CN-121973835-A - Visual perception testing method, device and equipment for rail train and storage medium thereof

CN121973835ACN 121973835 ACN121973835 ACN 121973835ACN-121973835-A

Abstract

The application discloses a visual perception testing method, a device, equipment and a storage medium thereof for a rail train, and relates to the technical field of visual perception; and based on the real-time position, retrieving a video clip corresponding to the position, wherein the video clip is cut from a real line scene video of the rail train, which is acquired in advance at one time, and the video clip and the simulation line are connected in series to form a continuous test scene, and based on the continuous test scene, the rail train is subjected to visual perception test to obtain a test result. The continuous testing environment synchronous with the running state of the rail train is constructed by collecting the real line scene video at one time and cutting and calling according to the requirement, so that the dependence of the visual perception test on the field real environment is decoupled.

Inventors

LIU XIAOLEI
WANG FANGCHAO
BAO LINGHONG
SHEN YUHE
WANG JUNKANG
YU TING
ZHU JIAN
LI QIANG

Assignees

众合智行轨道交通技术有限公司

Dates

Publication Date: 20260505
Application Date: 20251222

Claims (10)

1. A visual perception testing method for a rail train, the method comprising: Acquiring a real-time position of a simulation train mapped by the rail train in a simulation line; Based on the real-time position, retrieving a video clip corresponding to the position, wherein the video clip is cut from a real line scene video of the rail train, which is collected in advance at one time; And connecting the video clips and the simulation line in series to form a continuous test scene, and performing visual perception test on the rail train based on the continuous test scene to obtain a test result.
2. The method of claim 1, wherein the video clip comprises an active trigger clip and a passive trigger clip, the step of concatenating the video clip with the emulation line into a continuous test scene comprising: identifying basic identification information which needs to be identified in the transportation process of the rail train from the simulation line; the passive trigger fragments containing the basic identification corresponding to the basic identification information and the active trigger fragments representing the emergency are screened from the video fragments; Based on the basic identification information, connecting the passive trigger segment in series to the simulation line to obtain a basic test scene; And inserting the active trigger segment into the basic test scene based on a preset test scheme to obtain a continuous test scene.
3. The method of claim 2, wherein the step of performing a visual perception test on the rail vehicle based on the continuous test scenario to obtain a test result comprises: pushing the basic test scene to a visual perception module of the rail train, and receiving first identification data of the visual perception module for identifying basic identifications in the basic test scene; Pushing the active trigger fragments in the continuous test scene to the visual perception module based on the preset test scheme in the transportation process of the rail train, and receiving second identification data of the visual perception module for identifying the emergency in the active trigger fragments; And determining a test result of the visual perception test on the rail train based on the accuracy of the first identification data and the second identification data.
4. The method of claim 2, wherein the preset test scheme includes a push-in-time scheme, a push-out-of-time scheme, and an insertion position of the video clip, and the step of inserting the active trigger clip into the basic test scene based on the preset test scheme to obtain a continuous test scene includes: pre-inserting the active trigger segment into a corresponding position of the basic test scene based on the insertion position in the preset scheme; If the preset test scheme is a timely pushing scheme, inquiring a target trigger fragment from the active trigger fragment, and triggering the target trigger fragment based on trigger conditions in the preset test scheme to obtain a continuous test scene, wherein the target trigger fragment is an active trigger fragment corresponding to an emergency to be simulated next in the transportation direction of the rail train; and if the preset test scheme is a non-timely push scheme, triggering all the active trigger fragments after receiving a trigger instruction to obtain a continuous test scene.
5. The method of claim 1, wherein prior to the step of obtaining the real-time location of the rail train mapped simulated train transported in the simulated line, further comprising: acquiring performance parameters of the rail train and visual perception equipment in a real line scene of the rail train, and judging whether the visual perception function of the rail train is available or not based on the performance parameters; if the real line scene video is available, carrying out scene acquisition on the transportation line of the rail train once to obtain the real line scene video, and calling engineering design data of the transportation line; cutting video clips related to visual perception tests from the real line scene video; and building the simulation train and the simulation line of the rail train map based on the engineering design data.
6. The method of claim 5, wherein the step of determining whether visual perception functionality of the rail vehicle is available based on the performance parameter comprises: Judging whether the perception response of the visual perception device to a preset perception object accords with the expected behavior in different distances and spatial ranges according to the performance parameters; if the expected behavior is met, determining that a visual perception function of the rail train is available; if the expected behavior is not met, determining that the visual perception function of the rail train is not available.
7. The method of claim 6, wherein the performance parameters include lidar perceived distance, camera perceived distance, track bound range, and closed-circuit television detection range; the step of judging whether the perception response of the visual perception device to the preset perception object accords with the expected behavior in different distances and space ranges according to the performance parameters comprises the following steps: Judging whether position information of the preset perception object exists in the identification data output by the visual perception device or not when the preset perception object is positioned between the laser radar perception distance and the camera perception distance, and if so, conforming to expected behaviors; judging whether the position information and the identity information of the preset perception object exist in the identification data or not when the preset perception object is located within the perception distance of the camera, and if so, conforming to the expected behavior; Judging whether the visual perception device triggers an emergency braking instruction and an alarm instruction when the preset perception object is an obstacle and is positioned in the track limit range, and if so, conforming to the expected behavior; Judging whether the visual perception device triggers a braking instruction when the obstacle is located outside the track limiting range, and if not, conforming to the expected behavior; when the simulated train enters the closed circuit television detection range, judging whether the code value in the identification data is consistent with the preset train direction code, and if so, conforming to the expected behavior.
8. A visual perception testing device for a rail vehicle, the device comprising: the acquisition module is used for acquiring the real-time position of the simulation train mapped by the rail train in the simulation line; The calling module is used for calling a video clip corresponding to the position based on the real-time position, and the video clip is cut from a real line scene video of the rail train, which is collected in advance at one time; And the test module is used for connecting the video clip and the simulation line in series to form a continuous test scene, and carrying out visual perception test on the rail train based on the continuous test scene to obtain a test result.
9. A visual perception testing apparatus of a rail vehicle, characterized in that the apparatus comprises a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program being configured to carry out the steps of the visual perception testing method of a rail vehicle according to any one of claims 1 to 7.
10. A storage medium, characterized in that the storage medium is a computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the visual perception testing method of a rail vehicle according to any one of claims 1 to 7.

Description

Visual perception testing method, device and equipment for rail train and storage medium thereof Technical Field The application relates to the specific technical field, in particular to a visual perception testing method, a visual perception testing device, visual perception testing equipment and a storage medium of the visual perception testing device. Background In the whole life cycle of research, verification, optimization and operation and maintenance of a rail transportation system, a rail train is usually subjected to simulation test so as to ensure that the rail train can meet expected operation performance. Currently, when testing the visual perception system of a rail train, it is generally necessary to perform data analysis test in combination with a real field picture to ensure the accuracy of video detection information and the validity of data analysis. However, the visual perception system of the rail train needs to continuously and repeatedly acquire data of the field real environment, so that the visual perception test of the rail train is very dependent on the field real environment. The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present application and is not intended to represent an admission that the foregoing is prior art. Disclosure of Invention The application mainly aims to provide a visual perception testing method, device and equipment for a rail train and a storage medium thereof, and aims to solve the technical problem that the visual perception testing of the rail train is very dependent on a real field environment. In order to achieve the above purpose, the present application provides a visual perception testing method for a rail train, the method comprising: Acquiring a real-time position of a simulation train mapped by the rail train in a simulation line; Based on the real-time position, retrieving a video clip corresponding to the position, wherein the video clip is cut from a real line scene video of the rail train, which is collected in advance at one time; And connecting the video clips and the simulation line in series to form a continuous test scene, and performing visual perception test on the rail train based on the continuous test scene to obtain a test result. In an embodiment, the video clip includes an active trigger clip and a passive trigger clip, and the step of connecting the video clip and the simulation line in series into a continuous test scene includes: identifying basic identification information which needs to be identified in the transportation process of the rail train from the simulation line; the passive trigger fragments containing the basic identification corresponding to the basic identification information and the active trigger fragments representing the emergency are screened from the video fragments; Based on the basic identification information, connecting the passive trigger segment in series to the simulation line to obtain a basic test scene; And inserting the active trigger segment into the basic test scene based on a preset test scheme to obtain a continuous test scene. In an embodiment, the step of performing a visual perception test on the rail train based on the continuous test scene to obtain a test result includes: pushing the basic test scene to a visual perception module of the rail train, and receiving first identification data of the visual perception module for identifying basic identifications in the basic test scene; Pushing the active trigger fragments in the continuous test scene to the visual perception module based on the preset test scheme in the transportation process of the rail train, and receiving second identification data of the visual perception module for identifying the emergency in the active trigger fragments; And determining a test result of the visual perception test on the rail train based on the accuracy of the first identification data and the second identification data. In an embodiment, the preset test scheme includes a timely push scheme, a non-timely push scheme, and an insertion position of the video clip, and the step of inserting the active trigger clip into the basic test scene based on the preset test scheme to obtain a continuous test scene includes: pre-inserting the active trigger segment into a corresponding position of the basic test scene based on the insertion position in the preset scheme; If the preset test scheme is a timely pushing scheme, inquiring a target trigger fragment from the active trigger fragment, and triggering the target trigger fragment based on trigger conditions in the preset test scheme to obtain a continuous test scene, wherein the target trigger fragment is an active trigger fragment corresponding to an emergency to be simulated next in the transportation direction of the rail train; and if the preset test scheme is a non-timely push scheme, triggering all the active trigger fragments after receivi