The invention provides a rail transit external environment perception system and method and rail transit equipment. The system comprises an image acquisition device, an environment data acquisition device and a train control device, wherein the image acquisition device is used for acquiring an environment image of an environment; the environment data acquisition device is used for acquiring 3D point cloud data of the environment; and the train control device is used for carrying out 3D space modeling according to the environment image and the 3D point cloud data to generate a running environment model of the train, generating a decision instruction according to the running environment model and controlling the train control unit to execute the decision instruction. Therefore, 3D space modeling is performed according to the environment image and the 3D point cloud data so as to generate the operation environment model of the train, real-time perception of the external environment of therail transit can be realized, the operation efficiency of the rail transit can be enhanced, and the decision instruction can be generated according to the operation environment model so as to ensurethe safety of the rail transit.
本发明提出了一种轨道交通外部环境感知系统、方法和轨道交通设备,其中,系统包括:图像采集装置,用于采集环境的环境图像;环境数据采集装置,用于采集环境的3D点云数据;列车控制装置,用于根据环境图像和3D点云数据进行3D空间建模以生成列车的运行环境模型,并根据运行环境模型生成决策指令,并控制车辆控制单元执行决策指令。由此,根据环境图像和3D点云数据进行3D空间建模以生成列车的运行环境模型,以实现轨道交通外部环境的实时感知,提升轨道交通运行效率,以及,根据运行环境模型生成决策指令,确保轨道交通安全。
Rail transit external environment perception system and method and rail transit equipment
轨道交通外部环境感知系统、方法和轨道交通设备
2021-03-05
Patent
Electronic Resource
Chinese
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