Train tracking method and device based on autonomous perception of backup operation level

The embodiment of the invention provides a method and device for tracking a train based on an autonomous perception backup operation level, and the method comprises the steps: calculating a tracking interval of inter-route tracking and/or in-route tracking according to a perception range through an ITE (Intelligent Train Eye System), and carrying out the train tracking in a route mode based on the tracking interval, judging a signal lamp state of the signal machine in a sensing range in front of the signal machine; if the state of the signal lamp is judged to be red, taking a sensing moving authorization MA end point as a parking target point for parking, and if the state of the signal lamp is judged to be green or yellow, extending the sensing moving authorization MA end point and continuing to run; and if the two trains meet the minimum interval requirement in the line interval and the state of the signal machine at the initial end of the route to be identified is a green light or a yellow light, continuing