig. 4 is a schematic structural diagram of a train obstacle early warning device according to a fourth embodiment of the present application, where the present embodiment is applicable to a situation of performing brake early warning on a train according to a running environment of the train, and is configured in a vehicle-mounted host of the train, and the specific structure of the train obstacle early warning device is as follows:
a driving environment data obtaining module 410, configured to obtain at least one driving environment data in a driving direction of a train when the current train is driving on a parallel track; the running environment data comprise vehicle distance data between the current train and other trains positioned in the running direction of the current train, and collected video data in the running direction of the train;
the brake early warning information generating module 420 is configured to control generation of brake early warning information according to each driving environment data.
According to the technical scheme, at least one running environment data in the running direction of the train is obtained when the current train runs on the parallel tracks; the running environment data comprise vehicle distance data between the current train and other trains positioned in the running direction of the current train, and collected video data in the running direction of the train; based on the vehicle distance data and the video data, the driving environment data under various scenes can be acquired, and the early warning scenes are enriched; according to the running environment data, the brake early warning information is controlled to be generated, the comprehensiveness and the accuracy of the brake early warning information can be improved based on analysis of various running environment data of the train, a large number of communication loops or cables are not required to be paved along a railway line, and the line upgrading cost is reduced. Therefore, by the technical scheme of the application, the problems of high construction and maintenance cost, limited early warning scene and low early warning accuracy are solved, and the effects of reducing the line upgrading cost and improving the comprehensiveness and accuracy of early warning are achieved.
Optionally, the brake early warning information generating module 420 includes:
the first brake early warning information generation unit is used for generating first brake early warning information according to the vehicle distance data;
the second brake early warning information generating unit is used for generating second brake early warning information according to the video data; the video data includes at least traffic light data, parallel strand data, and obstacle data.
Optionally, the second brake early warning information generating unit includes:
the parallel stock way state identification subunit is used for identifying the parallel stock way state in the video image based on an intelligent algorithm;
a parallel track state analysis subunit, configured to determine obstacle data according to an obstacle state of the parallel track state, and determine parallel track data according to a track line state of the parallel track state;
and the second brake early warning information generation subunit is used for determining whether to generate the second brake early warning information according to the parallel stock road data and/or the obstacle data.
Optionally, the second brake early warning information generating unit includes:
the traffic light identification subunit is used for identifying traffic lights in the video data based on an intelligent algorithm;
a traffic light data determining subunit, configured to determine traffic light data according to the state of the traffic light;
and the second brake early warning information generation subunit is used for determining whether to generate the second brake early warning information according to the traffic light data.
Optionally, the first brake early warning information generating unit includes:
a distance change trend determination subunit for determining a distance change trend of the vehicle distance data between the current train and other trains located in the train running direction of the current train;
and the first brake early warning information determining subunit is used for determining whether to generate the first brake early warning information according to the distance change trend.
Optionally, the train obstacle early warning device includes:
and the third brake early warning information generation module is used for acquiring the transverse force and the vertical force of the train detected by the sensor and generating third brake early warning information when the transverse force or the vertical force is abnormal.
The train obstacle early warning device provided by the embodiment of the application can execute the train obstacle early warning method provided by any embodiment of the application, and has the corresponding functional modules and beneficial effects of executing the train obstacle early warning method.
Example five
Fig. 5 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present application, as shown in fig. 5, the electronic device includes a processor 510, a memory 520, an input device 530, and an output device 540; the number of processors 510 in the electronic device may be one or more, one processor 510 being taken as an example in fig. 5; the processor 510, memory 520, input device 530, and output device 540 in the electronic device may be connected by a bus or other means, for example in fig. 5.
The memory 520 is a computer readable storage medium, and may be used to store software programs, computer executable programs, and modules, such as program instructions/modules (e.g., the driving environment data acquisition module 410 and the brake warning information generation module 420) corresponding to the train obstacle warning method in the embodiment of the present application. The processor 510 executes various functional applications and data processing of the electronic device by running software programs, instructions and modules stored in the memory 520, i.e., implements the train obstacle early warning method described above.
Memory 520 may include primarily a program storage area and a data storage area, wherein the program storage area may store an operating system, at least one application program required for functionality; the storage data area may store data created according to the use of the terminal, etc. In addition, memory 520 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some examples, memory 520 may further include memory located remotely from processor 510, which may be connected to the electronic device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input means 530 may be used to receive input character information and to generate key signal inputs related to user settings and function control of the electronic device. The output 540 may include a display device such as a display screen.
Example six
The sixth embodiment of the present application also provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are used to perform a train obstacle warning method, the method comprising: acquiring at least one running environment data in the running direction of the train when the current train runs on the parallel tracks; the running environment data comprise vehicle distance data between the current train and other trains positioned in the running direction of the current train, and collected video data in the running direction of the train; and controlling and generating braking early warning information according to the running environment data.
Of course, the storage medium containing the computer executable instructions provided in the embodiments of the present application is not limited to the above method operations, and may also perform the related operations in the train obstacle early warning method provided in any embodiment of the present application.
From the above description of embodiments, it will be clear to a person skilled in the art that the present application may be implemented by means of software and necessary general purpose hardware, but of course also by means of hardware, although in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, etc., comprising several instructions for causing an electronic device (which may be a personal computer, a server, a network device, etc.) to execute the method of the embodiments of the present application.
It should be noted that, in the above-mentioned embodiments of the search apparatus, each unit and module included are only divided according to the functional logic, but not limited to the above-mentioned division, as long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present application.
Note that the above is only a preferred embodiment of the present application and the technical principle applied. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. Therefore, while the application has been described in connection with the above embodiments, the application is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the application, which is set forth in the following claims.
Claims (10)
1. The train obstacle early warning method is characterized by comprising the following steps of:
acquiring at least one running environment data in the running direction of the train when the current train runs on the parallel tracks; the running environment data comprise vehicle distance data between the current train and other trains positioned in the running direction of the current train, and collected video data in the running direction of the train;
and controlling and generating braking early warning information according to the running environment data.
2. The method of claim 1, wherein the controlling the generation of brake warning information based on each of the driving environment data comprises:
generating first braking early warning information according to the vehicle distance data;
generating second brake early warning information according to the video data; the video data includes at least traffic light data, parallel track data, and obstacle data.
3. The method of claim 2, wherein generating second brake warning information from the video data comprises:
identifying the parallel track state in a video image based on an intelligent algorithm;
determining the obstacle data according to the obstacle state of the parallel track state, and determining the parallel track data according to the track line state of the parallel track state;
and determining whether to generate second braking early warning information according to the parallel track data and/or the obstacle data.
4. The method of claim 2, wherein generating second brake warning information from the video data, further comprises:
identifying traffic lights in the video data based on an intelligent algorithm;
determining the traffic light data according to the state of the traffic light;
and determining whether to generate second braking early warning information according to the traffic light data.
5. The method of claim 2, wherein generating first brake warning information from the vehicle distance data comprises:
determining a distance change trend of vehicle distance data between the current train and other trains positioned in the train running direction of the current train;
and determining whether to generate first braking early warning information according to the distance change trend.
6. The method according to claim 1, characterized in that the method further comprises:
and acquiring the transverse force and the vertical force of the train detected by the sensor, and generating third braking early warning information when the transverse force or the vertical force is abnormal.
7. A train obstacle warning system, comprising:
the vehicle-mounted host computer is respectively in communication connection with the camera shooting equipment and the radar equipment;
the radar equipment is used for acquiring vehicle distance data between a current train and other trains positioned in the running direction of the current train and transmitting the vehicle distance data to the vehicle-mounted host;
the camera equipment is used for acquiring video data in the running direction of the train and sending the video data to the vehicle-mounted host;
the vehicle-mounted host acquires at least one running environment data in the running direction of the train when the current train runs on the parallel tracks; the driving environment data includes the vehicle distance data transmitted by the radar apparatus and the video data transmitted by the image pickup apparatus; and controlling and generating braking early warning information according to the running environment data.
8. A train obstacle warning device, comprising:
the running environment data acquisition module is used for acquiring at least one running environment data in the running direction of the train when the current train runs on the parallel tracks; the running environment data comprise vehicle distance data between the current train and other trains positioned in the running direction of the current train, and collected video data in the running direction of the train;
and the brake early warning information generation module is used for controlling and generating brake early warning information according to the running environment data.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the train obstacle warning method according to any one of claims 1-6 when the program is executed.
10. A computer readable storage medium having stored thereon a computer program, which when executed by a processor implements a train obstacle warning method as claimed in any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310972723.7A CN116750046A (en) | 2023-08-03 | 2023-08-03 | Train obstacle early warning method, system, device, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310972723.7A CN116750046A (en) | 2023-08-03 | 2023-08-03 | Train obstacle early warning method, system, device, electronic equipment and storage medium |
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| CN116750046A true CN116750046A (en) | 2023-09-15 |
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| CN202310972723.7A Pending CN116750046A (en) | 2023-08-03 | 2023-08-03 | Train obstacle early warning method, system, device, electronic equipment and storage medium |
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| Country | Link |
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| CN (1) | CN116750046A (en) |
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