Braking method for automatic driving of train

Abstract

The invention discloses a braking method for the automatic driving of a train. The braking method comprises the following steps of: calculating the shortest distance S2 including a braking traction resection distance, a coasting distance, a braking exertion distance and a braking release distance for automatic driving of the train, and calculating the shortest distance S1 of performing traction, coasting and braking control for the automatic driving of the train; before the automatic driving of the train is controlled, if the distance between the current position of the train and the front stopping spot is larger than S1 and smaller than S2, and the distance between the current position of the train and the front stopping spot is smaller than v<2> / 2a, controlling the train to start brakingat a constant accelerated speed a; if the distance between the current position of the train and the front stopping spot is larger than S1 and smaller than S2, and the distance between the current position of the train and the front stopping spot is larger than v<2> / 2a, controlling the train to accelerate to a speed v at a certain constant accelerated speed and then run at a constant speed; and if the distance between the train and the front stopping spot is smaller than or equal to S1 during control on the automatic driving of the train, outputting a preset constant accelerated speed b and outputting the maximum brake on the stopping spot to stop the train. Compared with the prior art, the method disclosed by the invention is higher in stopping accuracy.

Description

technical field [0001] The invention relates to the field of rail transit, in particular to a braking method for automatic driving of rail transit trains. Background technique [0002] In the vehicle automatic driving mode, the train realizes the speed control of the train by controlling the output of the traction braking system. Among them, in order to realize the automatic braking of the train, it is necessary to calculate the ideal speed curve that the train needs to follow when braking, and provide it to the automatic speed control module for reference. The ideal train braking speed curve is a theoretical value, which can reflect various performance indicators during the train running process. [0003] There are more than one ideal speed curves for train braking, and they are all called automatic driving braking curves, including: safe braking model curve, common braking curve, braking curve 2, braking curve 2a, and braking curve 3. However, these curves are calculated...

AI Technical Summary

Problems solved by technology

If you control the car strictly according to the calculated three braking curves no matter what the situation, no matter how you improve the car control algorithm, it will not be able to keep up with the ideal braking curve, and the train will stop prematurely and fail to align with the platform.

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