A method and device for fast online estimation of acceleration of automatic driving system
An automatic driving and acceleration technology, applied in the registration/indication of vehicle operation, registration/indication, instruments, etc., can solve the problems of large rounding errors, accumulation of rounding errors, long calculation time, etc. The effect of delayed high-accuracy, low-acceleration estimation
Active Publication Date: 2021-08-17
TSINGHUA UNIV +1
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In the prior art, the Kalman filter method is also used to realize the estimation of acceleration, but the real-time performance of this method is not ideal for acceleration estimation.
[0003] There is an important deficiency in the existing methods in the application of high-speed rail ATO algorithm: the algorithm has a large amount of calculation
When the existing algorithms are calculated with fixed-point numbers on the ATO platform, they will face problems such as long calculation time, large rounding errors, and accumulation of rounding errors.
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[0011] Some embodiments of the present invention provide a fast online estimation method for the acceleration of an automatic driving system of a high-speed train, and the online estimation method includes the following steps:
[0012] According to the speed data in the time window [(k-2ω)T, kT], the least squares method is used to perform the speed curve fitting to realize the fast estimation of acceleration. The speed in the time window [(k-2ω)T, kT] The speed data is recorded as the historical data v((k-2ω)T), v((k-2ω+1)T), ..., v((k-1) from the historical moment (k-2ω)T to the current kT T), v(kT), k represents the current moment, ω is a constant, T is the sampling period of the system;
[0013] Standard deviation of fitting error according to velocity curve Standard deviation σ from known noise ξ and the real-time calculated acceleration a 0 (t) to dynamically adjust the length of the time window of the time window [(k-2ω)T,kT].
[0014] Further, the preferred leas...
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The present invention relates to a method and device for fast online estimation of the acceleration of an automatic driving system. The method includes performing speed curve fitting on the basis of the speed data in the time window [(k-2w)T, kT] by using the least square method Fast estimation of acceleration, the speed data in the time window [(k-2w) T, kT] is recorded as historical data v((k-2w) T) from historical moment (k-2w) T to current kT, v((k‑2w+1)T),..., v((k‑1)T), v(kT); According to the standard deviation of the fitting error of the velocity curve and the known noise standard deviation σ ξ The relationship between and the real-time calculated acceleration a 0 (t) to dynamically adjust the length of the time window of the time window [(k‑2w)T, kT]. The data matrix of the least squares method can realize the rapid estimation of the acceleration within the sliding time window, and the calculation of the fixed-point number on the ATO platform will basically not cause the accumulation of rounding errors, and the rounding errors are also acceptable. The length of the time window is dynamically adjusted according to the relationship between the standard deviation of the curve fitting and the standard deviation of the known noise and the relative estimation deviation of the acceleration calculated in real time so as to realize the acceleration estimation with low delay and high accuracy.
Description
technical field [0001] The invention belongs to the field of automatic driving systems of high-speed trains, and particularly relates to a method and device for fast online estimation of acceleration of automatic driving systems of high-speed trains. Background technique [0002] In the past 10 years, my country's high-speed railway has achieved rapid development. As of July 2019, the total operating mileage of my country's high-speed railways has exceeded 30,000 kilometers, ranking first in the world. At the same time, the running speed of high-speed trains is gradually increasing, and the newly put into operation "Fuxing" high-speed train will gradually replace the current "Harmony" high-speed train. The increase in the mileage of high-speed railways and the improvement of the speed of high-speed trains have put forward higher and higher requirements for the driving ability of train drivers. To solve this difficulty, automatic train operation (ATO) for high-speed trains ...
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IPC IPC(8): G07C5/08G06F17/18
CPCG06F17/18G07C5/0808
Inventor 翟守超江明叶昊陈志强孙新亚吉吟东王佳董炜
Owner TSINGHUA UNIV