WO2021057927A1 - 列车定位方法、装置、系统和计算机可读介质 - Google Patents

列车定位方法、装置、系统和计算机可读介质 Download PDF

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Publication number
WO2021057927A1
WO2021057927A1 PCT/CN2020/117903 CN2020117903W WO2021057927A1 WO 2021057927 A1 WO2021057927 A1 WO 2021057927A1 CN 2020117903 W CN2020117903 W CN 2020117903W WO 2021057927 A1 WO2021057927 A1 WO 2021057927A1
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WO
WIPO (PCT)
Prior art keywords
identification information
train
device identification
positioning
receiving antenna
Prior art date
Application number
PCT/CN2020/117903
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English (en)
French (fr)
Inventor
孙金龙
Original Assignee
西门子交通有限责任公司
孙金龙
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Filing date
Publication date
Application filed by 西门子交通有限责任公司, 孙金龙 filed Critical 西门子交通有限责任公司
Priority to US17/764,272 priority Critical patent/US20220402534A1/en
Priority to EP20867386.3A priority patent/EP4021020B1/en
Publication of WO2021057927A1 publication Critical patent/WO2021057927A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • 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
    • B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
    • 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
    • B61L25/04—Indicating or recording train identities
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/32—Adaptation for use in or on road or rail vehicles
    • H01Q1/3208—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
    • H04W52/02—Power saving arrangements
    • H04W52/0209—Power saving arrangements in terminal devices
    • H04W52/0261—Power saving arrangements in terminal devices managing power supply demand, e.g. depending on battery level
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
    • H04W52/02—Power saving arrangements
    • H04W52/0209—Power saving arrangements in terminal devices
    • H04W52/0261—Power saving arrangements in terminal devices managing power supply demand, e.g. depending on battery level
    • H04W52/0274—Power saving arrangements in terminal devices managing power supply demand, e.g. depending on battery level by switching on or off the equipment or parts thereof
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Definitions

  • the present invention relates to the technical field of railway transportation, in particular to a train positioning method, device, system and computer readable medium.
  • Fully Automatic Operation is a train operation mode in which the train operation is completely controlled by an automated control system, which can realize the automatic start, automatic operation, station stop, automatic driving, automatic turn-back, and automatic entry and exit of the train. Sections and other functions are widely used in train control in urban subways, high-speed railways and other rail transit. Fully automatic driving needs to be based on train positioning, that is, the train needs to be positioned before the train starts and during train operation, and then the automatic control system can automatically control the train according to the train's position.
  • a fully automatic train will enter the dormant area when it needs to be overhauled or suspended.
  • the train will enter sleep mode in the dormant area. In order to ensure that the train can achieve fully automatic driving after being awakened from the sleep mode, the train needs to be awakened. To locate the train, that is, to obtain the position of the train after the train is awakened.
  • the on-board core equipment on the train normally supplies power during the sleep period of the train.
  • the on-board core equipment stores the positioning information before the train sleeps, and the on-board core equipment monitors the movement of the train during the sleep mode, and checks all the trains according to the movement of the train.
  • the stored positioning information is updated, so that the latest positioning information can be obtained from the on-board core equipment after the train is awakened, and then the obtained positioning information can be used to realize the fully automatic driving of the train.
  • the battery installed on the train should have a larger capacity, but the larger the battery capacity, the larger its volume and weight.
  • a battery with a larger weight will increase the weight of the train, and a battery with a larger volume will reduce the available space of the train, which will reduce the user experience.
  • the train positioning method, device, system and computer readable medium provided by the present invention can ensure the use experience of train users.
  • an embodiment of the present invention provides a train positioning method, including:
  • the first device identification information received by at least one first receiving antenna is acquired, where at least one receiving antenna is provided on the train, and at least one positioning device is provided in the dormant area, so The positioning device is used to send device identification information to the receiving antenna located within the effective communication range.
  • the device identification information sent by different positioning devices is different, and the first receiving antenna is in sleep mode during the train.
  • the receiving antenna that received the identification information before the mode, where the first device identification information is the device identification information received by the first receiving antenna;
  • the positioning information includes position information and direction information
  • the position information is used to indicate the position of the train
  • the direction information is used to indicate that the two ends of the train are opposite to each other.
  • the first device identification information After determining that the first device identification information is credible, store the first device identification information and the positioning information in a non-volatile memory, and cause the train to enter a sleep mode;
  • the train is in the position where it was before it entered the sleep mode after being awakened ;
  • Determining whether the train is at the position it was in before entering the sleep mode after being awakened includes:
  • the second receiving antenna is the receiving antenna that receives the identification information after the train is awakened from the sleep mode, and
  • the second equipment identification information is the equipment identification information received by the second receiving antenna
  • each of the second device identification information is exactly the same as each of the first device identification information, and the same is determined Whether the second identification information and the first device identification information are received by the same receiving antenna;
  • each of the second device identification information is exactly the same as each of the first device identification information, and the same second identification information and the first device identification information are received by the same receiving antenna, it is determined The train is in the position it was in before entering the sleep mode after being awakened;
  • each of the second device identification information is not exactly the same as each of the first device identification information, or there is at least one of the second identification information and the same first device identification information that is caused by different receiving antennas After receiving, it is determined that the train is not in the position it was in before entering the sleep mode after being awakened;
  • the method further includes:
  • each of the receiving antennas provided on the train is in a normal working state, deleting the first device identification information and the positioning information stored in the non-volatile memory;
  • the first device identification information and the positioning information stored in the non-volatile memory are retained .
  • the method before the storing the first device identification information and the positioning information in a non-volatile memory, the method further includes:
  • the first device identification information is credible, executing the storing the first device identification information and the positioning information in a non-volatile memory;
  • the method further includes:
  • the third receiving antenna Determine whether there is at least one third receiving antenna that receives the device identification information sent by the positioning device that is paired with it, wherein at least one of the receiving antennas set on the train includes at least one of the The third receiving antenna, the third receiving antenna has the matching positioning device, and when the train reaches the target stopping position in the dormant area, the third receiving antenna can receive all the paired positioning devices.
  • the device identification information sent by the positioning device
  • At least one third receiving antenna that receives the device identification information sent by the positioning device that is paired with it, it is determined that the train has stopped in place, and the acquisition of the information received by the at least one first receiving antenna is performed.
  • the third receiving antenna does not receive the device identification information sent by the positioning device that is paired with it, it is determined that the train has not stopped in place.
  • an embodiment of the present invention also provides a train positioning device, including:
  • a second information acquisition module for acquiring positioning information of the train, where the positioning information includes position information and direction information, the position information is used to indicate the position of the train, and the direction information is used To indicate the orientation of the two ends of the train relative to the dormant area;
  • An information storage module configured to, after determining that the first device identification information acquired by the first information acquisition module is credible, combine the first device identification information and all the information acquired by the second information acquisition module
  • the positioning information is stored in a non-volatile memory, and the train enters a sleep mode
  • a third information acquisition module configured to use the at least one receiving antenna to receive the identification information of the second device after the train is awakened from the sleep mode
  • a motion judgment module configured to use the second device identification information received by the third information acquisition module and the first device identification information stored in the non-volatile memory by the information storage module, Determine whether the train is in the position it was in before entering the sleep mode after being awakened;
  • a train positioning module for determining the current position and direction of the train and storing the information in the information storage module when the motion judgment module determines that the train is at the position it was at before entering the sleep mode after being awakened
  • the positioning information in the non-volatile memory is matched to complete the positioning of the train.
  • the motion judgment module includes:
  • a first judging unit for judging whether there is at least one second receiving antenna that has received the identification information of the second device, where the second receiving antenna is that the identification information is received after the train is awakened from the sleep mode In the receiving antenna, the second device identification information is the device identification information received by the second receiving antenna;
  • a second judging unit configured to, when the first judging unit determines that at least one of the second receiving antennas receives the second device identification information, further judge each of the second device identification information and each of the Whether the first device identification information is completely the same, and determining whether the same second identification information and the first device identification information are received by the same receiving antenna;
  • a first identification unit configured to determine in the second judgment unit that each of the second device identification information is exactly the same as each of the first device identification information, and that the same second identification information is the same as the first device identification information.
  • a second identification unit is used to determine that the train is not in the state before it enters the sleep mode after the train is awakened when the first judging unit determines that the second receiving antenna does not receive the identification information of the second device. Location.
  • the train positioning device further includes:
  • An antenna detection module which is used to detect each set on the train after the first identification unit or the second identification unit determines that the train is not in the position it was in before entering the sleep mode after being awakened Whether the receiving antennas are all in a normal working state;
  • An information management module configured to: when the antenna detection module determines that each of the receiving antennas set on the train is in a normal working state, the first device identifier stored in the non-volatile memory The information and the positioning information are deleted, and when the antenna detection module determines that at least one of the receiving antennas set on the train is in an abnormal working state, the non-volatile memory is retained The first device identification information and the positioning information stored in the.
  • the train positioning device further includes:
  • a location identification module configured to determine the deployment location information of each positioning device that sends the first device identification information according to the first device identification information acquired by the first information acquisition module;
  • An information detection module for judging whether the first device identification information is credible based on the deployment location information determined by the location identification module and the positioning information acquired by the second information acquisition module, and When it is determined that the first device identification information is credible, the information storage module is triggered to execute the storing of the first device identification information and the positioning information in a non-volatile memory, and when the first device is determined An alarm message is issued when the identification information is not credible.
  • the train The positioning device further includes:
  • a parking detection module for determining whether there is at least one third receiving antenna that receives the device identification information sent by the positioning device that is paired with it, wherein at least one of the receiving antennas provided on the train
  • the third receiving antenna includes at least one of the third receiving antenna, and the third receiving antenna has the matching positioning device.
  • the third receiving antenna can Receiving the device identification information sent by the positioning device paired with it, and when it is determined that at least one of the third receiving antennas has received the device identification information sent by the positioning device paired with it , It is determined that the train has stopped in place, the first information acquisition module is triggered to execute the acquisition of the first device identification information received by at least one first receiving antenna, and when it is determined that the third receiving antenna does not When the device identification information sent by the paired positioning device is determined, it is determined that the train has not stopped in place.
  • an embodiment of the present invention also provides another train positioning device, including: at least one memory and at least one processor;
  • the at least one memory is used to store a machine-readable program
  • the at least one processor is configured to invoke the machine-readable program to execute the first aspect and the method provided in any one of the possible implementation manners of the first aspect.
  • an embodiment of the present invention also provides a train positioning system, including: at least one receiving antenna, at least one positioning device, and one possible implementation manner of the second aspect, the second aspect, and the third aspect Any train positioning device provided;
  • the at least one receiving antenna is arranged on the train;
  • the at least one positioning device is arranged in the dormant area
  • the positioning device is configured to send device identification information to the receiving antenna located within an effective communication range, where the device identification information sent by different positioning devices is different;
  • the receiving antenna is configured to send the equipment identification information to the train positioning device after receiving the equipment identification information from the positioning equipment.
  • At least two receiving antennas are provided on the train.
  • the present invention also provides a computer-readable medium having computer instructions stored on the computer-readable medium, and when the computer instructions are executed by a processor, the processor executes the first Aspect and the method provided by any one of the possible implementations of the first aspect.
  • each receiving antenna set on the train After waking up, use each receiving antenna set on the train to receive the identification information of the second device, and read the identification information of the first device from the non-volatile memory, and then the status of the second device identification information received and the read
  • the first device identification information is used to determine whether the train is at the position before entering the sleep mode after being awakened. If it is determined that the train is at the position before entering the sleep mode after being awakened, the non-volatile memory can be The stored positioning information is used as the result of positioning the train to complete the positioning after the train wakes up.
  • the positioning device set in the dormant area can send device identification information to the receiving antenna on the train, and store the train's positioning information and the first device identification information received by the receiving antenna in the non-easy way before the train enters the sleep mode.
  • the train In the non-volatile memory, the train can be powered off and enter the sleep mode. After the train is woken up, the first device identification information can be read from the non-volatile memory and the receiving antenna can be reused to obtain the second device identification information.
  • the device identification information and the second device identification information can determine whether the train was in the position before entering the sleep mode after being awakened. If it is determined that the train was in the position before entering the sleep mode after being awakened, the non-volatile memory can be used.
  • the positioning information stored in the train can realize the positioning after the train is awakened. Since the train can be completely powered off and enter the sleep mode, it is not necessary to install a large-sized and heavy battery on the train while realizing the positioning after the train is awakened, so that it will not increase The self-weight of the train and the reduction of the available space of the train can ensure the user experience.
  • Figure 1A is a schematic diagram of a train positioning system provided by an embodiment of the present invention.
  • FIG. 1B is a flowchart of a train positioning method according to an embodiment of the present invention.
  • FIG. 2 is a flowchart of a method for detecting a position change after a train is awakened according to an embodiment of the present invention
  • FIG. 3 is a flowchart of another method for detecting a position change after a train is awakened according to an embodiment of the present invention
  • FIG. 4 is a flowchart of a method for information management in a non-volatile memory according to an embodiment of the present invention
  • FIG. 5 is a flowchart of a method for judging the credibility of device identification information according to an embodiment of the present invention
  • FIG. 6 is a flowchart of a method for judging train parking in place according to an embodiment of the present invention.
  • Figure 7 is a schematic diagram of a train positioning device provided by an embodiment of the present invention.
  • Figure 8 is a schematic diagram of another train positioning device provided by an embodiment of the present invention.
  • FIG. 9 is a schematic diagram of a train positioning device including an antenna detection module according to an embodiment of the present invention.
  • FIG. 10 is a schematic diagram of a train positioning device including a position recognition module according to an embodiment of the present invention.
  • FIG. 11 is a schematic diagram of a train positioning device including a parking detection module according to an embodiment of the present invention.
  • Fig. 12 is a schematic diagram of another train positioning device provided by an embodiment of the present invention.
  • Second information acquisition module 703 Information storage module 704: Third information acquisition module
  • Motion judgment module 706 Train positioning module 707: Antenna detection module
  • Information Management Module 709 Location Identification Module 710: Information Detection Module
  • Second identification unit 120 Non-volatile memory
  • the on-board core equipment is used to store the positioning information before the train goes into sleep mode, and the on-board core equipment is normally powered during the sleep mode, so that the on-board core equipment
  • the core device can monitor the movement of the train during the sleep mode, and update the stored positioning information according to the monitored movement, so that the latest positioning information can be obtained from the on-board core device after the train is awakened. Since the on-board core equipment is always in the motion monitoring state during the sleep mode of the train, in order to ensure the normal power supply to the on-board core equipment during the sleep mode, it is necessary to install a battery with a larger volume and weight on the train, which will increase the train’s capacity. Self-weight and reduce the available space of the train, resulting in a poor user experience.
  • the positioning device set in the dormant area will send device identification information to the receiving antenna set on the train, and then the positioning information before the train enters the dormant mode and the location of the receiving antenna are sent to the receiving antenna.
  • the received equipment identification information is stored in the non-volatile memory, after which the train enters the sleep mode.
  • the stored device identification information can be read from the non-volatile memory, and then according to the read device identification information, it can be judged whether the train is in the state before entering the sleep mode after being awakened.
  • the positioning information stored in the non-volatile memory is used to complete the positioning of the train. It can be seen that, since the train can be determined whether it was in the position before entering the sleep mode after being awakened according to the device identification information, after determining the position where the train was before entering the sleep mode after being awakened, the non-volatile memory is used. The stored positioning information completes the positioning of the train, so the train can be completely powered off during the sleep mode, and there is no need to install a large-scale and heavy battery on the train, so as not to increase the weight of the train and reduce the available space of the train. In turn, the user experience can be guaranteed.
  • an embodiment of the present invention provides a train positioning system.
  • the system may include: at least one receiving antenna 80, at least one positioning device 90, and a train positioning device 70;
  • Each receiving antenna 80 is arranged on the train 100;
  • Each positioning device 90 is set in the dormant area 110;
  • the positioning device 90 is configured to send device identification information to the receiving antenna 80 located within the effective communication range, where the device identification information sent by different positioning devices is different;
  • the receiving antenna 80 is used for receiving equipment identification information from the positioning equipment 90, and sending the received equipment identification information to the train positioning device 70;
  • the train positioning device 70 is used to store the positioning information before the train 100 enters the sleep mode and the first device identification information received by the receiving antenna 80 into the non-volatile memory 120, and then make the train enter the sleep mode. After being awakened from the sleep mode, the train positioning device 70 again acquires the second device identification information received by the receiving antenna 80 after the train 100 is awakened, and then the train positioning device 70 stores the second device identification information according to the acquired second device identification information and The first device identification information in the non-volatile memory 120 determines whether the train 100 is in the position it was in before entering the sleep mode after being awakened, and when it is determined that the train 100 is in the position it was in before entering the sleep mode after being awakened, The train positioning device 70 uses the positioning information stored in the non-volatile memory 120 as positioning information indicating the current position of the train 100.
  • the receiving antenna 80 provided on the train 100 can obtain the first device identification information and the second device identification information before the train 100 enters the sleep mode and after being awakened from the sleep mode, and the train positioning device 70 can The positioning information and the first device identification information of the train 100 before entering the sleep mode are stored in the non-volatile memory 120, and then the train 100 can enter the power-off sleep mode.
  • the train positioning device 70 can obtain the second device identification information from the receiving antenna 80, and read the first device identification information from the non-volatile memory 120. By comparing the first device identification information and the second device identification information, it can be determined that the train 100 is awakened.
  • the train positioning device 70 uses the positioning information stored in the non-volatile memory 120 as an indication Positioning information of the current location of the train 100. It can be seen that according to the device identification information, it can be determined whether the position of the train 100 before entering the sleep mode and after being awakened from the sleep mode has changed. If the train 100 is in the position before entering the sleep mode after being awakened, the train 100 can be used. The positioning information before entering the sleep mode completes the positioning of the train 100. Therefore, the train 100 can be completely powered off during the sleep mode. There is no need to install a large-sized and heavy battery on the train 100, so that the self-weight of the train 100 will not increase or decrease. The available space of the train can ensure the user experience.
  • a non-volatile memory 120 connected to the train positioning device 70 is provided on the train 100.
  • the train positioning device 70 may transfer the positioning information of the train 100 and the first device identification information received by the receiving antenna 80 to the non-volatile memory 120.
  • the train positioning device 70 can read the first device information and positioning information from the non-volatile memory 120.
  • the device identification information can be used to identify the positioning device 90.
  • the device identification information can be the identity information of the corresponding positioning device, such as device identification information.
  • the identification information may be the identity ID of the corresponding positioning device.
  • At least two receiving antennas 80 are provided on the train 100 along the running direction of the train 100.
  • multiple receiving antennas are arranged on the train along the running direction of the train, and each receiving antenna can respectively receive the device identification information from the positioning device, so that the device identification information received by the multiple receiving antennas can be used to Determine whether the position of the train before and after sleep has changed, so as to ensure the accuracy of positioning after the train is awakened.
  • the device identification information received by the multiple receiving antennas can be used to Determine whether the position of the train before and after sleep has changed, so as to ensure the accuracy of positioning after the train is awakened.
  • the device identification information received by the multiple receiving antennas can be used to Determine whether the position of the train before and after sleep has changed, so as to ensure the accuracy of positioning after the train is awakened.
  • the receiving antenna that can receive the device identification information from the positioning device, it can be judged whether the position of the train before and after sleep has changed. Therefore, when the train is parked in the sleep area, only one receiving antenna can receive.
  • the device identification information from the positioning device is sufficient, which can reduce the requirements for the accuracy
  • one receiving antenna can be set at the front and the rear of the train, or one at the rear of the train.
  • Two receiving antennas are installed at the front and rear of the train, or at least three receiving antennas can be evenly installed on the train along the running direction of the train.
  • the receiving antenna in order to ensure that the receiving antenna can more effectively receive the device identification information from the positioning device, the receiving antenna may be set at the bottom of the train.
  • the train stops at the target stopping position in the dormant area, the train At least one receiving antenna on the upper and lower receiving antenna is aligned up and down with the positioning device arranged in the dormant area.
  • the receiving antenna 80 is a device capable of performing point-to-point wireless communication with the positioning device 90.
  • the receiving antenna 80 may be a transponder or a beacon antenna.
  • At least two positioning devices 90 are provided in the dormant area 110 along the direction of the track in the dormant area 110.
  • a plurality of positioning devices are arranged in the sleeping area along the direction of the track in the sleeping area, and each positioning device can send device identification information to the receiving antenna respectively.
  • each positioning device can send device identification information to one or more receiving antennas, so that the train positioning device can determine whether the position of the train before and after sleep has changed based on multiple device identification information, as opposed to judging based on a single device identification information
  • the method can reduce the probability of misjudgment; on the other hand, because the setting positions of the receiving antennas on different trains may be different, and the stopping positions of different trains in the same dormant area may also be different, multiple positioning devices are set in the dormant area, It can meet the positioning requirements of various trains, and ensure the applicability of positioning after the train is awakened based on the positioning equipment set in the dormant area.
  • the positioning device in order to ensure that the device identification information sent by the positioning device can be received by the receiving antenna, the positioning device can be set beside the track in the dormant area, and the positioning device can be aligned up and down with the receiving antenna.
  • the positioning device 90 is a device capable of point-to-point communication with the receiving antenna 80.
  • the positioning device 90 may be a ground transponder or a beacon.
  • the positioning device 90 may be an active ground transponder or a passive ground transponder.
  • the positioning device 90 may continuously send device identification information, or it may detect that the train enters a specific area. After that, the device identification information starts to be sent.
  • the positioning device 90 is a passive ground transponder, the positioning device 90 obtains sensing energy when the train passes over the positioning device 90, and can send device positioning information based on the obtained sensing.
  • the length of the dormant area 110 is generally greater than the length of the train 100 to ensure that the train 100 can completely enter the dormant area 110 and can be applied to trains 100 of different lengths.
  • the effective communication range of the positioning device 90 should avoid interference between parallel tracks. For example, there are two parallel tracks A and track B in the dormant area. It should be ensured that when the train is on track A, the receiving antenna on the train will not receive the equipment identification information sent by the positioning equipment set on track B, and ensure that the train is on track. When on track B, the receiving antenna on the train will not receive the equipment identification information sent by the positioning equipment set on track A.
  • the effective communication range of the positioning device can be set as a spherical area centered on the positioning device and a radius of 2 meters. That is, the receiving antenna within 2 meters of the positioning device can receive the device identification information sent by the positioning device.
  • the same receiving antenna in order to facilitate the management and storage of the device identification information, by configuring the receiving antenna, the same receiving antenna can only receive the device identification information sent by the same positioning device within a preset time period. In particular, after receiving a piece of device identification information within a preset time period, only the device identification information sent by the positioning device that sent the device identification information is accepted within the preset time period, or will not be available within the preset time period. Receive any other device identification information.
  • a train positioning method provided by an embodiment of the present invention is introduced.
  • the method may be executed by the aforementioned train positioning apparatus 70.
  • the receiving antenna involved in these methods can be the aforementioned receiving antenna 80
  • the positioning device involved in these methods can be the aforementioned positioning device 90
  • the train involved in these methods can be the aforementioned train 100.
  • the sleep area involved in may be the aforementioned sleep area 110
  • the non-volatile memory involved in these methods may be the aforementioned non-volatile memory 120.
  • an embodiment of the present invention provides a train positioning method.
  • the method may include the following steps:
  • Step 101 After the train stops in the dormant area, obtain the first device identification information received by at least one first receiving antenna, where at least one receiving antenna is provided on the train, and at least one positioning device is provided in the dormant area, and the positioning device It is used to send device identification information to the receiving antenna within the effective communication range. Different positioning devices send different device identification information.
  • the first receiving antenna is the receiving antenna that receives the identification information before the train enters the sleep mode.
  • the first device The identification information is the device identification information received by the first receiving antenna;
  • Step 102 Obtain location information of the train, where the location information includes location information and direction information, the location information is used to indicate the position of the train, and the direction information is used to indicate the orientation of the two ends of the train relative to the dormant area;
  • Step 103 After determining that the first device identification information is credible, store the first device identification information and positioning information in a non-volatile memory, and make the train enter a sleep mode;
  • Step 104 After the train is awakened from the sleep mode, use each receiving antenna to receive the second device identification information;
  • Step 105 According to the second device information received by each receiving antenna and the first device identification information read from the non-volatile memory, it is determined whether the train is at the position it was in before entering the sleep mode after being awakened;
  • Step 106 If it is determined that the train is at the position it was in before entering the sleep mode after being awakened, it is determined that the current position and direction of the train match the positioning information stored in the non-volatile memory, and the positioning of the train is completed.
  • the positioning device set in the dormant area will send device identification information to the receiving antenna set on the train, and the device identification information sent by different positioning devices are different from each other
  • the train’s positioning information is acquired, and the acquired positioning information and the first device identification information received by the receiving antenna are stored in the non-volatile memory. After that, the train enters the sleep mode.
  • the second device identification information received again by the receiving antenna is obtained, and the first device identification information is read from the non-volatile memory, and then according to the read first device identification information and the acquired first device identification information Second, equipment identification information is used to determine whether the train was in the position before entering the sleep mode after being awakened. If it is determined that the train was in the position before entering the sleep mode after being awakened, the location stored in the non-volatile memory can be changed. The information is used as the result of positioning the train to complete the positioning after the train wakes up.
  • the positioning device set in the dormant area can send device identification information to the receiving antenna on the train, and store the train's positioning information and the first device identification information received by the receiving antenna in the non-easy way before the train enters the sleep mode.
  • the train In the non-volatile memory, the train can be powered off and enter the sleep mode. After the train is awakened, the second device identification information received by the receiving antenna after the train is awakened can be obtained, and the first device identification information can be read from the non-volatile memory. Equipment identification information, and then determine whether the train was at the position before entering the sleep mode after being awakened according to the first equipment identification information and the second equipment identification information.
  • the positioning information stored in the non-volatile memory can be used to realize the positioning after the train is awakened. Since the train can be completely powered off and enter the sleep mode, it is not necessary to set a large volume and weight on the train while realizing the positioning after the train is awakened The battery does not increase the weight of the train and reduce the available space of the train, thereby ensuring the user experience.
  • step 105 when judging whether the position of the train has changed according to the identification information of the first device and the identification information of the second device, the following two methods can be used to determine whether the position of the train before and after sleep is different according to the requirements for the safety level of the train. changes happened:
  • Method 1 Determine whether the position of the train before and after sleep changes according to the device identification information received by the receiving antenna after the train is awakened;
  • Method 2 Determine whether the position of the train before and after sleep changes according to the device identification information received by the receiving antenna after the train is awakened and the receiving antenna that receives the device identification information.
  • the method for judging whether the position of the train before and after sleep has changed according to the equipment identification information may include the following steps:
  • Step 201 After the train is awakened, use each receiving antenna set on the train to receive the equipment identification information;
  • Step 202 Determine whether each receiving antenna receives the device identification information, if it is Y, go to step 203, if not, go to step 205;
  • Step 203 Determine whether the device identification information received by each receiving antenna is the same as the first device identification information read from the non-volatile memory, if it is Y, go to step 204, if not N, go to step 205;
  • Step 204 Determine that the position of the train before and after sleep has not changed, and end the current process
  • Step 205 Determine that the position of the train before and after sleep has changed.
  • the receiving antenna after the train is woken up, try to use the receiving antenna to receive the device identification information from the positioning device, because at least one first receiving antenna can receive the device identification information from the positioning device before the train enters the sleep mode , If each receiving antenna does not receive the device identification information after the train is awakened, it means that the train has left the dormant area, so that it can be determined that the position of the train before and after sleep has changed, that is, the train is not in the position before entering the sleep mode after being awakened. Location.
  • the device identification information is received by at least one receiving antenna after the train is awakened, it is further determined whether the device identification information received by the receiving antenna after the train is awakened is the same as the first device identification stored in the non-volatile memory. The information is the same. If the device identification information received by each receiving antenna after the train is awakened is different from the first device identification information stored in the non-volatile memory, it means that the train has moved in the dormant area or entered other Sleep area, so as to determine that the train's position before and after sleep has changed.
  • the device identification information received by each receiving antenna after the train is awakened is the same as the first device identification information stored in the non-volatile memory, it means that the train The position relative to the dormant area has not changed, so it is determined that the position of the train before and after dormancy has not changed.
  • the device identification information sent by different positioning devices since the device identification information sent by different positioning devices is different, there may be multiple first device identification information stored in the non-volatile memory, and the device received by the antenna is received after judging that the train is awakened.
  • the identification information is the same as the first device identification information stored in the non-volatile memory, it is to determine whether the device identification information received by the receiving antenna after the train is awakened is the same as the first device identification information stored in the non-volatile memory.
  • the device identification information corresponds to the same one-to-one.
  • the positioning device can send the device identification information to the receiving antenna located within the limited communication range, if the position of the train changes slightly, the receiving antenna will still receive the same device identification information, but if the position of the train is A major change will inevitably lead to a change in the device identification information received by the receiving antenna. Therefore, if the receiving antenna before and after the train sleeps can receive the same equipment identification information, it means that the train is still in the sleep area after being awakened, and the positioning after the train wakes up can also be realized when the security level requirements are low. Since only the device identification information received by the receiving antenna after the train is awakened is compared with the first device identification information stored in the non-volatile memory, the awakened train can be located, which can improve the train’s performance. The efficiency of positioning.
  • the method for judging whether the position of the train before and after sleep has changed according to the device identification information and the receiving antenna may include the following steps:
  • Step 301 Determine whether there is at least one second receiving antenna that has received the second device identification information, if it is Y, go to step 302, if not N, go to step 304, where the second receiving antenna is awakened from sleep mode when the train is After receiving the receiving antenna of the identification information, the second device identification information is the device identification information received by the second receiving antenna;
  • Step 302 Determine whether each second device identification information is exactly the same as each first device identification information, and determine whether the same second identification information and first device identification information are received by the same receiving antenna, if it is Y, perform step 303, if no N, go to step 304;
  • Step 303 Determine the position where the train was before it entered the sleep mode after being awakened, and end the current process
  • Step 304 It is determined that the train is not in the position where it was before entering the sleep mode after being awakened.
  • the receiving antenna after the train is awakened, try to use the receiving antenna to receive the device identification information from the positioning device, firstly determine whether the receiving antenna has received the second device identification information that is exactly the same as the first device identification information, if It is determined that each second device identification information received by the receiving antenna is exactly the same as each first device identification information, and then it is further determined whether the same first device identification information and second device identification information are received by the same receiving antenna, and if it is determined that they are the same The first device identification information and the second device identification information are received by the same receiving antenna, it is determined that the position of the train before and after sleep has not changed, that is, the position of the train before entering the sleep mode after being awakened.
  • the train is determined The position before and after sleep has changed, that is, the train is not in the same position before entering the sleep mode after being awakened.
  • each second device identification information is exactly the same as each first device identification information
  • different receiving antennas may receive the device identification information sent by the same positioning device, and when judging the same first device identification information and second device identification information Whether received by the same receiving antenna, for any piece of first device identification information, if the first device identification information is received by at least two receiving antennas, the second device identification information that is the same as the first device identification information It also needs to be received by at least two receiving antennas, and the at least two receiving antennas receiving the identification information of the second device need to be the same as the at least two receiving antennas receiving the identification information of the first device. The first device identification information and the same second device identification information are received by the same receiving antenna.
  • the train if it is determined that the train is at the position before entering the sleep mode after being awakened, it refers to the position of the train and the direction of the train relative to the sleep area after the train is awakened and before the train enters the sleep mode. All the same.
  • the positioning information stored in the non-volatile memory is used as the positioning information after the train is awakened to realize the positioning after the train is awakened. After the train wakes up, the safety of various functions of fully automatic driving is realized.
  • the method for managing information in the non-volatile memory may include the following steps:
  • Step 401 Detect whether each receiving antenna set on the train is in a normal working state, if it is Y, go to step 402, if not, go to step 403;
  • Step 402 Delete the first device identification information and positioning information stored in the non-volatile memory, and end the current process
  • Step 403 Retain the first device identification and location information stored in the non-volatile memory.
  • each receiving antenna on the train is in a normal working state, and if it is detected that each receiving antenna on the train is in a normal working state.
  • Status indicating that the position of the train before and after sleep has indeed changed, the first device identification information and positioning information stored in the non-volatile memory are no longer meaningful, so that the first device stored in the non-volatile memory can be changed.
  • the identification information and positioning information are deleted.
  • the position of the train before and after sleep changes may be a misjudgment caused by the abnormal operation of the receiving antenna, so that the stored in the non-volatile memory can be retained
  • the identification information and positioning information of the first device and then continue to use the first device identification information and positioning information stored in the non-volatile memory to locate the train after the subsequent repair of the receiving antenna, so as to ensure the successful positioning of the train after waking up rate.
  • the method for judging the credibility of the first device identification information may include the following steps:
  • Step 501 Determine deployment location information of each positioning device that sends first device identification information
  • Step 502 Determine whether the first device identification information is credible according to the deployment location information and the positioning information, if it is Y, go to step 103, if not N, go to step 503;
  • Step 503 Send out an alarm message.
  • the deployment location information used to characterize the configuration location of the corresponding positioning device can be determined according to the first device identification information, and the positioning information
  • the location information used to indicate the location of the train is included, and according to the deployment location information and the location information included in the location information, it can be determined whether each positioning device is located in the sleeping area where the train stops. If it is determined that each positioning device that sends the first device identification information is located in the dormant area where the train stops, then it is determined that each first device identification information is credible, and if it is determined that there is at least one positioning device that sends the first device identification information. If it is located in the dormant area where the train stops, it is determined that the identification information of each first device is not credible. After determining that the identification information of the first device is not credible, an alarm message will be sent out to notify relevant personnel to proceed.
  • the positioning device that sends the device positioning information can be determined based on one device positioning information, and then the positioning device deployed by the positioning setting can be found on the electronic map.
  • the position of the train can also be found on the electronic map according to the positioning information, and then the distance between the positioning device and the train can be judged, so as to determine whether the device identification information sent by the positioning device can be on the train. Received by the receiving antenna. If it is determined based on the first device identification information and the positioning information that the distance between a positioning device and the train is far, which has exceeded the effective communication distance of the positioning device, it can be determined that the first device identification information sent by the positioning device is not available. If the letter is received, an alarm message will be sent out.
  • the credibility of the first device identification information is first judged, and only when the first device identification information is credible
  • the identification information and the location of each first device are stored in the non-volatile memory, so as to ensure the accuracy of determining the train position according to the first identification information stored in the non-volatile memory after the train is awakened, thereby ensuring the train’s reliability safety.
  • the method for judging that the train is in place may include the following steps:
  • Step 601 Determine whether there is at least one third receiving antenna that has received the device identification information sent by the positioning device that is paired with it. If it is Y, go to step 602, if not N, go to step 603, where At least one receiving antenna includes at least one third receiving antenna.
  • the third receiving antenna has a matching positioning device. When the train reaches the target stopping position in the dormant area, the third receiving antenna can receive the matching positioning device.
  • the sent equipment identification information ;
  • Step 602 Determine that the train has stopped in place, and execute step 101;
  • Step 603 It is determined that the train has not stopped in place.
  • each receiving antenna provided on the train includes at least one third receiving antenna with a matching positioning device.
  • the third receiving antenna can receive the device identification information sent by the positioning device that is paired with it. After the train enters the dormant area, it can be detected whether each third receiving antenna set on the train has received the device identification information sent by the paired positioning device, so as to determine whether the train has reached the target stopping position, so as to ensure that the train can be accurate Dock at the target docking position.
  • the third receiving antenna on the train may be fixed, or may be changed with the change of the sleeping area.
  • a fixed third receiving antenna is provided on the train
  • the third receiving antenna on the train changes, after the train enters a dormant area, the third receiving antenna is selected from the various receiving antennas set on the train according to the arrangement of the positioning equipment in the dormant area, and then according to the selected third receiving antenna Whether the third receiving antenna receives the device identification information sent by the paired positioning device is used to determine whether the train has stopped in place.
  • non-volatile memory can be set on the train, so that the stored information will not be lost after the train is powered off.
  • an embodiment of the present invention provides a train positioning device 70, including:
  • a first information acquisition module 701 is used to acquire the first device identification information received by at least one first receiving antenna after the train stops in the dormant area, where at least one receiving antenna is provided on the train, and there is At least one positioning device.
  • the positioning device is used to send device identification information to a receiving antenna located within the effective communication range. Different positioning devices send different device identification information.
  • the first receiving antenna receives the identification information before the train enters the sleep mode.
  • the receiving antenna of, the first device identification information is the device identification information received by the first receiving antenna;
  • a second information acquisition module 702 is used to acquire the positioning information of the train, where the positioning information includes position information and direction information, the position information is used to indicate the position of the train, and the direction information is used to indicate that the two ends of the train are relative to the dormant train.
  • a motion determination module 705 is used to determine whether the train is in its position after being awakened based on the second device identification information received by the third information acquisition module 704 and the first device identification information stored in the non-volatile memory by the information storage module 703 The position before entering the sleep mode;
  • a train positioning module 706 is used to determine the current position and direction of the train and the information storage module 703 to store the information in the non-volatile memory when the motion judgment module 705 determines that the train is at the position it was in before entering the sleep mode after being awakened Match the positioning information stored in the data, and complete the positioning of the train.
  • the first information acquisition module 701 can be used to perform step 101 in the above method embodiment
  • the second information acquisition module 702 can be used to perform step 102 in the above method embodiment
  • the information storage module 703 can be used to perform
  • the information reading module 704 can be used to perform step 104 in the above method embodiment
  • the motion determination module 705 can be used to perform step 105 in the above method embodiment
  • the train positioning module 706 can be used to perform the above Step 106 in the method embodiment.
  • the motion judgment module 705 includes:
  • a first determining unit 7051 is used to determine whether there is at least one second receiving antenna that receives the identification information of the second device, where the second receiving antenna is the receiving antenna that receives the identification information after the train is awakened from the sleep mode, and the first 2.
  • the equipment identification information is the equipment identification information received by the second receiving antenna;
  • a second judging unit 7052 configured to further judge whether each second device identification information is exactly the same as each first device identification information when the first judging unit 7051 determines that there is at least one second receiving antenna that receives the second device identification information , And determine whether the same second identification information and the first device identification information are received by the same receiving antenna;
  • a first identification unit 7053 is used to determine in the second judgment unit 7052 that each second device identification information is exactly the same as each first device identification information, and that the same second identification information and first device identification information are shared by the same receiving antenna
  • the second determining unit 7052 determines that the identification information of each second device is not exactly the same as the identification information of each first device, or there is at least one first device identification information. 2.
  • the identification information and the same first device identification information are received by different receiving antennas, it is determined that the train is not at the position where it was before it entered the sleep mode after being awakened;
  • a second identification unit 7054 is used for determining that the train is not at the position where it was before it entered the sleep mode when the first judging unit 7051 determines that there is no second receiving antenna to receive the identification information of the second device.
  • the first judgment unit 7051 can be used to perform step 301 in the above method embodiment
  • the second judgment unit 7052 can be used to perform step 302 in the above method embodiment
  • the first identification unit 7053 can be used to perform the above In step 303 and step 304 in the method embodiment
  • the second identification unit 7054 can be used to execute step 304 in the above method embodiment.
  • the train positioning device 70 further includes:
  • An antenna detection module 707 is used to detect whether the receiving antennas set on the train are in the same position as before the sleep mode after the first identification unit 7053 or the second identification unit 7054 determines that the train is awakened. Normal working condition;
  • An information management module 708 is used to delete the first device identification information and positioning information stored in the non-volatile memory when the antenna detection module 707 determines that each receiving antenna set on the train is in a normal working state, and When the antenna detection module 707 determines that at least one of the receiving antennas installed on the train is in an abnormal working state, it retains the first device identification information and positioning information stored in the non-volatile memory.
  • the antenna detection module 707 may be used to perform step 401 in the above method embodiment, and the information management module 708 may be used to perform step 402 and step 403 in the above method embodiment.
  • the train positioning device 70 further includes:
  • a location identification module 709 configured to determine the deployment location information of each positioning device that sends the first device identification information according to the first device identification information acquired by the first information acquisition module 701;
  • An information detection module 710 is used to determine whether the first device identification information is credible based on the deployment location information determined by the location identification module 709 and the positioning information acquired by the second information acquisition module 702, and when it is determined that the first device identification information can be
  • the trigger information storage module 703 executes storage of the first device identification information and positioning information in the non-volatile memory, and sends out alarm information when it is determined that the first device identification information is not credible.
  • the location recognition module 709 may be used to perform step 501 in the foregoing method embodiment, and the information detection module 710 may be used to perform step 502 and step 503 in the foregoing method embodiment.
  • the train positioning device 70 further includes:
  • a parking detection module 711 is used to determine whether there is at least one third receiving antenna that receives the device identification information sent by the positioning device that is paired with it.
  • the at least one receiving antenna provided on the train includes at least one third receiving antenna. Receiving antenna.
  • the third receiving antenna has a paired positioning device.
  • the third receiving antenna can receive the device identification information sent by the paired positioning device and confirm the existence
  • at least one third receiving antenna receives the device identification information sent by the positioning device that is paired with it, it is determined that the train has stopped in place, and the first information acquisition module 701 is triggered to acquire the first device identification received by the at least one first receiving antenna Information, and when it is determined that the third receiving antenna does not receive the device identification information sent by the positioning device that is paired with the third receiving antenna, it is determined that the train has not stopped in place.
  • the parking detection module 711 may be used to execute step 601 to step 603 in the embodiment of the appeal method.
  • an embodiment of the present invention provides another train positioning device 70, which includes: at least one memory 712 and at least one processor 713;
  • the at least one memory 712 is used to store a machine-readable program
  • the at least one processor 713 is configured to invoke the machine-readable program to execute the train positioning method provided in each of the foregoing embodiments.
  • the present invention also provides a computer-readable medium that stores instructions for causing a computer to execute the train positioning method as described herein.
  • a system or device equipped with a storage medium may be provided, and the software program code for realizing the function of any one of the above-mentioned embodiments is stored on the storage medium, and the computer (or CPU or MPU of the system or device) ) Read and execute the program code stored in the storage medium.
  • the program code itself read from the storage medium can implement the function of any one of the above-mentioned embodiments, so the program code and the storage medium storing the program code constitute a part of the present invention.
  • Examples of storage media used to provide program codes include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), Magnetic tape, non-volatile memory card and ROM.
  • the program code can be downloaded from the server computer via a communication network.
  • the program code read from the storage medium is written to the memory provided in the expansion board inserted into the computer or to the memory provided in the expansion unit connected to the computer, and then the program code is based on The instructions cause the CPU installed on the expansion board or the expansion unit to perform part or all of the actual operations, so as to realize the function of any one of the above-mentioned embodiments.
  • system structure described in the foregoing embodiments may be a physical structure or a logical structure. That is, some modules may be implemented by the same physical entity, or some modules may be implemented by multiple physical entities, or may be implemented by multiple physical entities. Some components in independent devices are implemented together.
  • the hardware unit can be implemented mechanically or electrically.
  • a hardware unit may include a permanent dedicated circuit or logic (such as a dedicated processor, FPGA or ASIC) to complete the corresponding operation.
  • the hardware unit may also include programmable logic or circuits (such as general-purpose processors or other programmable processors), which may be temporarily set by software to complete corresponding operations.
  • the specific implementation mechanical, or dedicated permanent circuit, or temporarily set circuit

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Abstract

本发明提供了列车定位方法、装置、系统和计算机可读介质，该列车定位方法包括：获取至少一个第一接收天线接收到的第一设备标识信息；获取列车的定位信息；在确定第一设备标识信息可信后，将第一设备标识信息和定位信息存储到非易失性存储器中；在列车被从休眠模式唤醒后，利用至少一个接收天线接收第二设备标识信息；根据接收到的第二设备标识信息和从非易失性存储器中读取到的第一设备标识信息判断列车被唤醒后是否处于其进入休眠模式之前所处的位置；如果确定列车被唤醒后处于其进入休眠模式之前所处的位置，则确定列车当前所处位置和方向与非易失性存储器中存储的定位信息相匹配，完成对列车的定位。本方案能够保证列车用户的使用体验。

Description

列车定位方法、装置、系统和计算机可读介质 技术领域
本发明涉及铁路运输技术领域，尤其涉及列车定位方法、装置、系统和计算机可读介质。
背景技术
全自动驾驶(Fully Automatic Operation，FAO)是一种完全由自动化控制系统控制列车运行的列车运行模式，能够实现列车的自动启动、自动运行、车站定点停车、全自动驾驶、自动折返、自动出入车辆段等功能，被广泛应用于城市地铁、高速铁路等轨道交通中的列车控制。全自动驾驶需要基于列车定位才能够实现，即需要在列车启动之前以及列车运行过程中对列车进行定位，进而自动化控制系统才能够根据列车的位置对列车进行自动控制。
全自动驾驶的列车在需要进行检修或者暂停运行时会驶入休眠区域，列车在休眠区域会进入休眠模式，为了保证列车被从休眠模式唤醒后即可实现全自动驾驶，需要在列车被唤醒后对列车进行定位，即获取列车被唤醒后列车所处的位置。
目前，列车上的车载核心设备在列车休眠期间正常供电，车载核心设备会存储列车休眠之前的定位信息，而且车载核心设备会监测列车处于休眠模式期间的运动情况，并根据列车的运动情况对所存储的定位信息进行更新，从而在列车被唤醒后可以从车载核心设备获取最新的定位信息，进而使用所获取到的定位信息来实现列车的全自动驾驶。
针对目前对唤醒后列车进行定位的方法，由于车载核心设备在列车休眠期间需要正常供电，因此需要在列车上设置用于为车载核心设备供电的蓄电池，而为了保证列车长时间休眠时车载核心设备不断电，列车上所设置蓄电池应当具有较大的容量，但是蓄电池的容量越大则其体积和重量也越大。较大重量的蓄电池会导致列车的自重增加，而较大体积的蓄电池会使列车的可用空间减小，这都会降低用户的使用体验。
发明内容
有鉴于此，本发明提供的列车定位方法、装置、系统和计算机可读介质，能够保证列车用户的使用体验。
第一方面，本发明实施例提供了一种列车定位方法，包括：
在列车停靠在休眠区域后，获取至少一个第一接收天线接收到的第一设备标识信息，其中，所述列车上设置有至少一个接收天线，所述休眠区域内设置有至少一个定位设备，所述定位设备用于向位于有效通信范围内的所述接收天线发送设备标识信息，不同的所述定位设备所发送的所述设备标识信息不同，所述第一接收天线为在所述列车进入休眠模式之前接收到所述标识信息的所述接收天线，所述第一设备标识信息为所述第一接收天线所接收到的所述设备标识信息；
获取所述列车的定位信息，其中，所述定位信息包括位置信息和方向信息，所述位置信息用于指示所述列车所处的位置，所述方向信息用于指示所述列车的两端相对于所述休眠区域的朝向；
在确定所述第一设备标识信息可信后，将所述第一设备标识信息和所述定位信息存储到非易失性存储器中，并使所述列车进入休眠模式；
在所述列车被从休眠模式唤醒后，利用所述至少一个接收天线接收第二设备标识信息；
根据接收到的所述第二设备标识信息和从所述非易失性存储器中读取到的所述第一设备标识信息判断所述列车被唤醒后是否处于其进入休眠模式之前所处的位置；
如果确定所述列车被唤醒后处于其进入休眠模式之前所处的位置，则确定所述列车当前所处位置和方向与所述非易失性存储器中存储的所述定位信息相匹配，完成对所述列车的定位。
在第一种可能的实现方式中，结合上述第一方面，所述根据接收到的所述第二设备标识信息和从所述非易失性存储器中读取到的所述第一设备标识信息判断所述列车被唤醒后是否处于其进入休眠模式之前所处的位置，包括：
判断是否存在至少一个第二接收天线接收到第二设备标识信息，其中，所述第二接收天线为在所述列车被从休眠模式唤醒后接收到所述标识信息的所述接收天线，所述第二设备标标识信息为所述第二接收天线接收到的所述设备标识信息；
如果存在至少一个所述第二接收天线接收到所述第二设备标识信息，则进一步判断各个所述第二设备标识信息与各个所述第一设备标识信息是否完全相同，且判断相同的所述第二标识信息和所述第一设备标识信息是否由相同的所述接收天线而接收；
如果各个所述第二设备标识信息与各个所述第一设备标识信息完全相同，且相同的所述第二标识信息和所述第一设备标识信息由相同的所述接收天线而接收，则确定所述列车被唤醒后处于其进入休眠模式之前所处的位置；
如果各个所述第二设备标识信息与各个所述第一设备标识信息不完全相同，或者存在至少一个所述第二标识信息与相同的所述第一设备标识信息由不同的所述接收天线而接 收，则确定所述列车被唤醒后不处于其进入休眠模式之前所处的位置；
如果不存在所述第二接收天线接收到所述第二设备标识信息，则确定所述列车被唤醒后不处于其进入休眠模式之前所处的位置。
在第二种可能的实现方式中，结合上述第一种可能的实现方式，在确定所述列车被唤醒后不处于其进入休眠模式之前所处的位置之后，进一步包括：
检测所述列车上所设置的各个所述接收天线是否均处于正常工作状态；
如果所述列车上所设置的各个所述接收天线均处于正常工作状态，则将所述非易失性存储器中存储的所述第一设备标识信息和所述定位信息删除；
如果所述列车上所设置的各个所述接收天线中存在至少一个所述接收天线处于异常工作状态，则保留所述非易失性存储器中存储的所述第一设备标识信息和所述定位信息。
在第三种可能的实现方式中，结合上述第一方面，在所述将所述第一设备标识信息和所述定位信息存储到非易失性存储器中之前，进一步包括：
确定发送所述第一设备标识信息的各个所述定位设备的部署位置信息；
根据所述部署位置信息和所述定位信息判断所述第一设备标识信息是否可信；
如果所述第一设备标识信息可信，则执行所述将所述第一设备标识信息和所述定位信息存储到非易失性存储器中；
如果所述第一设备标识信息不可信，则发出报警信息。
在第四种可能的实现方式中，结合上述第一方面以及第一方面的第一种可能的实现方式、第二种可能的实现方式和第三种可能的实现方式中的任意一个，在所述获取至少一个第一接收天线接收到的第一设备标识信息之前，进一步包括：
判断是否存在至少一个第三接收天线接收到与其相配对的所述定位设备所发送的所述设备标识信息，其中，所述列车上所设置的至少一个所述接收天线中包括有至少一个所述第三接收天线，所述第三接收天线具有相配对的所述定位设备，当所述列车达到所述休眠区域内的目标停靠位置时，所述第三接收天线可接收到与其相配对的所述定位设备所发送的所述设备标识信息；
如果存在至少一个所述第三接收天线接收到与其相配对的所述定位设备所发送的所述设备标识信息，确定所述列车已停车到位，执行所述获取至少一个第一接收天线接收到的第一设备标识信息；
如果不存在所述第三接收天线接收到与其相配对的所述定位设备所发送的所述设备标识信息，确定所述列车未停车到位。
第二方面，本发明实施例还提供了一种列车定位装置，包括：
一个第一信息获取模块，用于在列车停靠在休眠区域后，获取至少一个第一接收天线接收到的第一设备标识信息，其中，所述列车上设置有至少一个接收天线，所述休眠区域内设置有至少一个定位设备，所述定位设备用于向位于有效通信范围内的所述接收天线发送设备标识信息，不同的所述定位设备所发送的所述设备标识信息不同，所述第一接收天线为在所述列车进入休眠模式之前接收到所述标识信息的所述接收天线，所述第一设备标识信息为所述第一接收天线所接收到的所述设备标识信息；
一个第二信息获取模块，用于获取所述列车的定位信息，其中，所述定位信息包括位置信息和方向信息，所述位置信息用于指示所述列车所处的位置，所述方向信息用于指示所述列车的两端相对于所述休眠区域的朝向；
一个信息存储模块，用于在确定所述第一信息获取模块获取到的所述第一设备标识信息可信后，将所述第一设备标识信息和所述第二信息获取模块获取到的所述定位信息存储到非易失性存储器中，并使所述列车进入休眠模式；
一个第三信息获取模块，用于在所述列车被从休眠模式唤醒后，利用所述至少一个接收天线接收第二设备标识信息；
一个运动判断模块，用于根据所述第三信息获取模块接收到的所述第二设备标识信息和所述信息存储模块存储到所述非易失性存储器中的所述第一设备标识信息，判断所述列车被唤醒后是否处于其进入休眠模式之前所处的位置；
一个列车定位模块，用于在所述运动判断模块确定所述列车被唤醒后处于其进入休眠模式之前所处的位置时，确定所述列车当前所处位置和方向与所述信息存储模块存储到所述非易失性存储器中的所述定位信息相匹配，完成对所述列车的定位。
在第一种可能的实现方式中，结合上述第二方面，所述运动判断模块包括：
一个第一判断单元，用于判断是否存在至少一个第二接收天线接收到第二设备标识信息，其中，所述第二接收天线为在所述列车被从休眠模式唤醒后接收到所述标识信息的所述接收天线，所述第二设备标标识信息为所述第二接收天线接收到的所述设备标识信息；
一个第二判断单元，用于在所述第一判断单元确定存在至少一个所述第二接收天线接收到所述第二设备标识信息时，进一步判断各个所述第二设备标识信息与各个所述第一设备标识信息是否完全相同，且判断相同的所述第二标识信息和所述第一设备标识信息是否由相同的所述接收天线而接收；
一个第一识别单元，用于在所述第二判断单元确定各个所述第二设备标识信息与各个所述第一设备标识信息完全相同，且相同的所述第二标识信息和所述第一设备标识信息由 相同的所述接收天线而接收时，确定所述列车被唤醒后处于其进入休眠模式期之前所处的位置，并在所述第二判断单元确定各个所述第二设备标识信息与各个所述第一设备标识信息不完全相同，或者存在至少一个所述第二标识信息与相同的所述第一设备标识信息由不同的所述接收天线而接收时，确定所述列车被唤醒后不处于其进入休眠模式之前所处的位置；
一个第二识别单元，用于在所述第一判断单元确定不存在所述第二接收天线接收到所述第二设备标识信息时，确定所述列车被唤醒后不处于其进入休眠模式之前所处的位置。
在第二种可能的实现方式中，结合上述第一种可能的实现方式，该列车定位装置进一步包括：
一个天线检测模块，用于在所述第一识别单元或所述第二识别单元确定所述列车被唤醒后不处于其进入休眠模式之前所处的位置之后，检测所述列车上所设置的各个所述接收天线是否均处于正常工作状态；
一个信息管理模块，用于在所述天线检测模块确定所述列车上所设置的各个所述接收天线均处于正常工作状态时，将所述非易失性存储器中存储的所述第一设备标识信息和所述定位信息删除，并在所述天线检测模块确定所述列车上所设置的各个所述接收天线中存在至少一个所述接收天线处于异常工作状态时，保留所述非易失性存储器中存储的所述第一设备标识信息和所述定位信息。
在第三种可能的实现方式中，结合上述第二方面，该列车定位装置进一步包括：
一个位置识别模块，用于根据所述第一信息获取模块获取到的所述第一设备标识信息，确定发送所述第一设备标识信息的各个所述定位设备的部署位置信息；
一个信息检测模块，用于根据所述位置识别模块确定出的所述部署位置信息和所述第二信息获取模块获取到的所述定位信息判断所述第一设备标识信息是否可信，并在确定所述第一设备标识信息可信时触发所述信息存储模块执行所述将所述第一设备标识信息和所述定位信息存储到非易失性存储器中，以及在确定所述第一设备标识信息不可信时发出报警信息。
在第四种可能的实现方式中，结合上述第二方面以及第二方面的第一种可能的实现方式、第二种可能的实现方式和第三种可能的实现方式中的任意一个，该列车定位装置进一步包括：
一个停车检测模块，用于判断是否存在至少一个第三接收天线接收到与其相配对的所述定位设备所发送的所述设备标识信息，其中，所述列车上所设置的至少一个所述接收天线中包括有至少一个所述第三接收天线，所述第三接收天线具有相配对的所述定位设备， 当所述列车达到所述休眠区域内的目标停靠位置时，所述第三接收天线可接收到与其相配对的所述定位设备所发送的所述设备标识信息，并在确定存在至少一个所述第三接收天线接收到与其相配对的所述定位设备所发送的所述设备标识信息时，确定所述列车已停车到位，触发所述第一信息获取模块执行所述获取至少一个第一接收天线接收到的第一设备标识信息，以及在确定不存在所述第三接收天线接收到与其相配对的所述定位设备所发送的所述设备标识信息时，确定所述列车未停车到位。
第三方面，本发明实施例还提供了另一种列车定位装置，包括：至少一个存储器和至少一个处理器；
所述至少一个存储器，用于存储机器可读程序；
所述至少一个处理器，用于调用所述机器可读程序，执行上述第一方面以及第一方面的任意一种可能的实现方式所提供的方法。
第四方面，本发明实施例还提供了一种列车定位系统，包括：至少一个接收天线、至少一个定位设备和一个上述第二方面、第二方面的任意一种可能的实现方式以及第三方面提供的任意一种列车定位装置；
所述至少一个接收天线设置在列车上；
所述至少一个定位设备设置在休眠区域内；
所述定位设备，用于向位于有效通信范围内的所述接收天线发送设备标识信息，其中，不同的所述定位设备所发送的所述设备标识信息不同；
所述接收天线，用于在接收到来自所述定位设备的所述设备标识信息后，将所述设备标识信息发送给所述列车定位装置。
在第一种可能的实现方式中，结合上述第四方面，沿所述列车的运行方向，在所述列车上设置有至少两个所述接收天线。
在第二种可能的实现方式中，结合上述第四方面或第四方面的第一种可能的实现方式，沿所述休眠区域内轨道的方向，在所述休眠区域内设置有至少两个所述定位设备。
第五方面，本发明所述还提供了一种计算机可读介质，所述计算机可读介质上存储有计算机指令，所述计算机指令在被处理器执行时，使所述处理器执行上述第一方面以及第一方面的任意一种可能的实现方式所提供的方法。
由上述技术方案可知，当列车停靠在休眠区域后，设置在休眠区域内的定位设备会向列车上所设置的接收天线发送设备标识信息，而且不同定位设备所发送的设备标识信息互不相同，在列车进入休眠模式之前获取列车的定位信息，并将所获取到的定位信息以及接收天线所接收到的第一设备标识信息存储到非易失性存储器中，之后列车进入休眠模式，当列车被唤醒后，利用列车上所设置的各个接收天线接收第二设备标识信息，并从非易失性存储器中读取第一设备标识信息，之后所接收到第二设备标识信息的情况和所读取到的第一设备标识信息来确定列车被唤醒后是否处于进入休眠模式之前所处的位置，如果确定列车被唤醒后处于进入休眠模式之前所处的位置，则可以将非易失性存储器中所存储的定位信息作为对列车进行定位的结果，完成列车唤醒后的定位。由此可见，设置在休眠区域内的定位设备可以向列车上的接收天线发送设备标识信息，在列车进入休眠模式之前将列车的定位信息和接收天线接收到的第一设备标识信息存储到非易失性存储器中，之后列车可以断电进入休眠模式，在列车被唤醒后可以从非易失性存储器中读取第一设备标识信息并重新利用接收天线获取第二设备标识信息，并根据第一设备标识信息和第二设备标识信息可以判断列车被唤醒后是否处于进入休眠模式之前所处的位置，如果确定列车被唤醒后处于进入休眠模式之前所处的位置，则可以沿用非易失性存储器中存储的定位信息，从而实现列车唤醒后的定位，由于列车可以完全断电进入休眠模式，因此在实现列车唤醒后定位的同时无需在列车上设置较大体积和重量的蓄电池，从而不会增加列车的自重和减小列车的可用空间，进而能够保证用户的使用体验。
附图说明
图1A是本发明一个实施例提供的一种列车定位系统的示意图；
图1B是本发明一个实施例提供的一种列车定位方法的流程图；
图2是本发明一个实施例提供的一种列车被唤醒后位置改变检测方法的流程图；
图3是本发明一个实施例提供的另一种列车被唤醒后位置改变检测方法的流程图；
图4是本发明一个实施例提供的一种非易失性存储器中信息管理方法的流程图；
图5是本发明一个实施例提供的一种设备标识信息可信性判断方法的流程图；
图6是本发明一个实施例提供的一种列车停车到位判断方法的流程图；
图7是本发明一个实施例提供的一种列车定位装置的示意图；
图8是本发明一个实施例提供的另一种列车定位装置的示意图；
图9是本发明一个实施例提供的一种包括天线检测模块的列车定位装置的示意图；
图10是本发明一个实施例提供的一种包括位置识别模块的列车定位装置的示意图；
图11是本发明一个实施例提供的一种包括停车检测模块的列车定位装置的示意图；
图12是本发明一个实施例提供的又一种列车定位装置的示意图。
附图标记列表：
101：在列车停靠在休眠区域后，获取至少一个第一接收天线接收到的第一设备标识信息
102：获取列车的定位信息
103：将第一设备标识信息和定位信息存储到非易失性存储器中
104：在列车被从休眠模式唤醒后，利用各个接收天线接收第二设备标识信息
105：根据第一、第二设备标识信息判断列车是否处于其进入休眠模式之前所处的位置
106：确定列车当前所处位置和方向与定位信息相匹配，完成对列车的定位
201：在列车被唤醒后，利用列车上所设置的各个接收天线接收设备标识信息
202：判断各个接收天线是否接收到设备标识信息
203：判断各个接收天线接收到的设备标识信息是否与第一设备标识信息相同
204：确定列车休眠前后所处的位置未发生改变
205：确定列车休眠前后所处的位置已发生改变
301：判断是否存在至少一个第二接收天线接收到第二设备标识信息
302：判断第二设备标识信息与第一设备标识信息是否完全相同，并判断相同第一设备标识信息与第二设备标识信息是否由相同接收天线所接收
303：确定列车被唤醒后处于其进入休眠模式之前所处的位置
304：确定列车被唤醒后不处于其进入休眠模式之前所处的位置
401：检测列车上所设置的各个接收天线是否均处于正常工作状态
402：将非易失性存储器中存储的第一设备标识信息和定位信息删除
403：保留非易失性存储器中存储的第一设备标识和定位信息
501：确定发送第一设备标识信息的各个定位设备的部署位置信息
502：根据部署位置信息和定位信息判断第一设备标识信息是否可信
503：发出报警信息
601：判断是否存在第三接收天线接收到与其相配对的定位设备所发送的设备标识信息
602：确定列车已停车到位，并执行步骤101
603：确定列车未停车到位
70：列车定位装置          80：接收天线              90：定位设备
100：列车                 110：休眠区域             701：第一信息获取模块
702：第二信息获取模块     703：信息存储模块         704：第三信息获取模块
705：运动判断模块         706：列车定位模块         707：天线检测模块
708：信息管理模块         709：位置识别模块         710：信息检测模块
711：停车检测模块         712：存储器               713：处理器
7051：第一判断单元        7052：第二判断单元        7053：第一识别单元
7054：第二识别单元        120：非易失性存储器
具体实施方式
如前所述，为了保证列车被唤醒后可以获取到准确的定位信息，利用车载核心设备存储列车进行休眠模式之前的定位信息，并且在列车处于休眠模式期间对车载核心设备进行正常供电，使得车载核心设备可以监测列车在休眠模式期间的运动情况，并根据监测到的运动情况对所存储的定位信息进行更新，从而在列车被唤醒后可以从车载核心设备获取最新的定位信息。由于车载核心设备在列车处于休眠模式期间一直处于运动监测状态，为了保证列出处于休眠模式期间能够正常对车载核心设备供电，需要在列车上设置较大体积和重量的蓄电池，这将增加列车的自重并减小列车的可用空间，导致用户的使用体验较差。
在本发明实施例中，当列车进入休眠区域后，设置于休眠区域内的定位设备会向设置于列车上的接收天线发送设备标识信息，之后将列车进入休眠模式之前的定位信息和接收天线所接收到的设备标识信息存储到非易失性存储器中，之后列车进入休眠模式。当列车被从休眠模式唤醒后，可以从非易失性存储器中读取所存储的设备标识信息，进而根据所读取到的设备标识信息来判断列车被唤醒后是否处于进入休眠模式之前所处的位置，如果确定列车被唤醒后处于进入休眠模式之前所处的位置，则沿用非易失性存储器中所存储的定位信息，完成列车的定位。由此可见，由于根据设备标识信息可以确定列车被唤醒后是否处于进入休眠模式之前所处的位置，在确定列车被唤醒后处于进入休眠模式之前所处的位置后，沿用非易失性存储器中所存储的定位信息，完成列车的定位，因此列车处于休眠模式期间可以完全断电，无需在列车上设置较大体积和重量的蓄电池，从而不会增加列车的自重和减小列车的可用空间，进而能够保证用户的使用体验。
如图1A所示，本发明一个实施例提供了一种列车定位系统，该系统可以包括：至少一个接收天线80、至少一个定位设备90和一个列车定位装置70；
各个接收天线80设置在列车100上；
各个定位设备90设置在休眠区域110内；
定位设备90，用于向位于有效通信范围内的接收天线80发送设备标识信息，其中，不同的定位设备所发送的设备标识信息不同；
接收天线80，用于接收来自定位设备90的设备标识信息，并将所接收到的设备标识信息发送给列车定位装置70；
列车定位装置70，用于将列车100进入休眠模式之前的定位信息和接收天线80所接收到的第一设备标识信息存储到非易失性存储器120中，之后使列车进入休眠模式，当列车100被从休眠模式中唤醒后，列车定位装置70再次获取接收天线80在列车100被唤醒后所接收到的第二设备标识信息，之后列车定位装置70根据获取到的第二设备标识信息以及存储在非易失性存储器120中的第一设备标识信息判断列车100被唤醒后是否处于其进入休眠模式之前所处的位置，当确定列车100被唤醒后处于其进入休眠模式之前所处的位置后，列车定位装置70将存储在非易失性存储器120中的定位信息作为指示列车100当前所处位置的定位信息。
在本发明实施例中，设置在列车100上的接收天线80可以在列车100进入休眠模式之前和从休眠模式被唤醒之后分别获取第一设备标识信息和第二设备标识信息，列车定位装置70可以将列车100进入休眠模式之前的定位信息以及第一设备标识信息存储到非易失性存储器120中，之后列车100便可以进入断电休眠模式，当列车100被从休眠模式唤醒后，列车定位装置70可以从接收天线80获取第二设备标识信息，并从非易失性存储器120中读取第一设备标识信息，通过对比第一设备标识信息和第二设备标识信息可以判断列车100被唤醒后是否处于其进入休眠模式之前所处的位置，当确定列车100被唤醒后处于其进入休眠模式之前所处的位置后，列车定位装置70将存储在非易失性存储器120中的定位信息作为指示列车100当前所处位置的定位信息。可见，根据设备标识信息可以确定列车100进入休眠模式之前和被从休眠模式唤醒之后所处的位置是否发生改变，如果列车100被唤醒后处于进入休眠模式之前所处的位置，则可以沿用列车100进入休眠模式之前的定位信息完成列车100的定位，因此列车100处于休眠模式期间可以完全断电，无需在列车100上设置较大体积和重量的蓄电池，从而不会增加列车100的自重和减小列车的可用空间，进而能够保证用户的使用体验。
在本发明实施例中，列车100上设置有与列车定位装置70相连接的非易失性存储器120。在列车100进入休眠模式之前，列车定位装置70可以将列车100的定位信息以及由接收天线80所接收到的第一设备标识信息方法到非易失性存储器120中。在列车100被从休眠模式中唤醒后，列车定位装置70可以从非易失性存储器120中读取第一设备信息和定位信息。
在本发明实施例中，不同的定位设备90会发送不同的设备标识信息，因此设备标识信息可用于对定位设备90进行标识，具体地，设备标识信息可以为相应定位设备的身份信息，比如设备标识信息可以为相应定位设备的身份ID。
可选地，在图1A所示列车定位系统的基础上，沿列车100的运行方向上，在列车100上设置有至少两个接收天线80。
在本发明实施例中，沿列车的运行方向在列车上设置多个接收天线，各个接收天线可以分别接收来自定位设备的设备标识信息，从而可以利用多个接收天线所接收到的设备标识信息来判断列车休眠前后所处的位置是否发生改变，进而保证列车被唤醒后进行定位的准确性。另外，只要有一个接收天线可以接收到来自定位设备的设备标识信息便可以判断列车休眠前后所处的位置是否发生改变，从而在将列车停靠在休眠区域时，仅需要保证有一个接收天线能够接收到来自定位设备的设备标识信息即可，从而可以降低对列车停靠位置准确度的要求。
在本发明实施例中，当列车上设置有多个接收天线时，接收天线的设置位置有多种可选方案，比如可以在列车的车头和车尾各设置一个接收天线，或者可以在列车的车头和车尾各设置2个接收天线，抑或可以沿列车的运行方向在列车上均匀设置至少三个接收天线。
在本发明实施例中，为了保证接收天线能够更加有效的接收来自定位设备的设备标识信息，可以将接收天线设置在列车的底部，另外，当列车停靠在休眠区域内的目标停靠位置时，列车上的至少一个接收天线与设置在休眠区域内的定位设备上下对齐。
在本发明实施例中，接收天线80为能够与定位设备90进行点对点无线通信的设备，比如接收天线80可以为应答器或者信标天线。
可选地，在图1A所示列车定位系统的基础上，沿休眠区域110内轨道的方向，在休眠区域110内设置有至少两个定位设备90。
在本发明实施例中，沿休眠区域内轨道的方向在休眠区域内设置多个定位设备，各个定位设备可以分别向接收天线发送设备标识信息。一方面，各个定位设备可以向一个或多个接收天线发送设备标识信息，使得列车定位装置可以基于多个设备标识信息来判断列车休眠前后的位置是否发生改变，相对于基于单个设备标识信息进行判断的方法可以降低误判的概率；另一方面，由于不同列车上接收天线的设置位置可能不同，而且不同列车在同一休眠区域内的停靠位置也可能不同，在休眠区域内设置多个定位设备，可以满足各种列车的定位需求，保证基于休眠区域内所设置定位设备进行列车唤醒后定位的适用性。
在本发明实施例中，为了保证定位设备所发送的设备标识信息能够被接收天线所接收到，可以将定位设备设置在休眠区域内轨道的旁边，并保证定位设备能够与接收天线上下 对齐。
在本发明实施例中，定位设备90为能够与接收天线80进行点对点通信的设备，比如定位设备90可以为地面应答器或者信标。具体地，定位设备90可以为有源地面应答器或无源地面应答器，当定位设备90为有源地面应答器时，定位设备90可以持续发送设备标识信息，或者到检测到列车进入特定区域后开始发送设备标识信息，当定位设备90为无源地面应答器时，列车经过定位设备90上方时定位设备90获取感应能量，基于所获得的感应能够发送设备定位信息。
在本发明实施例中，休眠区域110的长度通常大于列车100的长度，保证列车100能够完全进入休眠区域110，并能够适用于不同长度的列车100。
在本发明实施例中，定位设备90的有效通信范围应避免平行轨道之间的干扰。比如，休眠区域内有两条平行的轨道A和轨道B，应保证列车在轨道A上时列车上的接收天线不会接收到轨道B上所设置定位设备发送的设备标识信息，并保证列车在轨道B上时列车上的接收天线不会接收到轨道A上所设置定位设备发送的设备标识信息。比如可以设置定位设备的有效通信范围为以定位设备为中心，2米为半径的球形区域，即与定位设备相距2米以内的接收天线可以接收到定位设备所发送的设备标识信息。
在本发明实施例中，为了便于对设备标识信息进行管理和存储，通过对接收天线进行配置，可以使同一接收天线在预设时间段内仅能够接收同一定位设备所发送的设备标识信息，具体地，在预设时间段内接收到一个设备标识信息后，在该预设时间段内仅接受发送该设备标识信息的定位设备所发送的设备标识信息，或者在该预设时间段内将不在接收其他的任何设备标识信息。
下面，介绍本发明实施例提供的列车定位方法，该方法可以由前述的列车定位装置70来执行。如无特别声明，这些方法中涉及的接收天线可为前述的接收天线80，这些方法中涉及的定位设备可为前述的定位设备90，这些方法中涉及的列车可为前述的列车100，这些方法中涉及的休眠区域可为前述的休眠区域110，这些方法中涉及的非易失性存储器可为前述的非易失性存储器120。
如图1B所示，本发明实施例提供了一种列车定位方法，该方法可以包括如下步骤：
步骤101：在列车停靠在休眠区域后，获取至少一个第一接收天线接收到的第一设备标识信息，其中，列车上设置有至少一个接收天线，休眠区域内设置有至少一个定位设备，定位设备用于向位于有效通信范围内的接收天线发送设备标识信息，不同的定位设备所发送的设备标识信息不同，第一接收天线为在列车进入休眠模式之前接收到标识信息的接收 天线，第一设备标识信息为第一接收天线所接收到的设备标识信息；
步骤102：获取列车的定位信息，其中，定位信息包括位置信息和方向信息，位置信息用于指示列车所处的位置，方向信息用于指示列车的两端相对于休眠区域的朝向；
步骤103：在确定第一设备标识信息可信后，将第一设备标识信息和定位信息存储到非易失性存储器中，并使列车进入休眠模式；
步骤104：在列车被从休眠模式唤醒后，利用各个接收天线接收第二设备标识信息；
步骤105：根据各个接收天线接收到的第二设备信息和从非易失性存储器中读取到的第一设备标识信息判断列车被唤醒后是否处于其进入休眠模式之前所处的位置；
步骤106：如果确定列车被唤醒后处于其进入休眠模式之前所处的位置，则确定列车当前所处位置和方向与非易失性存储器中存储的定位信息相匹配，完成对列车的定位。
在本发明实施例中，当列车停靠在休眠区域后，设置在休眠区域内的定位设备会向列车上所设置的接收天线发送设备标识信息，而且不同定位设备所发送的设备标识信息互不相同，在列车进入休眠模式之前获取列车的定位信息，并将所获取到的定位信息以及接收天线所接收到的第一设备标识信息存储到非易失性存储器中，之后列车进入休眠模式，当列车被唤醒后，获取接收天线再次接收到的第二设备标识信息，并从非易失性存储器中读取第一设备标识信息，之后根据所读取到的第一设备标识信息和获取到的第二设备标识信息来确定列车被唤醒后是否处于进入休眠模式之前所处的位置，如果确定列车被唤醒后处于进入休眠模式之前所处的位置，则可以将非易失性存储器中所存储的定位信息作为对列车进行定位的结果，完成列车唤醒后的定位。由此可见，设置在休眠区域内的定位设备可以向列车上的接收天线发送设备标识信息，在列车进入休眠模式之前将列车的定位信息和接收天线接收到的第一设备标识信息存储到非易失性存储器中，之后列车可以断电进入休眠模式，在列车被唤醒后可以获取接收天线在列车被唤醒后所接收到的第二设备标识信息，并从非易失性存储器中读取第一设备标识信息，进而根据第一设备标识信息和第二设备标识信息判断列车被唤醒后是否处于进入休眠模式之前所处的位置，如果确定列车被唤醒后处于进入休眠模式之前所处的位置，则可以沿用非易失性存储器中存储的定位信息，从而实现列车唤醒后的定位，由于列车可以完全断电进入休眠模式，因此在实现列车唤醒后定位的同时无需在列车上设置较大体积和重量的蓄电池，从而不会增加列车的自重和减小列车的可用空间，进而能够保证用户的使用体验。
可选地，步骤105根据第一设备标识信息和第二设备标识信息判断列车的位置是否发生改变时，根据对列车安全级别的要求不同，可以采用如下两种方式来确定列车休眠前后的位置是否发生改变：
方式一：根据列车被唤醒后接收天线所接收到的设备标识信息来确定列车休眠前后的位置是否发生改变；
方式二：根据列车被唤醒后接收天线所接收到的设备标识信息和接收设备标识信息的接收天线来确定列车休眠前后的位置是否发生改变。
下面对上述两种确定列车休眠前后位置是否发生改变的方法进行分别说明。
针对方式一：
如图2所示，根据设备标识信息判断列车休眠前后的位置是否发生改变的方法可以包括如下步骤：
步骤201：在列车被唤醒后，利用列车上所设置的各个接收天线接收设备标识信息；
步骤202：判断各个接收天线是否接收到设备标识信息，如果是Y，执行步骤203，如果否N，执行步骤205；
步骤203：判断各个接收天线接收到的设备标识信息是否与从非易失性存储器中读取到的第一设备标识信息相同，如果是Y，执行步骤204，如果否N，执行步骤205；
步骤204：确定列车休眠前后所处的位置未发生改变，并结束当前流程；
步骤205：确定列车休眠前后所处的位置已发生改变。
在本发明实施例中，在列车被唤醒后，尝试利用接收天线接收来自定位设备的设备标识信息，由于在列车进入休眠模式之前有至少一个第一接收天线可以接收到来自定位设备的设备标识信息，如果在列车被唤醒后各个接收天线均没有接收到设备标识信息，说明列车已经离开休眠区域，从而确定列车休眠前后所处的位置已发生改变，即列车被唤醒后并非处于进入休眠模式之前所处的位置。如果在列车被唤醒后由至少一个接收天线接收到的了设备标识信息，则进一步判断列车被唤醒后接收天线所接收到的设备标识信息是否与非易失性存储器中所存储的第一设备标识信息相同，如果列车被唤醒后各个接收天线所接收到的设备标识信息与非易失性存储器中所存储的第一设备标识信息不同，则说明列车在休眠区域内发生了运动或进入了其他的休眠区域，从而确定列车休眠前后所处的位置已发生改变，如果列车被唤醒后各个接收天线所接收到的设备标识信息与非易失性存储器中所存储的第一设备标识信息相同，说明列车相对于休眠区域的位置未发生改变，从而确定列车休眠前后所处的位置未发生改变。
在本发明实施例中，由于不同定位设备所发送的设备标识信息不同，因此非易失性存储器中可能存储有多个第一设备标识信息，在判断列车被唤醒后接收天线所接收到的设备标识信息是否与非易失性存储器中所存储的第一设备标识信息相同时，即为判断列车被唤醒后接收天线所接收到的设备标识信息是否与非易失性存储器中所存储的第一设备标识 信息一一对应相同。
在本发明实施例中，由于定位设备可以向位于有限通信范围内的接收天线发送设备标识信息，如果列车的位置发生轻微改变，接收天线仍会接收到相同的设备标识信息，但如果列车的位置发生较大的改变，势必会导致接收天线所接收到的设备标识信息发生改变。因此，如果列车休眠前后接收天线可以接收到相同的设备标识信息，说明列车被唤醒后仍处于休眠区域内，在安全级别要求较低时也可以实现列车唤醒后的定位。由于只需要将列车被唤醒后接收天线所接收到的设备标识信息与非易失性存储器中所存储的第一设备标识信息进行比较，便可以对唤醒后的列车进行定位，可以提升对列车进行定位的效率。
针对方式二：
如图3所示，根据设备标识信息和接收天线判断列车休眠前后位置是否发生改变的方法可以包括如下步骤：
步骤301：判断是否存在至少一个第二接收天线接收到第二设备标识信息，如果是Y，执行步骤302，如果否N，执行步骤304，其中，第二接收天线为在列车被从休眠模式唤醒后接收到标识信息的接收天线，第二设备标标识信息为第二接收天线接收到的设备标识信息；
步骤302：判断各个第二设备标识信息与各个第一设备标识信息是否完全相同，且判断相同的第二标识信息和第一设备标识信息是否由相同的接收天线而接收，如果是Y，执行步骤303，如果否N，执行步骤304；
步骤303：确定列车被唤醒后处于其进入休眠模式之前所处的位置，并结束当前流程；
步骤304：确定列车被唤醒后不处于其进入休眠模式之前所处的位置。
在本发明实施例中，在列车被唤醒后，尝试利用接收天线接收来自定位设备的设备标识信息，首先判断接收天线是否接收到与各个第一设备标识信息完全相同的第二设备标识信息，如果确定接收天线所接收到的各个第二设备标识信息与各个第一设备标识信息完全相同，则进一步判断相同的第一设备标识信息和第二设备标识信息是否由同一接收天线所接收，如果确定相同的第一设备标识信息和第二设备标识信息由同一接收天线所接收，则确定列车休眠前后所处的位置未发生改变，即列车被唤醒后处于进入休眠模式之前所处的位置。如果接收天线所接收到的各个第二设备标识信息与各个第一设备标识信息不完全相同，或者存在相同的第一设备标识信息和第二设备标识信息由不同的接收天线所接收，则确定列车休眠前后所处的位置已发生改变，即列车被唤醒后不处于进入休眠模式之前所处的位置。
在本发明实施例中，在判断各个第二设备标识信息与各个第一设备标识信息完全相同 的基础上，进一步判断相同的第一设备标识信息与第二设备标识信息是否由相同的接收天线所接收，由于列车上可以设置多个接收天线，而休眠区域可以设置多个定位设备，当列车在休眠区域内所处位置发生改变时，列车位置改变前后接收天线所接收到的设备标识信息可能相同，但同一设备标识信息可能由不同的接收天线所接收。因此，通过判断相同的第一设备标识信息与第二设备标识信息是否由相同的接收天线所接收，可以确定列车休眠前后在休眠区域内的位置是否发生了改变，从而可以更加准确地判断列车被唤醒后所处的位置与列车休眠之前所处的位置是否相同，进而保证列车被唤醒后沿用非易失性存储器中所存储定位信息的安全性。
在本发明实施例中，由于列车上可以设置多个接收天线，不同的接收天线可能会接收到同一定位设备所发送的设备标识信息，在判断相同的第一设备标识信息和第二设备标识信息是否由相同的接收天线所接收时，针对任意一个第一设备标识信息，如果该第一设备标识信息被至少两个接收天线接收到，则与该第一设备标识信息相同的第二设备标识信息也需要被至少两个接收天线接收到，且接收到该第二设备标识信息的至少两个接收天线需要与接收到该第一设备标识信息的至少两个接收天线相同，此时才会确定该第一设备标识信息与相同的第二设备标识信息由相同的接收天线所接收。
在本发明实施例中，如果确定列车被唤醒后处于进入休眠模式之前所处的位置，是指在列车被唤醒之后与列车进入休眠模式之前，列车所处的位置以及列车相对于休眠区域的方向均相同。在保证列车休眠前后所处位置与相对休眠区域的方向均没有变化后，再将非易失性存储器中所存储的定位信息沿用做列车被唤醒后的定位信息，实现列车唤醒后的定位，保证了列车唤醒后实现全自动驾驶各项功能的安全性。
可选地，在图3所述列车唤醒后位置检测方法的基础上，步骤304确定列车被唤醒后不处于其进入休眠模式之前所处的位置后，可以检测列车上所设置的各个接收天线是否工作正常，进而可以根据检测结果对非易失性存储器中所存储的第一设备标识信息和定位信息进行管理。如图4所示，对非易失性存储器中信息进行管理的方法可以包括如下步骤：
步骤401：检测列车上所设置的各个接收天线是否均处于正常工作状态，如果是Y，执行步骤402，如果否N，执行步骤403；
步骤402：将非易失性存储器中存储的第一设备标识信息和定位信息删除，并结束当前流程；
步骤403：保留非易失性存储器中存储的第一设备标识和定位信息。
在本发明实施例中，确定列车被唤醒后不处于其进入休眠模式之前所处的位置后，检测列车上各个接收天线是否均处于正常工作状态，如果检测到列车上各个接收天线均处于 正常工作状态，说明列车休眠前后的位置确实已经发生了改变，非易失性存储器中所存储的第一设备标识信息和定位信息已经没有意义，从而可以将非易失性存储器中所存储的第一设备标识信息和定位信息删除。如果检测到列车上存在至少一个接收天线处于异常工作状态，此时确定列车休眠前后所处位置发生改变可能是由于接收天线工作异常而导致的误判，从而可以保留非易失性存储器中所存储的第一设备标识信息和定位信息，进而在后续修复接收天线后继续利用非易失性存储器中所存储的第一设备标识信息和定位信息对列车进行定位，保证对唤醒后列车进行定位的成功率。
可选地，在图1B所示列车定位方法的基础上，步骤103将第一设备标识信息和定位信息存储到非易失性存储器中之前，可以首先验证第一设备标识信息是否可信，在确定第一设备标识信息可信后在将第一设备标识信息与定位信息存储到非易失性存储器中。如图5所示，判断第一设备标识信息可信性的方法可以包括如下步骤：
步骤501：确定发送第一设备标识信息的各个定位设备的部署位置信息；
步骤502：根据部署位置信息和定位信息判断第一设备标识信息是否可信，如果是Y，执行步骤103，如果否N，执行步骤503；
步骤503：发出报警信息。
在本发明实施例中，在获取到各个第一接收天线所接收到的第一设备标识信息后，根据第一设备标识信息可以确定用于表征相应定位设备配置位置的部署位置信息，而定位信息包括有用于指示列车所处位置的位置信息，进而根据部署位置信息和定位信息所包括的位置信息可以确定各个定位设备是否位于列车所停靠的休眠区域。如果确定发送第一设备标识信息的各个定位设备均位于列车所停靠的休眠区域内，则确定各个第一设备标识信息是可信的，如果确定存在至少一个发送第一设备标识信息的定位设备没有位于列车所停靠的休眠区域内，则确定各个第一设备标识信息是不可信的。在确定第一设备标识信息不可信之后，会发出报警信息，以通知相关人员进行处理。
在本发明实施例中，由于不同定位设备会发送不同的设备定位信息，因此根据一个设备定位信息可以确定出发送该设备定位信息的定位设备，之后可以在电子地图上找到该定位设置所部署的位置，同时根据定位信息也可以在电子地图上找到列车所处的位置，进而可以判断该定位设备与该列车之间的距离，从而确定该定位设备所发送的设备标识信息是否可能够该列车上的接收天线接收到。如果根据第一设备标识信息和定位信息确定一个定位设备与列车之间的距离较远，已经超过了该定位设备的有效通信距离，则可以确定该定位设备所发送的第一设备标识信息是不可信的，进而发出报警信息。
在本发明实施例中，在将第一设备标识信息存储到非易失性存储器中之前，首先判断 第一设备标识信息的可信性，仅有在各个第一设备标识信息均可信时再将各个第一设备标识信息和定位到的存储到非易失性存储器中，从而保证列车被唤醒后根据非易失性存储器中所存储第一标识信息确定列车位置的准确性，进而保证列车的安全性。
可选地，在图1B所示列车定位方法的基础上，步骤101获取至少一个第一接收天线所接收到的第一设备标识信息之前，可以判断列车是否已经准确停车。如图6所示，判断列车停车到位的方法可以包括如下步骤：
步骤601：判断是否存在至少一个第三接收天线接收到与其相配对的定位设备所发送的设备标识信息，如果是Y，执行步骤602，如果否N，执行步骤603，其中，列车上所设置的至少一个接收天线中包括有至少一个第三接收天线，第三接收天线具有相配对的定位设备，当列车达到休眠区域内的目标停靠位置时，第三接收天线可接收到与其相配对的定位设备所发送的设备标识信息；
步骤602：确定列车已停车到位，并执行步骤101；
步骤603：确定列车未停车到位。
在本发明实施例中，列车上设置有至少一个接收天线，设置在列车上的各个接收天线中包括有至少一个具有相配对定位设备的第三接收天线，当列车进入休眠区域并到达目标停靠位置时，第三接收天线可以接收到与其相配对的定位设备所发送的设备标识信息。到列车进入休眠区域后，可以检测列车上所设置的各个第三接收天线是否接收到相配对的定位设备所发送的设备标识信息，以此来确定列车是否达到目标停靠位置，从而保证列车能够准确地停靠在目标停靠位置。
在本发明实施例中，列车上的第三接收天线可以是固定的，也可以是随休眠区域改变而变化的。当列车上设置有固定第三接收天线时，该列车进入与不同休眠区域时均根据该第三接收天线是否接收到相配对的定位设备所发送的设备标识信息来判断列车是否停车到位。当列车上的第三接收天线发生变化时，列车在进入一个休眠区域后，根据该休眠区域内定位设备的布置从列车上所设置的各个接收天线中选择第三接收天线，进而根据选择出的第三接收天线是否接收到相配对的定位设备所发送的设备标识信息来判断列车是否停车到位。
需要说明的是，在上述各个实施例所提供的列车定位方法中，在确定列车当前所处的位置和方向与非易失性存储器中所存储的定位信息相匹配后，确认列车唤醒成功，之后可以基于非易失性存储器中所存储的定位信息开始对列车进行全自动驾驶，相对应地，在确定列车被唤醒后不处于其进入休眠模式之前所处的位置后，确认列车唤醒失败，列车不能实现全自动驾驶的各项功能。
另外需要说明的是，非易失性存储器可以设置在列车上，满足列车断电后所存储信息不回丢失即可。
如图7所示，本发明实施例提供了一种列车定位装置70，包括：
一个第一信息获取模块701，用于在列车停靠在休眠区域后，获取至少一个第一接收天线接收到的第一设备标识信息，其中，列车上设置有至少一个接收天线，休眠区域内设置有至少一个定位设备，定位设备用于向位于有效通信范围内的接收天线发送设备标识信息，不同的定位设备所发送的设备标识信息不同，第一接收天线为在列车进入休眠模式之前接收到标识信息的接收天线，第一设备标识信息为第一接收天线所接收到的设备标识信息；
一个第二信息获取模块702，用于获取列车的定位信息，其中，定位信息包括位置信息和方向信息，位置信息用于指示列车所处的位置，方向信息用于指示列车的两端相对于休眠区域的朝向；
一个信息存储模块703，用于在确定第一信息获取模块701获取到的第一设备标识信息可信后，将第一设备标识信息和第二信息获取模块702获取到的定位信息存储到非易失性存储器中，并使列车进入休眠模式；
一个第三信息获取模块704，用于在列车被从休眠模式唤醒后，利用各个接收天线接收第二设备标识信息；
一个运动判断模块705，用于根据第三信息获取模块704接收到的第二设备标识信息和信息存储模块703存储到非易失性存储器中的第一设备标识信息判断列车被唤醒后是否处于其进入休眠模式之前所处的位置；
一个列车定位模块706，用于在运动判断模块705确定列车被唤醒后处于其进入休眠模式之前所处的位置时，确定列车当前所处位置和方向与信息存储模块703存储到非易失性存储器中存储的定位信息相匹配，完成对列车的定位。
在本发明实施例中，第一信息获取模块701可用于执行上述方法实施例中的步骤101，第二信息获取模块702可用于执行上述方法实施例中的步骤102，信息存储模块703可用于执行上述方法实施例中的步骤103，信息读取模块704可用于执行上述方法实施例中的步骤104，运动判断模块705可用于执行上述方法实施例中的步骤105，列车定位模块706可用于执行上述方法实施例中的步骤106。
可选地，在图7所示列车定位装置70的基础上，如图8所示，运动判断模块705包括：
一个第一判断单元7051，用于判断是否存在至少一个第二接收天线接收到第二设备标识信息，其中，第二接收天线为在列车被从休眠模式唤醒后接收到标识信息的接收天线，第二设备标标识信息为第二接收天线接收到的设备标识信息；
一个第二判断单元7052，用于在第一判断单元7051确定存在至少一个第二接收天线接收到第二设备标识信息时，进一步判断各个第二设备标识信息与各个第一设备标识信息是否完全相同，且判断相同的第二标识信息和第一设备标识信息是否由相同的接收天线而接收；
一个第一识别单元7053，用于在第二判断单元7052确定各个第二设备标识信息与各个第一设备标识信息完全相同，且相同的第二标识信息和第一设备标识信息由相同的接收天线而接收时，确定列车被唤醒后处于其进入休眠模式之前所处的位置，并在第二判断单元7052确定各个第二设备标识信息与各个第一设备标识信息不完全相同，或者存在至少一个第二标识信息与相同的第一设备标识信息由不同的接收天线而接收时，确定列车被唤醒后不处于其进入休眠模式之前所处的位置；
一个第二识别单元7054，用于在第一判断单元7051确定不存在第二接收天线接收到第二设备标识信息时，确定列车被唤醒后不处于其进入休眠模式之前所处的位置。
在本发明实施例中，第一判断单元7051可用于执行上述方法实施例中的步骤301，第二判断单元7052可用于执行上述方法实施例中的步骤302，第一识别单元7053可用于执行上述方法实施例中的步骤303和步骤304，第二识别单元7054可用于执行上述方法实施例中的步骤304。
可选地，在图8所示列车定位装置70的基础上，如图9所示，该列车定位装置70进一步包括：
一个天线检测模块707，用于在第一识别单元7053或第二识别单元7054确定列车被唤醒后不处于其进入休眠模式之前所处的位置之后，检测列车上所设置的各个接收天线是否均处于正常工作状态；
一个信息管理模块708，用于在天线检测模块707确定列车上所设置的各个接收天线均处于正常工作状态时，将非易失性存储器中存储的第一设备标识信息和定位信息删除，并在天线检测模块707确定列车上所设置的各个接收天线中存在至少一个接收天线处于异常工作状态时，保留非易失性存储器中存储的第一设备标识信息和定位信息。
在本发明实施例中，天线检测模块707可用于执行上述方法实施例中的步骤401，信息管理模块708可用于执行上述方法实施例中的步骤402和步骤403。
可选地，在图7所示列车定位装置70的基础上，如图10所示，该列车定位装置70 进一步包括：
一个位置识别模块709，用于根据第一信息获取模块701获取到的第一设备标识信息，确定发送第一设备标识信息的各个定位设备的部署位置信息；
一个信息检测模块710，用于根据位置识别模块709确定出的部署位置信息和第二信息获取模块702获取到的定位信息判断第一设备标识信息是否可信，并在确定第一设备标识信息可信时触发信息存储模块703执行将第一设备标识信息和定位信息存储到非易失性存储器中，以及在确定第一设备标识信息不可信时发出报警信息。
在本发明实施例中，位置识别模块709可用于执行上述方法实施例中的步骤501，信息检测模块710可用于执行上述方法实施例中的步骤502和步骤503。
可选地，在图7所示列车定位装置70的基础上，如图11所示，该列车定位装置70进一步包括：
一个停车检测模块711，用于判断是否存在至少一个第三接收天线接收到与其相配对的定位设备所发送的设备标识信息，其中，列车上所设置的至少一个接收天线中包括有至少一个第三接收天线，第三接收天线具有相配对的定位设备，当列车达到休眠区域内的目标停靠位置时，第三接收天线可接收到与其相配对的定位设备所发送的设备标识信息，并在确定存在至少一个第三接收天线接收到与其相配对的定位设备所发送的设备标识信息时，确定列车已停车到位，触发第一信息获取模块701执行获取至少一个第一接收天线接收到的第一设备标识信息，以及在确定不存在第三接收天线接收到与其相配对的定位设备所发送的设备标识信息时，确定列车未停车到位。
在本发明实施例中，停车检测模块711可用于执行上诉方法实施例中的步骤601至步骤603。
如图12所示，本发明一个实施例提供了另一种列车定位装置70，包括：至少一个存储器712和至少一个处理器713；
所述至少一个存储器712，用于存储机器可读程序；
所述至少一个处理器713，用于调用所述机器可读程序，执行上述各个实施例所提供的列车定位方法。
本发明还提供了一种计算机可读介质，存储用于使一计算机执行如本文的列车定位方法的指令。具体地，可以提供配有存储介质的系统或者装置，在该存储介质上存储着实现上述实施例中任一实施例的功能的软件程序代码，且使该系统或者装置的计算机(或CPU 或MPU)读出并执行存储在存储介质中的程序代码。
在这种情况下，从存储介质读取的程序代码本身可实现上述实施例中任何一项实施例的功能，因此程序代码和存储程序代码的存储介质构成了本发明的一部分。
用于提供程序代码的存储介质实施例包括软盘、硬盘、磁光盘、光盘(如CD-ROM、CD-R、CD-RW、DVD-ROM、DVD-RAM、DVD-RW、DVD+RW)、磁带、非易失性存储卡和ROM。可选择地，可以由通信网络从服务器计算机上下载程序代码。
此外，应该清楚的是，不仅可以通过执行计算机所读出的程序代码，而且可以通过基于程序代码的指令使计算机上操作的操作系统等来完成部分或者全部的实际操作，从而实现上述实施例中任意一项实施例的功能。
此外，可以理解的是，将由存储介质读出的程序代码写到插入计算机内的扩展板中所设置的存储器中或者写到与计算机相连接的扩展单元中设置的存储器中，随后基于程序代码的指令使安装在扩展板或者扩展单元上的CPU等来执行部分和全部实际操作，从而实现上述实施例中任一实施例的功能。
需要说明的是，上述各流程和各系统结构图中不是所有的步骤和模块都是必须的，可以根据实际的需要忽略某些步骤或模块。各步骤的执行顺序不是固定的，可以根据需要进行调整。上述各实施例中描述的系统结构可以是物理结构，也可以是逻辑结构，即，有些模块可能由同一物理实体实现，或者，有些模块可能分由多个物理实体实现，或者，可以由多个独立设备中的某些部件共同实现。
以上各实施例中，硬件单元可以通过机械方式或电气方式实现。例如，一个硬件单元可以包括永久性专用的电路或逻辑(如专门的处理器，FPGA或ASIC)来完成相应操作。硬件单元还可以包括可编程逻辑或电路(如通用处理器或其它可编程处理器)，可以由软件进行临时的设置以完成相应操作。具体的实现方式(机械方式、或专用的永久性电路、或者临时设置的电路)可以基于成本和时间上的考虑来确定。
上文通过附图和优选实施例对本发明进行了详细展示和说明，然而本发明不限于这些已揭示的实施例，基与上述多个实施例本领域技术人员可以知晓，可以组合上述不同实施例中的代码审核手段得到本发明更多的实施例，这些实施例也在本发明的保护范围之内。

Claims (15)

  1. 列车定位方法，其特征在于，包括：
    在列车(100)停靠在休眠区域(110)后，获取至少一个第一接收天线(80)接收到的第一设备标识信息，其中，所述列车(100)上设置有至少一个接收天线(80)，所述休眠区域(110)内设置有至少一个定位设备(90)，所述定位设备(90)用于向位于有效通信范围内的所述接收天线(80)发送设备标识信息，不同的所述定位设备(90)所发送的所述设备标识信息不同，所述第一接收天线(80)为在所述列车(100)进入休眠模式之前接收到所述标识信息的所述接收天线(80)，所述第一设备标识信息为所述第一接收天线(80)所接收到的所述设备标识信息；
    获取所述列车(100)的定位信息，其中，所述定位信息包括位置信息和方向信息，所述位置信息用于指示所述列车(100)所处的位置，所述方向信息用于指示所述列车(100)的两端相对于所述休眠区域(110)的朝向；
    在确定所述第一设备标识信息可信后，将所述第一设备标识信息和所述定位信息存储到非易失性存储器(120)中，并使所述列车(100)进入休眠模式；
    在所述列车(100)被从休眠模式唤醒后，利用所述至少一个接收天线(80)接收第二设备标识信息；
    根据接收到的所述第二设备标识信息和从所述非易失性存储器(120)中读取到的所述第一设备标识信息判断所述列车(100)被唤醒后是否处于其进入休眠模式之前所处的位置；
    如果确定所述列车(100)被唤醒后处于其进入休眠模式之前所处的位置，则确定所述列车(100)当前所处位置和方向与所述非易失性存储器(120)中存储的所述定位信息相匹配，完成对所述列车(100)的定位。
  2. 根据权利要求1所述的方法，其特征在于，所述根据接收到的所述第二设备标识信息和从所述非易失性存储器(120)中读取到的所述第一设备标识信息判断所述列车(100)被唤醒后是否处于其进入休眠模式之前所处的位置，包括：
    判断是否存在至少一个第二接收天线(80)接收到第二设备标识信息，其中，所述第二接收天线(80)为在所述列车(100)被从休眠模式唤醒后接收到所述标识信息的所述接收天线(80)，所述第二设备标标识信息为所述第二接收天线(80)接收到的所述设备标识信息；
    如果存在至少一个所述第二接收天线(80)接收到所述第二设备标识信息，则进 一步判断各个所述第二设备标识信息与各个所述第一设备标识信息是否完全相同，且判断相同的所述第二标识信息和所述第一设备标识信息是否由相同的所述接收天线(80)而接收；
    如果各个所述第二设备标识信息与各个所述第一设备标识信息完全相同，且相同的所述第二标识信息和所述第一设备标识信息由相同的所述接收天线(80)而接收，则确定所述列车(100)被唤醒后处于其进入休眠模式之前所处的位置；
    如果各个所述第二设备标识信息与各个所述第一设备标识信息不完全相同，或者存在至少一个所述第二标识信息与相同的所述第一设备标识信息由不同的所述接收天线(80)而接收，则确定所述列车(100)被唤醒后不处于其进入休眠模式之前所处的位置；
    如果不存在所述第二接收天线(80)接收到所述第二设备标识信息，则确定所述列车(100)被唤醒后不处于其进入休眠模式之前所处的位置。
  3. 根据权利要求2所述的方法，其特征在于，在确定所述列车(100)被唤醒后不处于其进入休眠模式之前所处的位置之后，进一步包括：
    检测所述列车(100)上所设置的各个所述接收天线(80)是否均处于正常工作状态；
    如果所述列车(100)上所设置的各个所述接收天线(80)均处于正常工作状态，则将所述非易失性存储器(120)中存储的所述第一设备标识信息和所述定位信息删除；
    如果所述列车(100)上所设置的各个所述接收天线(80)中存在至少一个所述接收天线(80)处于异常工作状态，则保留所述非易失性存储器(120)中存储的所述第一设备标识信息和所述定位信息。
  4. 根据权利要求1所述的方法，其特征在于，在所述将所述第一设备标识信息和所述定位信息存储到非易失性存储器(120)中之前，进一步包括：
    确定发送所述第一设备标识信息的各个所述定位设备(90)的部署位置信息；
    根据所述部署位置信息和所述定位信息判断所述第一设备标识信息是否可信；
    如果所述第一设备标识信息可信，则执行所述将所述第一设备标识信息和所述定位信息存储到非易失性存储器(120)中；
    如果所述第一设备标识信息不可信，则发出报警信息。
  5. 根据权利要求1至4中任一所述的方法，其特征在于，在所述获取至少一个第一接收天线(80)接收到的第一设备标识信息之前，进一步包括：
    判断是否存在至少一个第三接收天线(80)接收到与其相配对的所述定位设备(90)所发送的所述设备标识信息，其中，所述列车(100)上所设置的至少一个所述接收天线 (80)中包括有至少一个所述第三接收天线(80)，所述第三接收天线(80)具有相配对的所述定位设备(90)，当所述列车(100)达到所述休眠区域(110)内的目标停靠位置时，所述第三接收天线(80)可接收到与其相配对的所述定位设备(90)所发送的所述设备标识信息；
    如果存在至少一个所述第三接收天线(80)接收到与其相配对的所述定位设备(90)所发送的所述设备标识信息，确定所述列车(100)已停车到位，执行所述获取至少一个第一接收天线(80)接收到的第一设备标识信息；
    如果不存在所述第三接收天线(80)接收到与其相配对的所述定位设备(90)所发送的所述设备标识信息，确定所述列车(100)未停车到位。
  6. 列车定位装置(70)，其特征在于，包括：
    一个第一信息获取模块(701)，用于在列车(100)停靠在休眠区域(110)后，获取至少一个第一接收天线(80)接收到的第一设备标识信息，其中，所述列车(100)上设置有至少一个接收天线(80)，所述休眠区域(110)内设置有至少一个定位设备(90)，所述定位设备(90)用于向位于有效通信范围内的所述接收天线(80)发送设备标识信息，不同的所述定位设备(90)所发送的所述设备标识信息不同，所述第一接收天线(80)为在所述列车(100)进入休眠模式之前接收到所述标识信息的所述接收天线(80)，所述第一设备标识信息为所述第一接收天线(80)所接收到的所述设备标识信息；
    一个第二信息获取模块(702)，用于获取所述列车(100)的定位信息，其中，所述定位信息包括位置信息和方向信息，所述位置信息用于指示所述列车(100)所处的位置，所述方向信息用于指示所述列车(100)的两端相对于所述休眠区域(110)的朝向；
    一个信息存储模块(703)，用于在确定所述第一信息获取模块(701)获取到的所述第一设备标识信息可信后，将所述第一设备标识信息和所述第二信息获取模块(702)获取到的所述定位信息存储到非易失性存储器(120)中，并使所述列车(100)进入休眠模式；
    一个第三信息获取模块(704)，用于在所述列车(100)被从休眠模式唤醒后，利用所述至少一个接收天线(80)接收第二设备标识信息；
    一个运动判断模块(705)，用于根据所述第三信息获取模块(704)接收到的所述第二设备标识信息和所述信息存储模块(703)存储到所述非易失性存储器(120)中的所述第一设备标识信息，判断所述列车(100)被唤醒后是否处于其进入休眠模式之前所处的位置；
    一个列车定位模块(706)，用于在所述运动判断模块(705)确定所述列车(100)被唤醒后处于其进入休眠模式之前所处的位置时，确定所述列车(100)当前所处位置和方向与所述信息存储模块(703)存储到所述非易失性存储器(120)中的所述定位信息相匹配，完成对所述列车(100)的定位。
  7. 根据权利要求6所述的列车定位装置(70)，其特征在于，所述运动判断模块(705)包括：
    一个第一判断单元(7051)，用于判断是否存在至少一个第二接收天线(80)接收到第二设备标识信息，其中，所述第二接收天线(80)为在所述列车(100)被从休眠模式唤醒后接收到所述标识信息的所述接收天线(80)，所述第二设备标标识信息为所述第二接收天线(80)接收到的所述设备标识信息；
    一个第二判断单元(7052)，用于在所述第一判断单元(7051)确定存在至少一个所述第二接收天线(80)接收到所述第二设备标识信息时，进一步判断各个所述第二设备标识信息与各个所述第一设备标识信息是否完全相同，且判断相同的所述第二标识信息和所述第一设备标识信息是否由相同的所述接收天线(80)而接收；
    一个第一识别单元(7053)，用于在所述第二判断单元(7052)确定各个所述第二设备标识信息与各个所述第一设备标识信息完全相同，且相同的所述第二标识信息和所述第一设备标识信息由相同的所述接收天线(80)而接收时，确定所述列车(100)被唤醒后处于其进入休眠模式期之前所处的位置，并在所述第二判断单元(7052)确定各个所述第二设备标识信息与各个所述第一设备标识信息不完全相同，或者存在至少一个所述第二标识信息与相同的所述第一设备标识信息由不同的所述接收天线(80)而接收时，确定所述列车(100)被唤醒后不处于其进入休眠模式之前所处的位置；
    一个第二识别单元(7054)，用于在所述第一判断单元(7051)确定不存在所述第二接收天线(80)接收到所述第二设备标识信息时，确定所述列车(100)被唤醒后不处于其进入休眠模式之前所处的位置。
  8. 根据权利要求7所述的列车定位装置(70)，其特征在于，进一步包括：
    一个天线检测模块(707)，用于在所述第一识别单元(7053)或所述第二识别单元(7054)确定所述列车(100)被唤醒后不处于其进入休眠模式之前所处的位置之后，检测所述列车(100)上所设置的各个所述接收天线(80)是否均处于正常工作状态；
    一个信息管理模块(708)，用于在所述天线检测模块(707)确定所述列车(100)上所设置的各个所述接收天线(80)均处于正常工作状态时，将所述非易失性存储器(120)中存储的所述第一设备标识信息和所述定位信息删除，并在所述天线检测模块(707)确 定所述列车(100)上所设置的各个所述接收天线(80)中存在至少一个所述接收天线(80)处于异常工作状态时，保留所述非易失性存储器(120)中存储的所述第一设备标识信息和所述定位信息。
  9. 根据权利要求6所述的列车定位装置(70)，其特征在于，进一步包括：
    一个位置识别模块(709)，用于根据所述第一信息获取模块(701)获取到的所述第一设备标识信息，确定发送所述第一设备标识信息的各个所述定位设备(90)的部署位置信息；
    一个信息检测模块(710)，用于根据所述位置识别模块(709)确定出的所述部署位置信息和所述第二信息获取模块(702)获取到的所述定位信息判断所述第一设备标识信息是否可信，并在确定所述第一设备标识信息可信时触发所述信息存储模块(703)执行所述将所述第一设备标识信息和所述定位信息存储到非易失性存储器(120)中，以及在确定所述第一设备标识信息不可信时发出报警信息。
  10. 根据权利要求6至9中任一所述的列车定位装置(70)，其特征在于，进一步包括：
    一个停车检测模块(711)，用于判断是否存在至少一个第三接收天线(80)接收到与其相配对的所述定位设备(90)所发送的所述设备标识信息，其中，所述列车(100)上所设置的至少一个所述接收天线(80)中包括有至少一个所述第三接收天线(80)，所述第三接收天线(80)具有相配对的所述定位设备(90)，当所述列车(100)达到所述休眠区域(110)内的目标停靠位置时，所述第三接收天线(80)可接收到与其相配对的所述定位设备(90)所发送的所述设备标识信息，并在确定存在至少一个所述第三接收天线(80)接收到与其相配对的所述定位设备(90)所发送的所述设备标识信息时，确定所述列车(100)已停车到位，触发所述第一信息获取模块(701)执行所述获取至少一个第一接收天线(80)接收到的第一设备标识信息，以及在确定不存在所述第三接收天线(80)接收到与其相配对的所述定位设备(90)所发送的所述设备标识信息时，确定所述列车(100)未停车到位。
  11. 列车定位装置(70)，其特征在于，包括：至少一个存储器(712)和至少一个处理器(713)；
    所述至少一个存储器(712)，用于存储机器可读程序；
    所述至少一个处理器(713)，用于调用所述机器可读程序，执行权利要求1至5中任一所述的方法。
  12. 列车定位系统，其特征在于，包括：至少一个接收天线(80)、至少一个定位设备(90)和一个权利要求6至11中任一所述的列车定位装置(70)；
    所述至少一个接收天线(80)设置在列车(100)上；
    所述至少一个定位设备(90)设置在休眠区域(110)内；
    所述定位设备(90)，用于向位于有效通信范围内的所述接收天线(80)发送设备标识信息，其中，不同的所述定位设备(90)所发送的所述设备标识信息不同；
    所述接收天线(80)，用于在接收到来自所述定位设备(90)的所述设备标识信息后，将所述设备标识信息发送给所述列车定位装置(70)。
  13. 根据权利要求12所述的系统，其特征在于，
    沿所述列车(100)的运行方向，在所述列车(100)上设置有至少两个所述接收天线(80)。
  14. 根据权利要求12或13所述的系统，其特征在于，
    沿所述休眠区域(110)内轨道的方向，在所述休眠区域(110)内设置有至少两个所述定位设备(90)。
  15. 计算机可读介质，其特征在于，所述计算机可读介质上存储有计算机指令，所述计算机指令在被处理器执行时，使所述处理器执行权利要求1至5中任一所述的方法。
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