WO2024099136A1 - 一种电车安全防护装置及其控制方法、装置、介质 - Google Patents

一种电车安全防护装置及其控制方法、装置、介质 Download PDF

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Publication number
WO2024099136A1
WO2024099136A1 PCT/CN2023/127685 CN2023127685W WO2024099136A1 WO 2024099136 A1 WO2024099136 A1 WO 2024099136A1 CN 2023127685 W CN2023127685 W CN 2023127685W WO 2024099136 A1 WO2024099136 A1 WO 2024099136A1
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WIPO (PCT)
Prior art keywords
tram
controller
safety protection
intersection
detection sensor
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PCT/CN2023/127685
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English (en)
French (fr)
Inventor
罗显光
孙俊勇
叶锋
许晋荣
陈建林
曾军
Original Assignee
中车株洲电力机车有限公司
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Publication of WO2024099136A1 publication Critical patent/WO2024099136A1/zh

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  • the present application relates to the field of tram control, and in particular to a tram safety protection device and a control method, device, and medium thereof.
  • Ground trams e.g. trams, trolleybuses, etc.
  • crawl trams e.g. trams, trolleybuses, etc.
  • subways and trams which have closed and independent road rights
  • ground trams share road rights with social vehicles and pedestrians.
  • special areas such as intersections, the situation on the road is complicated, and it is difficult for drivers to deal with emergencies caused by non-compliance with traffic rules in a timely manner, which easily leads to traffic accidents.
  • on-board cameras and on-board radars are commonly used to detect obstacles in front of the vehicle, and the operation of the tram is controlled based on the detection results.
  • on-board cameras and on-board radars are installed in fixed areas on the vehicle, their detection results are easily affected by factors such as lighting and tram operation lines, resulting in the inability to detect obstacles in a timely manner.
  • the purpose of this application is to provide a tram safety protection device and its control method, device, and medium to prevent environmental factors such as light and lines from interfering with the operation of the tram, thereby improving the safety of the tram.
  • a tram safety protection device comprising:
  • An environment detection sensor and a controller wherein the environment detection sensor includes at least a camera and a radar;
  • the environment detection sensor is connected and arranged at the intersection to generate obstacle information according to the traffic conditions at the intersection;
  • the controller is connected to the environment detection sensor to obtain the obstacle information, and when the obstacle information meets a preset condition, sends a deceleration instruction to the tram to control the braking of the tram.
  • the controller includes a first controller and a second controller
  • the first controller is arranged at a road intersection, and the second controller is arranged in a tram.
  • the first controller and the second controller communicate with each other via a DSRC communication unit.
  • the present application also provides a tram safety protection device control method, which is applied to a tram safety protection device including an environment detection sensor and a controller, wherein the environment detection sensor is connected and arranged at an intersection, and the controller is connected to the environment detection sensor; the method comprises:
  • a deceleration instruction is sent to the electric vehicle to control the braking of the electric vehicle.
  • the obtaining of obstacle information sent by the environment monitoring sensor includes:
  • the video information collected by the camera and the radar detection information are obtained;
  • Obstacle motion information is determined based on the video information and radar detection information.
  • the determining whether the obstacle information satisfies a preset condition includes:
  • the tram safety distance includes: a warning distance, a safety braking distance and an emergency braking distance.
  • the method further comprises:
  • the present application also provides a tram safety protection device control device, which is applied to a tram safety protection device including an environment detection sensor and a controller, wherein the environment detection sensor is connected and arranged at an intersection, and the controller is connected to the environment detection sensor;
  • the device comprises:
  • An acquisition module used to acquire obstacle information sent by the environment monitoring sensor, wherein the environment monitoring sensor is arranged at an intersection;
  • a judgment module used to judge whether the obstacle information meets the preset conditions
  • the control module is used to send a deceleration instruction to the tram to control the braking of the tram if the preset conditions are met.
  • the present application also provides a tram safety protection device control device, including a memory for storing a computer program
  • a processor is used to implement the steps of the electric vehicle safety protection device control method when executing the computer program.
  • the present application also provides a computer-readable storage medium, on which a computer program is stored.
  • the computer program is executed by a processor, the steps of the electric vehicle safety protection device control method are implemented.
  • the present application provides a tram safety protection device, including: an environmental detection sensor, a controller, wherein the environmental detection sensor includes at least a camera and a radar; the environmental detection sensor is connected and arranged at an intersection to generate obstacle information according to the traffic conditions at the intersection; the controller is connected to the environmental detection sensor to obtain obstacle information, and when the obstacle information meets the preset conditions, a deceleration instruction is sent to the tram to control the braking of the tram.
  • the technical solution provided by the present application obtains obstacle information near the intersection by setting an environmental detection sensor at the intersection, thereby preventing the tram from being unable to detect the obstacle information at the intersection in time due to special environmental factors at the intersection, thereby improving the safety of the tram.
  • the present application also provides a tram safety protection device control method, device, and medium, which are applied to the above-mentioned tram safety protection device, and the effect is the same as above.
  • FIG1 is a structural diagram of a tram safety protection device provided in an embodiment of the present application.
  • FIG2 is a flow chart of a method for controlling a safety protection device of a tram provided in an embodiment of the present application
  • FIG3 is a structural diagram of a tram safety protection device control device provided in an embodiment of the present application.
  • FIG4 is a structural diagram of another electric vehicle safety protection device control device provided in an embodiment of the present application.
  • the reference numerals are as follows: 1 is a controller, 2 is an environment detection sensor, and 3 is a tram.
  • the core of this application is to provide a control method, device, and medium for a tram safety protection device to prevent environmental factors such as light and lines from interfering with the operation of the tram, thereby improving the safety of the tram.
  • ground trams for example, trams or trolleybuses
  • the automatic driving technology of subways and trams cannot be used directly, and it is difficult for drivers to deal with emergencies caused by non-compliance with traffic rules in a timely manner. According to relevant statistics, more than 70% of tram accidents occur at level crossings.
  • on-board cameras and on-board radars are usually used to detect obstacles in front of the vehicle, and the operation of the tram is controlled according to the detection results.
  • the present application provides a tram safety protection device, including: an environmental detection sensor and a controller, wherein the environmental detection sensor includes at least a camera and a radar; the environmental detection sensor is connected and arranged at the intersection to generate obstacle information according to the traffic conditions at the intersection; the controller is connected to the environmental detection sensor to obtain obstacle information, and When the obstacle information meets the preset conditions, a deceleration command is sent to the tram to control the tram braking.
  • the technical solution provided by the present application obtains the obstacle information near the intersection by setting the environment detection sensor at the intersection, thereby preventing the special environmental factors at the intersection from causing the tram to fail to detect the obstacle information at the intersection in time, thereby improving the safety of the tram.
  • FIG1 is a structural diagram of a tram safety protection device provided in an embodiment of the present application. As shown in FIG1 , the device includes:
  • Environmental detection sensors and controllers wherein the environmental detection sensors include at least a camera and a radar;
  • the environment detection sensor is connected and installed at the intersection to generate obstacle information according to the traffic conditions at the intersection;
  • the controller is connected to the environment detection sensor to obtain obstacle information, and when the obstacle information meets the preset conditions, it sends a deceleration instruction to the tram to control the tram braking.
  • the environment detection sensor includes at least a camera and a radar, wherein the camera is used to obtain obstacle information in the detection area, wherein the obstacles include vehicles, pedestrians, etc.
  • the camera is used to detect whether there are obstacles in the detection area
  • the radar is used to detect the specific position and speed information of the obstacles.
  • the controller obtains the obstacle information sent by the camera, and determines the running trajectory of the obstacle in the future period of time in combination with the radar detection information sent by the radar, so as to determine whether there is danger when the tram passes through the intersection. If there is danger, a deceleration command or a braking command is sent to the tram in time.
  • the number of controllers can be only one or more.
  • the controller can be set at the intersection or in the tram; when there are multiple controllers, one of the controllers can be set at the intersection and the other can be set in the tram.
  • the controller set in the tram can use the central control unit CCU that the tram has been equipped with or a separate control module.
  • the controller set at the intersection has strong compatibility with conditions such as volume and energy, a high-performance processor can be selected, and the same controller can be used to control environmental detection sensors at multiple intersections.
  • the setting method of the controller is not limited in this embodiment.
  • data can be transmitted between controllers through a vehicle-to-vehicle communication module based on dedicated short-range communication technology (Dedicated Short Range Communication, DSRC) or a communication carrier radar with communication function.
  • DSRC Dedicated Short Range Communication
  • the present application provides a tram safety protection device, including: an environmental detection sensor, a controller, wherein the environmental detection sensor includes at least a camera and a radar; the environmental detection sensor is connected and arranged at an intersection to generate obstacle information according to the traffic conditions at the intersection; the controller is connected to the environmental detection sensor to obtain obstacle information, and when the obstacle information meets the preset conditions, a deceleration instruction is sent to the tram to control the braking of the tram.
  • the technical solution provided by the present application obtains obstacle information near the intersection by setting an environmental detection sensor at the intersection, thereby preventing the tram from being unable to detect the obstacle information at the intersection in time due to special environmental factors at the intersection, thereby improving the safety of the tram.
  • the controller includes a first controller and a second controller;
  • the first controller is arranged at the intersection, the second controller is arranged in the tram, and the first controller and the second controller communicate with each other via a DSRC communication unit.
  • the first controller is arranged at the intersection, and the second controller is arranged in the tram, wherein the radar and the sensor in the environmental detection sensor are arranged in four directions of the level crossing, and each direction is equipped with one detection radar and one camera sensor, and the detection range is determined according to the actual situation of the intersection (for example, within a range of 5 meters from the center of the intersection).
  • the radar and the camera can be connected to the first controller via optical fiber or Ethernet.
  • the camera set up at the level crossing selects a camera with a detection distance greater than 30 meters, and detects obstacles within 30 meters along the track and 5 meters vertical to the track, and sends the detection results to the ground control unit through Ethernet; the radar equipment sends the radar speed measurement information to the ground control unit through the CAN bus.
  • the second controller obtains the early warning reminder information from the vehicle-to-vehicle communication module through the CAN bus or Ethernet bus, and sends it to the tram on-board controller through the Multifunction Vehicle Bus (MVB) or CAN bus to control the tram to slow down, or sends the deceleration instruction to the driver so that the driver can control the tram to slow down.
  • MVB Multifunction Vehicle Bus
  • the first controller and the second controller respectively process the obstacles on the ground. information and tram information, thereby improving tram stability and reliability.
  • FIG2 is a flow chart of a method for controlling a tram safety protection device provided in an embodiment of the present application. As shown in FIG2 , the method is applied to a tram safety protection device including an environment detection sensor and a controller. The environment detection sensor is connected and arranged at an intersection, and the controller is connected to the environment detection sensor. The method includes:
  • S10 Obtain obstacle information sent by an environment monitoring sensor, wherein the environment monitoring sensor is set at an intersection;
  • Obtaining obstacle information sent by the environmental monitoring sensor includes:
  • the video information collected by the camera and the radar detection information are obtained; the obstacle movement information is determined based on the video information and the radar detection information.
  • judging whether the obstacle information meets the preset conditions includes: obtaining the tram parameter information and the tram movement information to determine the tram safety distance; if the distance between the obstacle and the tram is greater than the tram safety distance, it is determined that the preset conditions are met.
  • the area within a certain range perpendicular to the track direction (the track boundary and a certain distance along the track perpendicularly) is used as the detection area, and the distance along the track direction directly uses the maximum detection distance of the camera.
  • the video information obtained by the camera is used to dynamically identify the video in the detection area; when it is determined that there are obstacles such as pedestrians or vehicles in the detection area, the first controller controls the radar to measure the speed of the obstacle.
  • the ground radar sensor detects the relative distance between the tram and the obstacle in the direction of the track (that is, the distance between the tram and the radar position at the intersection) and the relative speed between the two in real time.
  • the first controller generates a braking command based on the pre-stored tram parameter information (including: normal braking deceleration and emergency braking deceleration capabilities) when an obstacle is detected in the detection area and the obstacle movement speed is greater than the threshold speed.
  • the braking command is generated according to the distance and speed of the tram detected by the radar. Among them, depending on the situation, the braking command may include multiple levels of braking commands such as warning information generated according to the braking capacity of the train, braking request information, and emergency braking request information. For example: according to the driver's reaction time, the vehicle's braking capacity sets three distance thresholds: warning distance, safety distance, and emergency braking request information.
  • the safe braking distance is the value obtained by multiplying the maximum common braking deceleration at the highest operating speed by a certain ratio
  • the emergency braking distance is the value obtained when emergency braking is performed at the highest operating speed.
  • the train can select different braking accelerations according to the relative distance between the obstacle and the train and the running speed of the train. Furthermore, when the obstacle is a pedestrian or a vehicle, the position of the obstacle can be predicted based on the obstacle's motion trajectory captured by the camera, so that the first controller set at the ground intersection can select the corresponding train braking acceleration, thereby improving the user experience when the train brakes.
  • the train's warning distance is 200m
  • the deceleration distance is 150m
  • the safety braking distance is 120m
  • the emergency braking distance is 70m
  • the first controller When the distance between the train and the level crossing is less than the warning distance (200m) and greater than the deceleration distance (150m), the first controller sends an alarm signal to the train network system through the communication unit to enable the train network system display and alarm device to work, reminding the driver to pay attention, so as to prevent traffic accidents caused by the driver's failure to notice pedestrians; when the distance between the train and the level crossing is less than the deceleration distance (150m) and greater than the safety braking distance (120m), the first controller sends a deceleration signal to the train network system through the communication unit to control the train to brake, so that the driver can control the train speed in time to prevent emergency braking from affecting the passengers' riding experience; the commonly used train braking deceleration is V2 /2S, where S is the distance between the train and the level crossing; it should be noted that the braking deceleration corresponds to the performance parameters and load of the train;
  • the first controller sends a braking signal to the train network system through the communication unit to control the train to brake with the maximum common braking deceleration;
  • the first controller When the distance between the train and the level crossing is less than the emergency braking distance (70m), the first controller sends a braking signal to the train network system through the communication unit. In order to ensure the safety of the vehicle, the first The controller sends an emergency braking signal to the train network system through the communication unit to control the emergency braking of the train.
  • the present application provides a control method for a tram safety protection device, which is applied to a tram safety protection device including: an environmental detection sensor and a controller, wherein the environmental detection sensor includes at least a camera and a radar; the environmental detection sensor is connected and arranged at an intersection to generate obstacle information according to the traffic conditions at the intersection; the controller is connected to the environmental detection sensor to obtain obstacle information, and when the obstacle information meets the preset conditions, a deceleration instruction is sent to the tram to control the braking of the tram.
  • the technical solution provided by the present application obtains obstacle information near the intersection by setting an environmental detection sensor at the intersection, thereby preventing the tram from being unable to detect the obstacle information at the intersection in time due to special environmental factors at the intersection, thereby improving the safety of the tram.
  • the tram safety protection device control method after sending a deceleration instruction to the tram, if the tram does not decelerate in time, a traffic accident may occur.
  • the tram safety protection device control method after sending a deceleration instruction to the tram to control the tram braking, the tram safety protection device control method further includes:
  • the tram's onboard controller obtains the traction and braking information of the driver's operation through the tram bus. If the CCU sends a braking request prompt that exceeds the threshold time (for example, 3s), and continues to receive braking requests sent by the ground control unit, and at the same time obtains from the MVB or CAN bus that the driver has not applied the corresponding braking operation, the CCU actively applies the braking level to implement braking, and sends an alarm to the management personnel to protect the safety of the tram operation.
  • the threshold time for example, 3s
  • the control method of the electric vehicle safety protection device is described in detail, and the present application also provides an embodiment corresponding to the electric vehicle safety protection device control device. It should be noted that the present application describes the embodiments of the device part from two perspectives, one is based on the perspective of functional modules, and the other is based on the perspective of hardware.
  • FIG. 3 is a structure of a control device for a safety protection device of a tram provided in an embodiment of the present application. As shown in FIG. 3 , the device is applied to a tram safety protection device including an environment detection sensor and a controller. The environment detection sensor is connected and arranged at the intersection, and the controller is connected to the environment detection sensor; the device includes:
  • An acquisition module 10 is used to acquire obstacle information sent by an environment monitoring sensor, wherein the environment monitoring sensor is arranged at an intersection;
  • the judging module 11 is used to judge whether the obstacle information meets the preset conditions
  • the control module 12 is used to send a deceleration instruction to the tram to control the braking of the tram if a preset condition is met.
  • the present application provides a control device for a tram safety protection device, which is applied to a tram safety protection device including: an environmental detection sensor and a controller, wherein the environmental detection sensor includes at least a camera and a radar; the environmental detection sensor is connected and arranged at an intersection to generate obstacle information according to the traffic conditions at the intersection; the controller is connected to the environmental detection sensor to obtain obstacle information, and when the obstacle information meets the preset conditions, a deceleration instruction is sent to the tram to control the braking of the tram.
  • the technical solution provided by the present application obtains obstacle information near the intersection by setting an environmental detection sensor at the intersection, thereby preventing the tram from being unable to detect the obstacle information at the intersection in time due to special environmental factors at the intersection, thereby improving the safety of the tram.
  • FIG4 is a structural diagram of a tram safety protection device control device provided by another embodiment of the present application.
  • the tram safety protection device control device includes: a memory 20 for storing a computer program;
  • the processor 21 is used to implement the steps of the electric vehicle safety protection device control method as described in the above embodiment when executing the computer program.
  • the processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc.
  • the processor 21 can be implemented in at least one hardware form of a digital signal processor (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA).
  • DSP digital signal processor
  • FPGA field-programmable gate array
  • PDA programmable logic array
  • the processor 21 may also include a main processor and a coprocessor.
  • the main processor is a processor for processing data in the awake state, also known as a central processing unit (CPU);
  • the coprocessor is a processor for processing data in the standby state.
  • the processor 21 may be integrated with a graphics processing unit (GPU), which is responsible for rendering and drawing the content to be displayed on the display screen.
  • the processor 21 may also include an artificial intelligence (AI) processor, which is used to process computing operations related to machine learning.
  • AI artificial intelligence
  • the memory 20 may include one or more computer-readable storage media, which may be non-transitory.
  • the memory 20 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices.
  • the memory 20 is at least used to store the following computer program 201, wherein, after the computer program is loaded and executed by the processor 21, it can implement the relevant steps of the tram safety protection device control method disclosed in any of the aforementioned embodiments.
  • the resources stored in the memory 20 may also include an operating system 202 and data 203, etc., and the storage method may be temporary storage or permanent storage.
  • the operating system 202 may include Windows, Unix, Linux, etc.
  • Data 203 may include but is not limited to tram parameter information, braking distance, etc.
  • the electric vehicle safety protection device control device may also include a display screen 22 , an input and output interface 23 , a communication interface 24 , a power supply 25 and a communication bus 26 .
  • FIG. 4 does not constitute a limitation on the control device for the electric vehicle safety protection device, and may include more or fewer components than those shown in the figure.
  • the electric vehicle safety protection device control device provided in the embodiment of the present application includes a memory and a processor.
  • the processor executes a program stored in the memory, it can implement the following method:
  • a deceleration command is sent to the tram to control the tram braking.
  • the present application also provides an embodiment corresponding to a computer-readable storage medium.
  • the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps recorded in the above method embodiment are implemented.
  • the method in the above embodiment is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.
  • the technical solution of the present application essentially or in other words contributes to the prior art.
  • Part of the invention or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and executes all or part of the steps of the method described in each embodiment of the invention.
  • the aforementioned storage medium includes: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

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  • Electric Propulsion And Braking For Vehicles (AREA)
  • Train Traffic Observation, Control, And Security (AREA)

Abstract

一种电车安全防护装置及其控制方法、装置、介质，涉及电车控制领域，包括：环境检测传感器、控制器，其中，环境检测传感器至少包括摄像头和雷达；环境检测传感器连接设置于路口处，以根据路口处交通状况生成障碍物信息；控制器与环境检测传感器连接，以获取障碍物信息，并在障碍物信息满足预设条件时，向电车发送减速指令以控制电车制动。通过设置与路口处的环境检测传感器获取路口附近的障碍物信息，从而防止路口处的特殊环境因素导致电车无法及时检测到路口处的障碍物信息，提高电车的安全性。

Description

一种电车安全防护装置及其控制方法、装置、介质
本申请要求于2022年11月7日提交中国专利局、申请号为202211390884.7、发明名称为“一种电车安全防护装置及其控制方法、装置、介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及电车控制领域，特别是涉及一种电车安全防护装置及其控制方法、装置、介质。
背景技术
地上电车(例如：有轨电车、无轨电车等)是城市交通系统的重要组成部分。不同地铁电车的封闭式独立路权，地上电车在路上与社会车辆、行人等共享路权。尤其在路口等特殊区域，公路上情况复杂，司机难以及时处理不遵守交通规则导致的突发状况，容易导致交通事故的发生。
目前通常使用车载摄像头和车载雷达检测车辆前方的障碍物，并根据检测结果控制电车运行，但由于车载摄像头和车载雷达安装在车辆上的固定区域，其检测结果容易受到光照、电车运行线路等因素的影响，导致无法及时检测到障碍物。
由此可见，如何提供一种更可靠的有轨电车控制方法，防止光照、线路等环境因素对电车运行的干扰，是本领域技术人员亟需解决的问题。
发明内容
本申请的目的是提供一种电车安全防护装置及其控制方法、装置、介质，以防止光照、线路等环境因素对电车运行的干扰，从而提高电车安全性。
为了解决上述技术问题，本申请提供了一种电车安全防护装置，包括：
环境检测传感器、控制器，其中，所述环境检测传感器至少包括摄像头和雷达；
所述环境检测传感器连接设置于路口处，以根据路口处交通状况生成障碍物信息；
所述控制器与所述环境检测传感器连接，以获取所述障碍物信息，并在所述障碍物信息满足预设条件时，向电车发送减速指令以控制电车制动。
优选的，所述控制器包括第一控制器和第二控制器；
所述第一控制器设置于路口处，所述第二控制器设置于电车中，所述第一控制器和所述第二控制器间通过DSRC通信单元通信。
为了解决上述技术问题，本申请还提供了一种电车安全防护装置控制方法，应用于包括环境检测传感器、控制器的电车安全防护装置，所述环境检测传感器连接设置于路口处，所述控制器与所述环境检测传感器连接；所述方法包括：
获取所述环境监测传感器发送的障碍物信息，其中，所述环境监测传感器设置于路口处；
判断所述障碍物信息是否满足预设条件；
若满足所述预设条件，向电车发送减速指令以控制电车制动。
优选的，所述获取所述环境监测传感器发送的障碍物信息包括：
当检测到检测区域内存在障碍物时，获取摄像头采集的视频信息和雷达检测信息；
根据所述视频信息和雷达检测信息确定障碍物运动信息。
优选的，所述判断所述障碍物信息是否满足预设条件包括：
获取电车参数信息和电车运动信息，以确定电车安全距离；
若所述障碍物与电车的距离大于所述电车安全距离，则确定满足预设条件。
优选的，所述电车安全距离包括：提醒距离、安全制动距离和紧急制动距离。
优选的，所述向电车发送减速指令以控制电车制动的步骤后，还包括：
判断阈值时间内电车是否减速；
若电车未减速，则向管理人员发送警报。
为了解决上述技术问题，本申请还提供了一种电车安全防护装置控制装置，应用于包括环境检测传感器、控制器的电车安全防护装置，所述环境检测传感器连接设置于路口处，所述控制器与所述环境检测传感器连接； 所述装置包括：
获取模块，用于获取所述环境监测传感器发送的障碍物信息，其中，所述环境监测传感器设置于路口处；
判断模块，用于判断所述障碍物信息是否满足预设条件；
控制模块，用于若满足所述预设条件，向电车发送减速指令以控制电车制动。
为了解决上述技术问题，本申请还提供了一种电车安全防护装置控制装置，包括存储器，用于存储计算机程序；
处理器，用于执行所述计算机程序时实现所述的电车安全防护装置控制方法的步骤。
为了解决上述技术问题，本申请还提供了一种计算机可读存储介质，所述计算机可读存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现所述的电车安全防护装置控制方法的步骤。
本申请提供了一种电车安全防护装置，包括：环境检测传感器、控制器，其中，环境检测传感器至少包括摄像头和雷达；环境检测传感器连接设置于路口处，以根据路口处交通状况生成障碍物信息；控制器与环境检测传感器连接，以获取障碍物信息，并在障碍物信息满足预设条件时，向电车发送减速指令以控制电车制动。由此可见，本申请所提供的技术方案，通过设置与路口处的环境检测传感器获取路口附近的障碍物信息，从而防止路口处的特殊环境因素导致电车无法及时检测到路口处的障碍物信息，提高电车的安全性。
此外，本申请还提供了一种电车安全防护装置控制方法、装置、介质，应用于上述电车安全防护装置，效果同上。
附图说明
为了更清楚地说明本申请实施例，下面将对实施例中所需要使用的附图做简单的介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例所提供的一种电车安全防护装置的结构图；
图2为本申请实施例所提供的一种电车安全防护装置控制方法的流程图；
图3为本申请实施例所提供的一种电车安全防护装置控制装置的结构图；
图4为本申请实施例所提供的另一种电车安全防护装置控制装置的结构图；
附图标记如下：1为控制器、2为环境检测传感器、3为电车。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下，所获得的所有其他实施例，都属于本申请保护范围。
本申请的核心是提供一种电车安全防护装置控制方法、装置、介质，以防止光照、线路等环境因素对电车运行的干扰，从而提高电车安全性。
不同于地铁电车的封闭式独立路权，地上电车(例如：有轨电车或无轨电车)在平交路口与社会车辆、行人等共享路权，地铁电车的自动驾驶技术无法直接使用，司机难以及时处理不遵守交通规则导致的突发情况。根据相关统计数据，有轨电车70％以上的事故发生在平交路口处，目前通常使用车载摄像头和车载雷达检测车辆前方的障碍物，并根据检测结果控制电车运行，但由于车载摄像头和车载雷达安装在车辆上的固定区域，其检测结果容易受到光照、天气、电车运行线路等因素的影响，导致无法及时检测到障碍物。为了解决这一问题，本申请提供了一种电车安全防护装置，包括：环境检测传感器、控制器，其中，环境检测传感器至少包括摄像头和雷达；环境检测传感器连接设置于路口处，以根据路口处交通状况生成障碍物信息；控制器与环境检测传感器连接，以获取障碍物信息，并 在障碍物信息满足预设条件时，向电车发送减速指令以控制电车制动。由此可见，本申请所提供的技术方案，通过设置与路口处的环境检测传感器获取路口附近的障碍物信息，从而防止路口处的特殊环境因素导致电车无法及时检测到路口处的障碍物信息，提高电车的安全性。
为了使本技术领域的人员更好地理解本申请方案，下面结合附图和具体实施方式对本申请作进一步的详细说明。
图1为本申请实施例所提供的一种电车安全防护装置的结构图，如图1所示，该装置包括：
环境检测传感器、控制器，其中，环境检测传感器至少包括摄像头和雷达；
环境检测传感器连接设置于路口处，以根据路口处交通状况生成障碍物信息；
控制器与环境检测传感器连接，以获取障碍物信息，并在障碍物信息满足预设条件时，向电车发送减速指令以控制电车制动。
在具体实施中，环境检测传感器至少包括摄像头和雷达，其中，摄像头用于获取检测区域内障碍物信息，其中，障碍物包括车辆、行人等。在具体实施中，摄像头用于检测检测区域内是否存在障碍物，雷达用于检测障碍物的具体位置和速度信息。当检测到障碍物信息后，控制器获取摄像头发送的障碍物信息，并结合雷达发送的雷达检测信息确定障碍物在未来一段时间内的运行轨迹，从而判断当电车经过路口时是否有危险，若存在危险，则及时向电车发送减速指令或制动指令。
可以理解的是，控制器的数量可以仅为一个，也可以为多个。当仅存在一个控制器时，控制器可以设置与路口处，也可以设置与电车中；当存在多个控制器时，其中一个控制器可以设置于路口处，另一个控制设置于电车中。进一步的，设置于电车中的控制器可以使用有轨电车已经配置的中央控制单元CCU或单独配置控制模块。考虑到设置于路口处的控制器对体积和能源等条件的兼容性较强，可以选用高性能的处理器，且同一控制器可以用于控制多个路口处的环境检测传感器，本实施例中对控制器的设置方式不做限定。
在具体实施中，各控制器间可以通过基于专用短程通信技术(Dedicated Short Range Communication，DSRC)的车车通信模块、或者具有通信功能通信载波雷达进行数据传输。
本申请提供了一种电车安全防护装置，包括：环境检测传感器、控制器，其中，环境检测传感器至少包括摄像头和雷达；环境检测传感器连接设置于路口处，以根据路口处交通状况生成障碍物信息；控制器与环境检测传感器连接，以获取障碍物信息，并在障碍物信息满足预设条件时，向电车发送减速指令以控制电车制动。由此可见，本申请所提供的技术方案，通过设置与路口处的环境检测传感器获取路口附近的障碍物信息，从而防止路口处的特殊环境因素导致电车无法及时检测到路口处的障碍物信息，提高电车的安全性。
在具体实施中，为了提高电车运行过程中的稳定性和可靠性，在上述实施例的基础上。控制器包括第一控制器和第二控制器；
第一控制器设置于路口处，第二控制器设置于电车中，第一控制器和第二控制器间通过DSRC通信单元通信。
作为优选的实施例，第一控制器设置于路口处，第二控制器设置于电车中，其中，环境检测传感器中的雷达和传感器设置于平交路口四个方向，每个方向配置1个探测雷达和1个摄像头传感器，并根据路口的实际情况确定检测范围(例如距离路口中心5米的范围内)。雷达和摄像头与第一控制器间可以通过光纤连接，也可以通过以太网连接。
在具体实施中，平交路口设置的摄像头选择探测距离大于30米的摄像头，并对沿轨道30米，垂直轨道5米范围内的障碍物进行探测，并将探测结果通过以太网发送到地面控制单元；雷达设备通过CAN总线发送雷达测速信息给地面控制单元。第二控制器通过CAN总线或以太网总线从车车通信模块获得预警提醒信息，并通过多功能车辆总线(Multifunction Vehicle Bus，MVB)或CAN总线发送至电车车载控制器以控制电车减速，或将减速指令发送给司机，以由司机控制电车减速。
在本实施例中，通过第一控制器和第二控制器分别处理地面的障碍物 信息和电车信息，从而提高电车稳定性和可靠性。
图2为本申请实施例所提供的一种电车安全防护装置控制方法的流程图，如图2所示，该方法应用于包括环境检测传感器、控制器的电车安全防护装置，环境检测传感器连接设置于路口处，控制器与环境检测传感器连接；该方法包括：
S10：获取环境监测传感器发送的障碍物信息，其中，环境监测传感器设置于路口处；
S11：判断障碍物信息是否满足预设条件；
S12：若满足预设条件，向电车发送减速指令以控制电车制动。
其中，获取环境监测传感器发送的障碍物信息包括：
当检测到检测区域内存在障碍物时，获取摄像头采集的视频信息和雷达检测信息；根据视频信息和雷达检测信息确定障碍物运动信息。其中，判断障碍物信息是否满足预设条件包括：获取电车参数信息和电车运动信息，以确定电车安全距离；若障碍物与电车的距离大于电车安全距离，则确定满足预设条件。
在具体实施中，将垂直于轨道方向一定范围内的(轨道边界和沿轨道垂直方向一定距离内)作为检测区域，而沿着轨道方向的距离直接使用摄像头的最大探测距离。当通过摄像头获取的视频信息对检测区域内视频进行动态识别；当确定检测区域内存在行人或车辆等障碍物时，第一控制器控制雷达对障碍物进行测速。地面雷达传感器实时检测轨道方向上电车与障碍物的相对距离(即电车相对于路口雷达位置的距离)和二者间的相对速度。
第一控制器根据预存储的电车参数信息(包括：常用制动减速度及紧急制动减速度能力)，当检测到检测区域内存在障碍物，且障碍物移动速度大于阈值速度时，根据雷达探测到的有轨电车的距离和速度，生成制动指令。其中，根据情况的不同，制动指令可以包括按照列车制动能力生成的预警信息、制动请求信息和紧急制动请求信息等多级制动指令。例如：根据司机的反应时间，车辆的制动能力设置三个距离阈值：提醒距离、安全 制动距离和紧急制动距离，其中，安全制动距离为最高运行速度下采用最大常用制动减速度乘以一定比例获得的值，紧急制动距离为最高运行速度下紧急制动时获得的值。需要注意的是，上述提醒距离、安全制动距离和紧急制动距离为障碍物静止时的列车提醒距离，当障碍物处于运动状态时，需要根据障碍物的运动方向和运动速度对上述距离进行相应调整。
可以理解的是，在列车运行过程中，频繁的紧急制动会影响乘客的乘坐体验和造成能源的浪费，为了解决这一问题，可以使列车根据障碍物与列车间的相对距离、列车的运行速度选择不同的制动加速度。进一步的，当障碍物为行人或车辆等时，还可以根据摄像头采集到的障碍物运动轨迹预测障碍物的位置，以便于设置于地面路口处的第一控制器选择相应的列车制动加速度，从而提高列车制动时用户的体验感。例如，当行人与列车沿不同道路同时向平交路口前行时，且列车的速度为V，行人的速度为5m/s，则根据行人速度和列车的性能参数可以确定列车的提醒距离为200m，减速距离为150m，安全制动距离为120m，紧急制动距离为70m；则：
当列车与平交路口的距离小于提醒距离(200m)且大于减速距离(150m)时，则第一控制器通过通信单元向列车网络系统发送报警信号，以使列车网络系统显示器和报警装置工作，提醒驾驶人员注意，以防止由于驾驶人员未注意到行人而引发交通事故；当列车与平交路口的距离小于减速距离(150m)且大于安全制动距离(120m)时，第一控制器通过通信单元向列车网络系统发送减速信号，以控制列车进行制动，以便于驾驶人员及时控制列车速度，以防止紧急制动影响乘客的乘坐体验；常用的列车制动减速度为V2/2S，其中，S为列车与平交路口的距离；需要注意的是，该制动减速度与列车的性能参数和载荷相对应；
当列车与平交路口的距离小于安全制动距离(120m)且大于紧急制动距离(70m)时，第一控制器通过通信单元向列车网络系统发送制动信号，以控制列车采用最大常用制动减速度制动；
当列车与平交路口的距离小于紧急制动距离(70m)时，第一控制器通过通信单元向列车网络系统发送制动信号，为了保证车辆的安全，第一 控制器通过通信单元向列车网络系统发送紧急制动信号，以控制列车紧急制动。
本申请提供了一种电车安全防护装置控制方法，应用于包括：环境检测传感器、控制器的电车安全防护装置，其中，环境检测传感器至少包括摄像头和雷达；环境检测传感器连接设置于路口处，以根据路口处交通状况生成障碍物信息；控制器与环境检测传感器连接，以获取障碍物信息，并在障碍物信息满足预设条件时，向电车发送减速指令以控制电车制动。由此可见，本申请所提供的技术方案，通过设置与路口处的环境检测传感器获取路口附近的障碍物信息，从而防止路口处的特殊环境因素导致电车无法及时检测到路口处的障碍物信息，提高电车的安全性。
在具体实施中，向电车发送减速指令后，若电车未及时减速，可能会发生交通事故。为了解决这一问题，在上述实施例的基础上，电车安全防护装置控制方法中向电车发送减速指令以控制电车制动的步骤后，还包括：
判断阈值时间内电车是否减速；
若电车未减速，则向管理人员发送警报。
在具体实施中，电车车载控制器(Central Control Unit，CCU)通过电车总线获得司机操作的牵引及制动信息，若CCU发送制动请求提示超过阈值时间(例如3s)，且仍然持续接收到地面控制单元发送的制动请求，同时从MVB或CAN总线获得司机未施加相应的制动操作，则CCU主动施加制动级位实施制动，同时向管理人员发送警报，以保护电车运行安全。
在上述实施例中，对于电车安全防护装置控制方法进行了详细描述，本申请还提供电车安全防护装置控制装置对应的实施例。需要说明的是，本申请从两个角度对装置部分的实施例进行描述，一种是基于功能模块的角度，另一种是基于硬件的角度。
由于装置部分的实施例与方法部分的实施例相互对应，因此装置部分的实施例请参见方法部分的实施例的描述，这里暂不赘述。
图3为本申请实施例所提供的一种电车安全防护装置控制装置的结构 图，如图3所示，该装置应用于包括环境检测传感器、控制器的电车安全防护装置，环境检测传感器连接设置于路口处，控制器与环境检测传感器连接；该装置包括：
获取模块10，用于获取环境监测传感器发送的障碍物信息，其中，环境监测传感器设置于路口处；
判断模块11，用于判断障碍物信息是否满足预设条件；
控制模块12，用于若满足预设条件，向电车发送减速指令以控制电车制动。
本申请提供了一种电车安全防护装置控制装置，应用于包括：环境检测传感器、控制器的电车安全防护装置，其中，环境检测传感器至少包括摄像头和雷达；环境检测传感器连接设置于路口处，以根据路口处交通状况生成障碍物信息；控制器与环境检测传感器连接，以获取障碍物信息，并在障碍物信息满足预设条件时，向电车发送减速指令以控制电车制动。由此可见，本申请所提供的技术方案，通过设置与路口处的环境检测传感器获取路口附近的障碍物信息，从而防止路口处的特殊环境因素导致电车无法及时检测到路口处的障碍物信息，提高电车的安全性。
图4为本申请另一实施例提供的电车安全防护装置控制装置的结构图，如图4所示，电车安全防护装置控制装置包括：存储器20，用于存储计算机程序；
处理器21，用于执行计算机程序时实现如上述实施例(电车安全防护装置控制方法的步骤。
其中，处理器21可以包括一个或多个处理核心，比如4核心处理器、8核心处理器等。处理器21可以采用数字信号处理器(Digital Signal Processor，DSP)、现场可编程门阵列(Field－Programmable Gate Array，FPGA)、可编程逻辑阵列(Programmable Logic Array，PLA)中的至少一种硬件形式来实现。处理器21也可以包括主处理器和协处理器，主处理器是用于对在唤醒状态下的数据进行处理的处理器，也称中央处理器(Central Processing Unit，CPU)；协处理器是用于对在待机状态下的数据进行处理 的低功耗处理器。在一些实施例中，处理器21可以集成有图像处理器(Graphics Processing Unit，GPU)，GPU用于负责显示屏所需要显示的内容的渲染和绘制。一些实施例中，处理器21还可以包括人工智能(Artificial Intelligence，AI)处理器，该AI处理器用于处理有关机器学习的计算操作。
存储器20可以包括一个或多个计算机可读存储介质，该计算机可读存储介质可以是非暂态的。存储器20还可包括高速随机存取存储器，以及非易失性存储器，比如一个或多个磁盘存储设备、闪存存储设备。本实施例中，存储器20至少用于存储以下计算机程序201，其中，该计算机程序被处理器21加载并执行之后，能够实现前述任一实施例公开的电车安全防护装置控制方法的相关步骤。另外，存储器20所存储的资源还可以包括操作系统202和数据203等，存储方式可以是短暂存储或者永久存储。其中，操作系统202可以包括Windows、Unix、Linux等。数据203可以包括但不限于电车参数信息、制动距离等。
在一些实施例中，电车安全防护装置控制装置还可包括有显示屏22、输入输出接口23、通信接口24、电源25以及通信总线26。
本领域技术人员可以理解，图4中示出的结构并不构成对电车安全防护装置控制装置的限定，可以包括比图示更多或更少的组件。
本申请实施例提供的电车安全防护装置控制装置，包括存储器和处理器，处理器在执行存储器存储的程序时，能够实现如下方法：
获取环境监测传感器发送的障碍物信息，其中，环境监测传感器设置于路口处；
判断障碍物信息是否满足预设条件；
若满足预设条件，向电车发送减速指令以控制电车制动。
最后，本申请还提供一种计算机可读存储介质对应的实施例。计算机可读存储介质上存储有计算机程序，计算机程序被处理器执行时实现如上述方法实施例中记载的步骤。
可以理解的是，如果上述实施例中的方法以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡 献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
以上对本申请所提供的电车安全防护装置及其控制方法、装置、介质进行了详细介绍。说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。对于实施例公开的装置而言，由于其与实施例公开的方法相对应，所以描述的比较简单，相关之处参见方法部分说明即可。应当指出，对于本技术领域的普通技术人员来说，在不脱离本申请原理的前提下，还可以对本申请进行若干改进和修饰，这些改进和修饰也落入本申请权利要求的保护范围内。
还需要说明的是，在本说明书中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。

Claims (10)

  1. 一种电车安全防护装置，其特征在于，包括：
    环境检测传感器、控制器，其中，所述环境检测传感器至少包括摄像头和雷达；
    所述环境检测传感器设置于路口处，以根据路口处交通状况生成障碍物信息；
    所述控制器与所述环境检测传感器连接，以获取所述障碍物信息，并在所述障碍物信息满足预设条件时，向电车发送减速指令以控制电车制动。
  2. 根据权利要求1所述的电车安全防护装置，其特征在于，所述控制器包括第一控制器和第二控制器；
    所述第一控制器设置于路口处，所述第二控制器设置于电车中，所述第一控制器和所述第二控制器间通过DSRC通信单元通信。
  3. 一种电车安全防护装置控制方法，其特征在于，应用于包括环境检测传感器、控制器的电车安全防护装置，所述环境检测传感器连接设置于路口处，所述控制器与所述环境检测传感器连接；所述方法包括：
    获取所述环境监测传感器发送的障碍物信息，其中，所述环境监测传感器设置于路口处；
    判断所述障碍物信息是否满足预设条件；
    若满足所述预设条件，向电车发送减速指令以控制电车制动。
  4. 根据权利要求3所述的电车安全防护装置控制方法，其特征在于，所述获取所述环境监测传感器发送的障碍物信息包括：
    当检测到检测区域内存在障碍物时，获取摄像头采集的视频信息和雷达检测信息；
    根据所述视频信息和雷达检测信息确定障碍物运动信息。
  5. 根据权利要求4所述的电车安全防护装置控制方法，其特征在于，所述判断所述障碍物信息是否满足预设条件包括：
    获取电车参数信息和电车运动信息，以确定电车安全距离；
    若所述障碍物与电车的距离大于所述电车安全距离，则确定满足预设条件。
  6. 根据权利要求5所述的电车安全防护装置控制方法，其特征在于，所述电车安全距离包括：提醒距离、安全制动距离和紧急制动距离。
  7. 根据权利要求3所述的电车安全防护装置控制方法，其特征在于，所述向电车发送减速指令以控制电车制动的步骤后，还包括：
    判断阈值时间内电车是否减速；
    若电车未减速，则向管理人员发送警报。
  8. 一种电车安全防护装置控制装置，其特征在于，应用于包括环境检测传感器、控制器的电车安全防护装置，所述环境检测传感器连接设置于路口处，所述控制器与所述环境检测传感器连接；所述装置包括：
    获取模块，用于获取所述环境监测传感器发送的障碍物信息，其中，所述环境监测传感器设置于路口处；
    判断模块，用于判断所述障碍物信息是否满足预设条件；
    控制模块，用于若满足所述预设条件，向电车发送减速指令以控制电车制动。
  9. 一种电车安全防护装置控制装置，其特征在于，包括存储器，用于存储计算机程序；
    处理器，用于执行所述计算机程序时实现如权利要求3至7任一项所述的电车安全防护装置控制方法的步骤。
  10. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现如权利要求3至7任一项所述的电车安全防护装置控制方法的步骤。
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