METHOD FOR DETERMINING THE SPEED OF A TRACK-GUIDED VEHICLE TRAVELING ON A ROUTE, VEHICLE, COMPUTER PROGRAM PRODUCT AND COMPUTER-READABLE STORAGE MEDIUM

原文（中国語）

A method for determining the speed of a track-guided vehicle traveling on a route includes capturing and storing a sequence of images of the route and its environment using an imaging sensor, and storing respective capture times of the images such that they are assigned to the respective images. Characteristic image areas are then recognized in the images, wherein a number of stored images is selected in order to ascertain a perspective displacement of at least one characteristic image area in the selected number of images, which arises due to movement of the vehicle. The perspective displacement can then be converted into a speed taking into account the capture times of the selected number of images. A vehicle with a facility for determining speed is also provided. Comparatively accurate relative localization of the vehicle can be performed if absolute localization of the vehicle is not possible at the time.