CN117799663A - Rail vehicle control method, device, equipment and medium based on sight tracking - Google Patents
Rail vehicle control method, device, equipment and medium based on sight tracking Download PDFInfo
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Abstract
The invention relates to the technical field of rail transit, in particular to a rail vehicle control method, device, equipment and medium based on line of sight tracking. According to the invention, the obstacle detection is carried out by taking the track point as an independent detection unit, the visible distance is further calculated by determining the farthest free track point, and the travelable distance of the railway vehicle can be determined according to the visible distance, so that the travelable distance of the train is obtained according to the perception information in the range of the track area.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a rail vehicle control method, device, equipment and medium based on line of sight tracking.
Background
With the development of full-automatic unmanned urban rail transit, an autonomous sensing system based on sensors such as laser radar, speed measuring equipment, cameras and the like becomes one of the necessary modules of the intelligent train. In a full-automatic unmanned scene, an autonomous sensing system can replace a driver to detect a track area, when an obstacle is detected to invade, the autonomous sensing system alarms to a control center or the driver in real time, and detects and identifies the type and the distance of the obstacle, so that the reliability of line operation is improved, and the maintenance cost is reduced.
In the prior art, a train automatic control system (Communication Based Train Control, CBTC) based on wireless communication is mostly adopted for automatic running of a railway vehicle, wherein the running distance (namely movement authorization) of the vehicle is mainly obtained through wireless communication, and then a vehicle speed curve is autonomously calculated according to the running distance; because the space distance between the foreign matter and the rail vehicle is not completely equal to the drivable distance of the rail vehicle, the autonomous sensing system can detect the obstacle in the range of the forward rail region, but cannot correspondingly output the drivable distance according to the foreign matter, and further cannot obtain a proper speed curve, so that the rail vehicle can only avoid in a braking mode when detecting the obstacle, and the subsequent automatic driving flow cannot be autonomously calculated. Therefore, how to obtain the distance that the train can travel according to the obstacle sensing information in the range of the track area is an important issue to be solved in the industry.
Disclosure of Invention
The invention provides a control method, a device, equipment and a medium of a rail vehicle based on line of sight tracking, which are used for solving the defect that the prior art cannot correspondingly output a travelable distance according to foreign matters, obtaining the travelable distance of a train according to the perception information in the range of a track area, and further obtaining a proper speed curve.
The invention provides a rail vehicle control method based on sight tracking, which comprises the following steps:
acquiring track line data and point cloud data, wherein the track line data comprises a plurality of track points;
determining a sight range corresponding to each track point according to the track points;
acquiring a judgment result of the shielding track point according to the sight range and the point cloud data, and determining the farthest free track point according to the judgment result;
and calculating a visual distance according to the furthest free track point, wherein the visual distance is used for determining the travelable distance of the railway vehicle.
According to the method for controlling the railway vehicle based on the sight tracking, which is provided by the invention, the sight range corresponding to each track point is determined according to the track points, and the method comprises the following steps:
determining the origin of the sight line of the railway vehicle;
and determining a sight line range according to the track point and the sight line origin of the railway vehicle, wherein the sight line range comprises the track point and the sight line origin of the railway vehicle.
According to the method for controlling the railway vehicle based on the sight line tracking, which is provided by the invention, the sight line range is determined according to the track point and the sight line origin of the railway vehicle, and the method specifically comprises the following steps:
connecting the track point with the sight origin of the railway vehicle to obtain a connecting line corresponding to the track point;
and determining a sight range corresponding to the track point according to the connecting line, wherein the sight range is an axis of the connecting line.
According to the method for controlling the railway vehicle based on the sight line tracking, provided by the invention, the judgment result of the shielded track point is obtained according to the sight line range and the point cloud data, and the farthest free track point is determined according to the judgment result, and the method comprises the following steps:
sequencing the track points from near to far according to the track distance from the track points to the track vehicle to obtain a sequence to be judged;
sequentially selecting track points in a sequence to be judged, and judging whether intersection exists between a sight range corresponding to the track points and the point cloud data or not;
if the intersection exists, marking the track point as a shielding track point, stopping judging, and determining that the leading track point of the shielding track point in the sequence to be judged is the farthest free track point.
According to the rail vehicle control method based on the sight tracking, the point cloud data are real-time scanning point cloud data and/or point cloud map data.
According to the control method of the railway vehicle based on the sight tracking, which is provided by the invention, the step of calculating the visible distance according to the farthest free track point comprises the following steps:
calculating the space distance between the farthest free track point and the railway vehicle to obtain a first distance;
detecting whether an obstacle exists in the space, and if so, determining that the space distance between the obstacle and the railway vehicle is a second distance;
the minimum of the first distance and the second distance is determined as the visual distance.
The invention also provides a control device of the railway vehicle based on the sight tracking, which comprises the following components:
the data acquisition module is used for acquiring track line data and point cloud data, wherein the track line data comprises a plurality of track points;
the sight range determining module is used for determining the sight range corresponding to each track point according to the track points;
the shielding judgment module is used for acquiring a judgment result of the shielding track point according to the sight range and the point cloud data, and determining the farthest free track point according to the judgment result;
and the visual distance calculation module is used for calculating the visual distance according to the furthest free track point, and the visual distance is used for determining the travelable distance of the railway vehicle.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the line-of-sight tracking based rail vehicle control method as described in any one of the above when executing the program.
The invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a line of sight tracking based rail vehicle control method as described in any of the above.
The invention also provides a computer program product comprising a computer program which when executed by a processor implements a method of gaze tracking based rail vehicle control as described in any of the above.
According to the method, the device, the equipment and the medium for controlling the rail vehicle based on the sight tracking, the rail points are used as the independent detection units to detect the obstacles, the farthest free rail points are determined to further calculate the visible distance, the drivable distance of the rail vehicle can be determined according to the visible distance, and therefore the drivable distance of the train can be obtained according to the perception information in the range of the rail region.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for controlling a rail vehicle based on gaze tracking provided by the present invention;
FIG. 2 is a schematic view of the visual range of the method for controlling a rail vehicle based on gaze tracking provided by the present invention;
FIG. 3 is a schematic view of a control device for a rail vehicle based on gaze tracking according to the present invention;
fig. 4 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The following describes a rail vehicle control method, device, equipment and medium based on line of sight tracking with reference to fig. 1-4
Fig. 1 is a schematic flow chart of a control method of a rail vehicle based on gaze tracking, as shown in fig. 1, including: step 110-step 140, specifically:
step 110, acquiring track line data and point cloud data, wherein the track line data comprises a plurality of track points;
step 120, determining a corresponding sight range of each track point according to the track points;
130, acquiring a judgment result of the shielding track point according to the sight range and the point cloud data, and determining the farthest free track point according to the judgment result;
and 140, calculating a visual distance according to the furthest free track point, wherein the visual distance is used for determining the travelable distance of the railway vehicle.
In step 110 of the embodiment of the present invention, the track line data may be obtained by various methods, for example: and acquiring a track line through a point cloud map, acquiring the track line through laser radar point cloud track identification, acquiring the track line through image track identification, and the like.
The track line is acquired through the point cloud map, namely laser radar point cloud data/camera data, IMU data and speed data are acquired on the line in advance, and a point cloud map (including a point cloud map generated by laser radar point cloud or a point cloud map generated by camera data) which is a high-precision map (including a track line pose) is built in a vehicle-mounted computer through SLAM technology. In the running process of the vehicle, the rough positioning of the vehicle is obtained by fusing speed information and IMU information, and then the accurate pose of the vehicle is found by matching the real-time scanning point cloud of a laser radar or a camera with a high-precision map preset in a vehicle-mounted computer. The track line preset in the vehicle-mounted computer is converted into a current coordinate system according to the current accurate pose, and the vehicle-mounted computer can acquire the track line in front at any moment;
the track line is obtained through the identification of the laser radar point cloud track, namely the track line is obtained by utilizing the shape characteristics of the urban rail transit track, obtaining laser radar point cloud data, carrying out track surface searching on the laser radar data and carrying out characteristic extraction.
The track line is obtained by image identification of the image track in the embodiment of the invention, namely the track line is obtained by carrying out image identification on the track image acquired in real time or applying a deep learning technology.
In the embodiment of the invention, the obstacle detection is carried out by taking the track point as an independent detection unit, the farthest free track point is further determined, the visible distance is further calculated, and the drivable distance of the railway vehicle can be determined according to the visible distance, so that the drivable distance of the train is obtained according to the perceived information in the range of the track area.
In the embodiment of the present invention, step 120 includes step 121 and step 122, specifically:
step 121, determining the origin of the sight line of the railway vehicle;
and step 122, determining a sight line range according to the track point and the sight line origin of the railway vehicle, wherein the sight line range comprises the track point and the sight line origin of the railway vehicle.
In the embodiment of the invention, the sight line origin of the railway vehicle is a point on the railway vehicle body, and the sight line origin of the embodiment of the invention can correspondingly determine the sight line origin according to the track line obtaining method, for example, when the laser radar is used for obtaining the track line, the sight line origin is determined as the corresponding position for installing the laser radar on the railway vehicle body; when the image track is used for identifying and acquiring the track line, the origin of the line of sight is determined as the corresponding position of the camera installed on the body of the railway vehicle; the origin of the line of sight of the rail vehicle may also be determined as a preset point on the body of the rail vehicle, for example as a geometrical centre point of the front end of the rail vehicle.
The sight range of the embodiment of the invention is at least one closed area comprising the track point and the sight origin of the railway vehicle.
According to the embodiment of the invention, the sight line range is determined according to the track points and the sight line origin of the track vehicle, so that the obstacle judgment based on the sight line range can be performed according to the positions of the track vehicle and the track points. Furthermore, the track points and the sight origin of the railway vehicle are used as boundary conditions, so that the sight range area can be limited, the sight range corresponding to the single track point can not be too large or too small, and the shielding judgment accuracy of the single track point is improved.
In the embodiment of the invention, a sight line range is determined according to the track point and the sight line origin of the railway vehicle, wherein the sight line range comprises the track point and the sight line origin of the railway vehicle, and specifically comprises the following steps:
connecting the track point with the sight origin of the railway vehicle to obtain a connecting line corresponding to the track point;
and determining a sight range corresponding to the track point according to the connecting line, wherein the sight range is an axis of the connecting line.
In the embodiment of the invention, the sight line range corresponding to the track point is further determined according to the connecting line of the track point and the sight line origin of the railway vehicle, and the sight line range is taken as an axis. For example, setting a preset radius with the connecting line as an axis to form a cylindrical region, and determining the cylindrical region as a sight line range; or, setting a preset radius by taking the connecting line as an axis to form a conical area, and determining the conical area as a sight line range. The preset radius can also be a dynamic radius, and can be dynamically adjusted according to train running states, environmental factors and the like. The method of determining the sight line range by taking the connecting line as the axis is a sight line simulating process, so that the obstacle perceived by the autonomous perception system is more similar to the obstacle which can actually influence the operation; furthermore, the sight line range determined by the embodiment of the invention can be better combined with the running condition of the rail train, so that the accuracy of the shielding judgment of a single rail point is further improved.
In the embodiment of the present invention, step 130 includes step 131, step 132 and step 133, specifically:
step 131, sorting the track points from near to far according to the track distance from the track points to the track vehicle, and obtaining a sequence to be judged;
step 132, sequentially selecting track points in a sequence to be judged, and judging whether intersection exists between a sight range corresponding to the track points and the point cloud data;
and 133, if the intersection exists, marking the track point as a shielding track point, stopping judging, and determining that the leading track point of the shielding track point in the sequence to be judged is the farthest free track point.
In the embodiment of the invention, the point cloud data of the laser radar and the point cloud data of the camera are characterized in that the corresponding point cloud can be formed only by the object, so the point cloud can be used as a basis for judging shielding. In the embodiment of the invention, the judgment is performed according to whether the sight line range and the point cloud data have intersection, namely whether the sight line range corresponding to each point is blocked by an object corresponding to the point cloud data is simulated, when the sight line range and the point cloud data have intersection, the track point corresponding to the sight line range can be considered to be blocked by the object corresponding to the point cloud data, and then the track point is considered to be a blocked track point and is marked. Under the view angle of the current moment, as the shielding object exists, the shielding track point is not drivable, so that the subsequent judgment, namely the stop judgment, is not needed, and the leading track point of the shielding track point in the sequence to be judged is determined to be the farthest free track point.
Fig. 2 is a schematic view of a visual distance of a control method of a railway vehicle based on line of sight tracking, and as shown in fig. 2, in the embodiment of the invention, through independent interaction between a line of sight range of a plurality of track points and point cloud data, whether the track points are shielding track points is independently judged according to the point cloud data, and a furthest free track point is obtained. That is, through the steps 131-133, the embodiment of the present invention can determine the relationship between the object in the point cloud data and the track point, that is, can obtain the travelable distance of the train according to the obstacle sensing information in the range of the track area.
In step 132 of the present embodiment, the point cloud data is real-time scanned point cloud data and/or point cloud map data, where:
the real-time scanning point cloud data is scanning point cloud data acquired by a laser radar or a camera sensor, and the real-time scanning point cloud data can be used for finding out instant shielding objects of the railway vehicle, for example: vehicles, pedestrians, other unknown types of obstructions, but because real-time scanning point clouds are typically limited in distance, for longer-distance building coverings, for example: a tunnel curve can not give out accurate judgment whether shielding exists or not;
the point cloud map data are preset in the storage unit in advance, laser radar point cloud data/camera data, IMU data and speed data are collected on line in advance, point clouds of multiple frames are overlapped by using SLAM or VSLAM technology to obtain the point cloud map, the point cloud map data are obtained by inquiring the preset point cloud map when the railway vehicle runs, the point cloud map data are better in the point cloud data of a far-distance shielding object, the real-time performance is poor, and the temporary moving object cannot be protected from recovering the visible distance.
It can be understood that in the embodiment of the invention, whether the shielding occurs can be judged by adopting the real-time scanning point cloud data and the point cloud map data together so as to realize good performance on the whole distance, or only one of the real-time scanning point cloud data or the point cloud map data can be adopted, and then the additional information of other sensing units is utilized to judge whether the shielding occurs.
In the embodiment of the present invention, step 140 includes step 141, step 142 and step 143, specifically:
141, calculating the space distance between the farthest free track point and the railway vehicle to obtain a first distance;
step 142, detecting whether an obstacle exists in the space, and if so, determining that the space distance between the obstacle and the railway vehicle is a second distance;
step 143, determining the minimum value of the first distance and the second distance as the visual distance.
The embodiment of the invention can also only calculate the space distance between the farthest free track point and the railway vehicle, and determine that the distance is a visible distance;
in the embodiment of the present invention, the spatial distance from the farthest free track point to the rail vehicle may be any physical quantity that characterizes the spatial distance from the farthest free track point to the rail vehicle, for example: the European spatial distance of the furthest free rail point to the rail vehicle, the along-rail distance of the furthest free rail point to the rail vehicle, etc.
In the embodiment of the invention, by introducing an additional detection step, the sufficient braking distance of the vehicle can be ensured, the safe driving is ensured, and the automatic driving safety of the railway vehicle is improved. Compared with the method for braking immediately once an obstacle is detected in the prior art, the method for braking the railway vehicle in the embodiment of the invention has the advantages that the obstacle distance is determined to be the visible distance, the driving distance of the railway vehicle is further determined, and then the automatic running of the railway vehicle is controlled.
As can be appreciated by those skilled in the art, according to the physical meaning of the visual distance provided in the embodiments of the present invention, there may be various methods for determining the travelable distance according to the visual distance, for example, directly determining the visual distance as the travelable distance; determining a travelable distance according to the visual distance by using a statistical or machine learning method; and determining the travelable distance and the like according to the visible distance and other rail vehicle travel state parameters.
In summary, according to the control method for the rail vehicle based on the line of sight tracking, the rail points are used as the independent detection units to detect the obstacle, the farthest free rail points are determined to further calculate the visible distance, and the travelable distance of the rail vehicle can be determined according to the visible distance, so that the travelable distance of the train can be obtained according to the perception information in the range of the rail region.
The following describes a sight-line tracking-based railway vehicle control device provided by the invention, and the sight-line tracking-based railway vehicle control device described below and the sight-line tracking-based railway vehicle control method described above can be referred to correspondingly with each other.
Fig. 3 is a schematic diagram of a control device for a rail vehicle based on gaze tracking, provided by the invention, including:
a data acquisition module 310, configured to acquire track line data and point cloud data, where the track line data includes a plurality of track points;
the sight line range determining module 320 is configured to determine a sight line range corresponding to each track point according to the track points;
the occlusion judgment module 330 is configured to obtain an occlusion track point judgment result according to the line-of-sight range and the point cloud data, and determine a furthest free track point according to the judgment result;
and the visual distance calculation module 340 is used for calculating a visual distance according to the furthest free track point, wherein the visual distance is used for determining the travelable distance of the railway vehicle.
Therefore, the control device for the railway vehicle based on the sight line tracking can further calculate the visible distance by taking the track point as an independent detection unit to detect the obstacle, then determining the farthest free track point, and determining the drivable distance of the railway vehicle according to the visible distance, so that the drivable distance of the train is obtained according to the perception information in the range of the track area.
Fig. 4 illustrates a physical schematic diagram of an electronic device, as shown in fig. 4, which may include: processor 410, communication interface (Communications Interface) 420, memory 430 and communication bus 440, wherein processor 410, communication interface 420 and memory 430 communicate with each other via communication bus 440. The processor 410 may invoke logic instructions in the memory 430 to perform a gaze tracking based rail vehicle control method comprising: acquiring track line data and point cloud data, wherein the track line data comprises a plurality of track points;
determining a sight range corresponding to each track point according to the track points;
acquiring a judgment result of the shielding track point according to the sight range and the point cloud data, and determining the farthest free track point according to the judgment result;
and calculating a visual distance according to the furthest free track point, wherein the visual distance is used for determining the travelable distance of the railway vehicle.
Further, the logic instructions in the memory 430 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product, the computer program product comprising a computer program, the computer program being storable on a non-transitory computer readable storage medium, the computer program, when executed by a processor, being capable of performing the gaze tracking based rail vehicle control method provided by the above methods, the method comprising: acquiring track line data and point cloud data, wherein the track line data comprises a plurality of track points;
determining a sight range corresponding to each track point according to the track points;
acquiring a judgment result of the shielding track point according to the sight range and the point cloud data, and determining the farthest free track point according to the judgment result;
and calculating a visual distance according to the furthest free track point, wherein the visual distance is used for determining the travelable distance of the railway vehicle.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the gaze tracking based rail vehicle control method provided by the above methods, the method comprising: acquiring track line data and point cloud data, wherein the track line data comprises a plurality of track points;
determining a sight range corresponding to each track point according to the track points;
acquiring a judgment result of the shielding track point according to the sight range and the point cloud data, and determining the farthest free track point according to the judgment result;
and calculating a visual distance according to the furthest free track point, wherein the visual distance is used for determining the travelable distance of the railway vehicle.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution 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 ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The control method of the railway vehicle based on the sight tracking is characterized by comprising the following steps of:
acquiring track line data and point cloud data, wherein the track line data comprises a plurality of track points;
determining a sight range corresponding to each track point according to the track points;
acquiring a judgment result of the shielding track point according to the sight range and the point cloud data, and determining the farthest free track point according to the judgment result;
and calculating a visual distance according to the furthest free track point, wherein the visual distance is used for determining the travelable distance of the railway vehicle.
2. The method for controlling a rail vehicle based on gaze tracking according to claim 1, wherein the determining a gaze range corresponding to each rail point according to the rail points comprises the steps of:
determining the origin of the sight line of the railway vehicle;
and determining a sight line range according to the track point and the sight line origin of the railway vehicle, wherein the sight line range comprises the track point and the sight line origin of the railway vehicle.
3. The method for controlling a rail vehicle based on gaze tracking according to claim 2, wherein the determining a gaze range according to the rail point and the origin of the gaze of the rail vehicle is specifically:
connecting the track point with the sight origin of the railway vehicle to obtain a connecting line corresponding to the track point;
and determining a sight range corresponding to the track point according to the connecting line, wherein the sight range is an axis of the connecting line.
4. The method for controlling a rail vehicle based on line-of-sight tracking according to claim 1, wherein the step of acquiring a determination result of a blocked track point based on the line-of-sight range and the point cloud data, and determining a farthest free track point based on the determination result, comprises the steps of:
sequencing the track points from near to far according to the track distance from the track points to the track vehicle to obtain a sequence to be judged;
sequentially selecting track points in a sequence to be judged, and judging whether intersection exists between a sight range corresponding to the track points and the point cloud data or not;
if the intersection exists, marking the track point as a shielding track point, stopping judging, and determining that the leading track point of the shielding track point in the sequence to be judged is the farthest free track point.
5. The gaze tracking-based rail vehicle control method of claim 4, wherein the point cloud data is real-time scanned point cloud data and/or point cloud map data.
6. The line-of-sight tracking based railway vehicle control method according to claim 1, wherein the step of calculating a visible distance from the furthest free track point comprises the steps of:
calculating the space distance between the farthest free track point and the railway vehicle to obtain a first distance;
detecting whether an obstacle exists in the space, and if so, determining that the space distance between the obstacle and the railway vehicle is a second distance;
the minimum of the first distance and the second distance is determined as the visual distance.
7. A rail vehicle control device based on gaze tracking, comprising:
the data acquisition module is used for acquiring track line data and point cloud data, wherein the track line data comprises a plurality of track points;
the sight range determining module is used for determining the sight range corresponding to each track point according to the track points;
the shielding judgment module is used for acquiring a judgment result of the shielding track point according to the sight range and the point cloud data, and determining the farthest free track point according to the judgment result;
and the visual distance calculation module is used for calculating the visual distance according to the furthest free track point, and the visual distance is used for determining the travelable distance of the railway vehicle.
8. 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 gaze tracking based rail vehicle control method of any of claims 1 to 6 when the program is executed.
9. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the gaze tracking based rail vehicle control method of any of claims 1 to 6.
10. A computer program product comprising a computer program which, when executed by a processor, implements a gaze tracking based rail vehicle control method as claimed in any one of claims 1 to 6.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311481801.XA CN117799663A (en) | 2023-11-08 | 2023-11-08 | Rail vehicle control method, device, equipment and medium based on sight tracking |
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| CN202311481801.XA CN117799663A (en) | 2023-11-08 | 2023-11-08 | Rail vehicle control method, device, equipment and medium based on sight tracking |
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| CN202311481801.XA Pending CN117799663A (en) | 2023-11-08 | 2023-11-08 | Rail vehicle control method, device, equipment and medium based on sight tracking |
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| CN (1) | CN117799663A (en) |
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2023
- 2023-11-08 CN CN202311481801.XA patent/CN117799663A/en active Pending
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