Slope control method and device for automatic train operation

Abstract

A method and device for controlling a train on a slope for automatic train operation, the method comprising: obtaining attribute information of the train and information about the slope of the line on which the train is to travel; determining a slope smoothing method to be adopted according to the attribute information and the slope information; when the train travels on the slope, obtaining the slope data of the slope, obtaining smoothed slope information based on the slope smoothing method and the slope data according to the train control algorithm of the automatic train operation system, and controlling the train based on the smoothed slope information. The solution of the present application can perform effective slope compensation, help to accurately control the train, and can also ensure the comfort of the train control on the basis of achieving accurate train control.

Description

Technical Field

[0001] The present application relates to the technical field of battery charging and discharging, and more specifically to a method and device for controlling a train on a slope for automatic operation of a train. Background Art

[0002] In the Communication Based Train Control System (CBTC) system, the Vehicle On-board Controller (VOBC) subsystem controls the train operation according to the line data provided by the electronic map. On the longitudinal section of the line, there is a curve connecting two adjacent slope sections with the slope change point as the intersection, namely the vertical curve. Since the electronic map is configured based on the engineering survey data on the line, the line slope information that the VOBC subsystem can directly obtain includes the location of the slope change point and the radius of the vertical curve, but it cannot directly obtain the starting and ending points of the vertical curve and the actual slope of the vertical curve location.

[0003] The inventors have found that, although the Automatic Train Operation System (ATO) can perform a slope smoothing calculation on the slope of the train location according to the train length when controlling the train, when the slope changes greatly, it exceeds the ATO slope smoothing processing range usually considered for large railway lines. Therefore, the calculation result of approximating the actual slope by taking the average value of the slope within the range of the train body is still quite different from the actual slope. The inaccurate slope of the train location identified by the ATO will lead to unreasonable control of the acceleration and deceleration of the train. For example, in the long downhill stage, the inaccurate slope of the train location causes the ATO to apply a large brake when controlling the train, causing the train to be stopped, thereby affecting the realization of the ATO's precise control of the train. Summary of the invention

[0004] The present application is proposed to solve the above problems. According to one aspect of the present application, a method for controlling a train on a slope for automatic train operation is provided, the method comprising: obtaining attribute information of the train and slope information of the line on which the train is to travel; determining a slope smoothing method to be adopted according to the attribute information and the slope information; when the train travels on the slope, obtaining the slope data of the slope, obtaining smoothed slope information based on the slope smoothing method and the slope data according to the train control algorithm of the automatic train operation system, and controlling the train based on the smoothed slope information.

[0005] In one embodiment of the present application, the attribute information includes the train length, and the slope information includes the minimum slope section length and the maximum slope per thousand; the slope smoothing method to be adopted is determined based on the attribute information and the slope information, including: when the minimum slope section length and the maximum slope per thousand are both greater than the train length, determining to adopt a fixed slope smoothing method; wherein the slope smoothing parameters of the fixed slope smoothing method include a unit smoothing slope.

[0006] In one embodiment of the present application, the attribute information includes the train length, and the slope information includes the minimum slope section length and / or the maximum slope percentage per thousand; the slope smoothing method to be adopted is determined based on the attribute information and the slope information, including: when the minimum slope section length or the maximum slope percentage per thousand is less than the train length, determining to adopt a fixed length smoothing method; wherein the slope smoothing parameters of the fixed length smoothing method include a unit smoothing length.

[0007] In one embodiment of the present application, the attribute information includes the train length, and the slope information includes the minimum slope section length and / or the maximum slope per thousand; the slope smoothing method to be adopted based on the attribute information and the slope information includes: when the minimum slope section length and / or the maximum slope per thousand is equal to the train length, determining to adopt a fixed slope smoothing method or a fixed length smoothing method; wherein the slope smoothing parameters of the fixed slope smoothing method include a unit smoothing slope, and the slope smoothing parameters of the fixed length smoothing method include a unit smoothing length.

[0008] In one embodiment of the present application, the unit smooth slope is equal to the product of any slope error value in the slope error tolerance range of the vehicle control algorithm and a preset adjustable coefficient.

[0009] In one embodiment of the present application, the unit smoothing length is equal to the product of a thousandth of any slope error value in the slope error tolerance range of the vehicle control algorithm and a vertical curve radius at the slope change location.

[0010] In one embodiment of the present application, the train control based on the smooth gradient information includes: calculating the average gradient within a predetermined range according to the current position of the train, the length of the train and the smooth gradient information, wherein the predetermined range refers to the range of the train body and the range from the front of the train to the predicted position, and the predicted position represents the predicted travel distance of the train within the delay time from the control level given by the train operation automatic system control algorithm to the train responding to the control level; converting the average gradient into an equivalent acceleration as a first acceleration; calculating the second acceleration required for the train to reach the target speed based on the current speed of the train, the target speed of the train and the control cycle of the train operation automatic system control algorithm; determining the final control acceleration based on the first acceleration and the second acceleration, and outputting the control level corresponding to the control acceleration for control of the train.

[0011] In one embodiment of the present application, determining the final vehicle control acceleration based on the first acceleration and the second acceleration includes: adding the first acceleration to the second acceleration to obtain the vehicle control acceleration.

[0012] In one embodiment of the present application, the target speed includes a speed range, the lower limit of the speed range is equal to the preset target speed minus the preset downward floating value, and the upper limit of the speed range is equal to the preset target speed plus the preset upward floating value.

[0013] In one embodiment of the present application, the smoothed slope information is obtained based on the slope smoothing method and the slope data, including: when the fixed slope smoothing method is adopted, the slope data is smoothed once per unit smoothing slope to obtain the smoothed slope information; when the fixed length smoothing method is adopted, the slope data is smoothed once per unit smoothing length to obtain the smoothed slope information.

[0014] According to another aspect of the present application, a hillside vehicle control device for automatic train operation is provided, the device comprising a memory and a processor, the memory storing a computer executable program run by the processor, and the computer executable program, when run by the processor, enables the processor to execute the above-mentioned hillside vehicle control method for automatic train operation.

[0015] The slope control method and device for automatic train operation according to the embodiment of the present application considers the slope error tolerance range of the ATO control algorithm, combines the attribute information of the train and the slope information in the line, and selects a slope smoothing method to achieve the purpose of accurately obtaining the line slope information, thereby enabling effective slope compensation, facilitating precise train control, and ensuring the comfort of train control on the basis of achieving precise train control. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0017] Figure 1 A schematic flow chart of a method for controlling a train on a slope for automatic operation of a train according to an embodiment of the present application is shown.

[0018] Figure 2 A schematic flowchart is shown of the process of determining the slope smoothing method to be adopted according to the attribute information and the slope information in the slope control method for automatic train operation according to an embodiment of the present application.

[0019] Figure 3 A schematic flow chart of the process of controlling a train based on the smooth slope information in a slope control method for automatic train operation according to an embodiment of the present application is shown.

[0020] Figure 4 A schematic structural block diagram of a hill-climbing vehicle control device for automatic train operation according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and advantages of the present application more obvious, the example embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the example embodiments described herein. Based on the embodiments of the present application described in the present application, all other embodiments obtained by those skilled in the art without creative work should fall within the scope of protection of the present application.

[0022] First, refer to Figure 1 A method for controlling a train on a slope for automatic operation according to an embodiment of the present application is described. Figure 1 FIG. 1 is a schematic flow chart of a method 100 for controlling a vehicle on a slope for automatic operation of a train according to an embodiment of the present application. Figure 1 As shown, the slope control method 100 for automatic train operation according to an embodiment of the present application may include the following steps:

[0023] In step S110, the attribute information of the train and the slope information of the line on which the train is to travel are obtained.

[0024] In step S120, a slope smoothing method is determined according to the attribute information and the slope information.

[0025] In step S130, when the train runs on a slope, a slope smoothing process is performed based on a slope smoothing method according to a train control algorithm of the automatic train operation system, and the train is controlled based on the processed result.

[0026] In an embodiment of the present application, a slope control scheme for automatic train operation is provided. Before controlling the automatic operation of the train, the train's attribute information (such as the train's length and other attribute information) and the line information to be traveled by the train are first obtained, mainly the slope information in the line to be traveled by the train (such as the number of slope sections in the entire line, the length data and slope data of each slope section, etc., which can be obtained from the electronic map data). After obtaining the above attribute information and slope information, the scheme of the present application determines the slope smoothing method to be adopted in combination with the train's attribute information and the slope information in the route to be traveled. When the train travels on the slope, the slope smoothing process is performed based on the determined slope smoothing method according to the train operation automatic system control algorithm (i.e., ATO control algorithm), and the train is controlled based on the processed result. Since the slope smoothing parameter in the determined slope smoothing method is associated with the slope error tolerance range of the ATO control algorithm, that is, the slope error tolerance range of the ATO control algorithm is taken into account in the slope smoothing process, the ATO control algorithm can more accurately identify the position information when the actual slope of the line changes, thereby performing effective slope compensation, which is helpful for accurate control of the train. In addition, since the attribute information of the train and the slope information of the line on which the train is to travel are taken into account when determining the slope smoothing method, the smoothed slope is not only within the slope error tolerance range of the ATO control algorithm, but also can adapt the ATO control algorithm to trains with different characteristics and lines with different characteristics, thereby ensuring the comfort of the control of the train on the basis of achieving accurate control of the train.

[0027] In one embodiment of the present application, the aforementioned attribute information of the train may include the length of the train, and the aforementioned slope information in the route to be traveled by the train may include the minimum slope length and the maximum slope per thousand (wherein the slope is generally expressed in units of per thousand in an electronic map, so the slope data obtained may be the slope per thousand, i.e., the numerator of the per thousand). Based on this, determining the slope smoothing method to be adopted according to the attribute information and the slope information in step S120 may include: when the minimum slope length and the maximum slope per thousand in the route to be traveled by the train are both greater than the length of the train, determining to adopt a fixed slope smoothing method, wherein the slope smoothing parameters of the fixed slope smoothing method include a unit smoothing slope.

[0028] This embodiment can be applicable to the scenario where the line includes a slope section with a large slope and a long distance. In such a scenario, since there are slope sections with large slopes and long distances, and the minimum slope section length and the maximum slope per thousand are both greater than the train length, the slope can be mainly considered and a fixed slope smoothing method can be adopted, that is, the slope data of the slope is smoothed once per unit smoothed slope to obtain smoothed slope information. Among them, the unit smoothed slope can be determined based on the slope error tolerance range of the ATO vehicle control algorithm. In one example, any slope error value can be selected from the slope error tolerance range of the ATO vehicle control algorithm, and it can be multiplied by a preset adjustable coefficient to obtain the value of the unit smoothed slope. Among them, the preset adjustable coefficient can be configured according to the debugging situation or experience. In addition, the slope error tolerance range of the ATO vehicle control algorithm will be further described in detail later.

[0029] In another embodiment of the present application, the aforementioned attribute information of the train may include the train length, and the aforementioned slope information in the route to be traveled by the train may include the minimum slope length and / or the maximum slope per thousand. Based on this, determining the slope smoothing method to be adopted according to the attribute information and the slope information in step S120 may include: when the minimum slope length or the maximum slope per thousand in the route to be traveled by the train is less than the train length, determining to adopt a fixed length smoothing method, wherein the slope smoothing parameter of the fixed length smoothing method includes a unit smoothing length.

[0030] This embodiment can be applicable to the scenario where the line includes a slope section with a small slope or a short distance. In such a scenario, since there is a slope section with a small slope or a short distance, and the minimum slope section length or the maximum slope per thousand is less than the train length, it is not necessary to consider the slope mainly and adopt a fixed length smoothing method, that is, the slope data of the slope is smoothed once per unit smoothing length to obtain smoothed slope information. Among them, the unit smoothing length can be determined based on the slope error tolerance range of the ATO vehicle control algorithm. In one example, any slope error value can be selected from the slope error tolerance range of the ATO vehicle control algorithm, and its per thousand ratio is multiplied by the vertical curve radius at the slope change to obtain the value of the unit smoothing slope. Among them, when the vertical curve radius at the slope change of the line changes, the unit smoothing length will be updated in real time according to the vertical curve radius. In addition, the slope error tolerance range of the ATO vehicle control algorithm will be further described in detail later.

[0031] In another embodiment of the present application, the attribute information of the aforementioned train may include the length of the train, and the slope information in the route to be traveled by the aforementioned train may include the minimum slope section length and / or the maximum slope per thousand. Based on this, the slope smoothing method to be adopted according to the attribute information and the slope information in step S120 may include: when the minimum slope section length and / or the maximum slope per thousand in the route to be traveled by the train are equal to the length of the train, it is determined to adopt a fixed length smoothing method or a fixed slope smoothing method. In this embodiment, since the minimum slope section length and / or the maximum slope per thousand are equal to the length of the train, the slope may be mainly considered or it is not necessary to mainly consider the slope, so either of the two methods of fixed length smoothing method and fixed slope smoothing method may be adopted, and these two methods are as described above and will not be repeated here.

[0032] According to the above-mentioned embodiment of the slope smoothing method, it can be combined with Figure 2 The schematic flow chart of the process 200 of determining the slope smoothing method to be adopted according to the attribute information and the slope information in the slope control method for automatic train operation according to an embodiment of the present application is described. Figure 2 As shown, process 200 may include the following steps:

[0033] In step S210, the relationship between the minimum slope length and / or the maximum slope percentage per thousand and the train length in the line on which the train is to travel is determined, and step S220, step S230 or step S240 is executed according to the relationship.

[0034] In step S220, when the minimum slope length and the maximum slope percentage in the line to be traveled are both greater than the train length, it is determined to adopt a fixed slope smoothing method.

[0035] In step S230, when the minimum slope length or the maximum slope per thousand in the line to be traveled is less than the train length, it is determined to adopt a fixed length smoothing method.

[0036] In step S240, when the minimum slope length and / or the maximum slope per thousand in the line to be traveled are equal to the train length, it is determined to adopt a fixed slope smoothing method or a fixed length smoothing method.

[0037] Among them, the fixed slope smoothing method and the fixed length smoothing method are as described above and will not be repeated here.

[0038] After determining the slope smoothing method to be adopted, when the train runs on the slope, the slope data of the slope can be obtained (engineering measurement data, not the actual slope of the line, the slope is the slope corresponding to the tangent of the circle where the slope section is located), and the smoothed slope information is obtained based on the slope smoothing method and slope data according to the train operation automatic system control algorithm, and the train is controlled based on the smoothed slope information. Figure 3 The schematic flow chart of the process 300 of controlling a train based on the smooth slope information in the slope control method for automatic train operation according to an embodiment of the present application is described. Figure 3 As shown, process 300 may include the following steps:

[0039] In step S310, the average slope within a predetermined range is calculated according to the current position of the train, the length of the train and the smooth slope information.

[0040] In step S320, the average gradient is converted into an equivalent acceleration as the first acceleration.

[0041] In step S330, based on the current speed of the train, the target speed of the train and the train control cycle of the train control algorithm of the automatic train operation system, a second acceleration required for the train to reach the target speed is calculated.

[0042] In step S340, a final vehicle control acceleration is determined based on the first acceleration and the second acceleration, and a vehicle control level corresponding to the vehicle control acceleration is output for vehicle control.

[0043] Among them, the predetermined range in step S310 refers to the range of the train body and the range from the front of the train to the predicted position. The predicted position represents the predicted travel distance of the train during the delay time from the ATO control algorithm giving the control level to the train responding to the control level. Step S320 is to perform slope compensation on the average slope calculated in step S310, and convert the average slope into an equivalent acceleration. The level acceleration (first acceleration) is the component of gravity in the direction of train movement when the train is on a slope. Assuming that the first acceleration is expressed as equ_a, then equ_a = g*ramp / 1000, where g is the local gravity acceleration, and ramp is the slope calculated in step S310 (unit ‰), which can also be called the slope per thousand. Step S330 is to obtain the acceleration (second acceleration) required for the train to reach the target speed. Assuming that the second acceleration is expressed as acc_a, acc_a = (tv-v) / c_t, where tv is the target speed, v is the current speed of the train, and c_t is the train control cycle, that is, the target speed tv can be reached by the acceleration acc_a within the time c_t, and c_t is usually determined based on experience. In each train control cycle, the ATO train control algorithm will execute the above calculation process 300 to perform train control. Step 340 can determine the final train control acceleration based on the aforementioned first acceleration and the aforementioned second acceleration, and according to the preset corresponding relationship between the train control level and the train control acceleration, the train control level corresponding to the train control acceleration can be obtained and output, so as to control the train according to the train control level.

[0044] When the train is controlled according to the above-mentioned control level, if the actual speed (expressed as real_v) reached by the train cannot reach the target speed (expressed as tv), it means that the slope value calculated in step S310 is not close to the actual slope value, and the slope error value (expressed as err_ramp) at this time can be expressed by the formula: err_ramp = (tv-real_v) / c_t, where c_t is the control cycle. In the embodiment of the present application, the target speed that the train is expected to reach can be set as a speed window, that is, including a speed range, the lower limit value of the speed range is equal to the preset target speed tv minus the preset downward floating value (expressed as v_down), and the upper limit value of the speed range is equal to the preset target speed tv plus the preset upward floating value (expressed as v_up), that is, the speed range can be expressed as [tv-v_down, tv+v_up]. As long as the actual speed real_v after the control is within the speed range, it can be considered to reach the target speed. Wherein v_down and v_up are both empirical values. When the actual speed real_v is within the range of [tv-v_down, tv+v_up], the range of the slope error value err_ramp can be expressed as [-v_up / c_t, v_down / c_t], which is the slope error tolerance range of the ATO vehicle control algorithm. In other words, the slope error tolerance range of the ATO vehicle control algorithm depends on the aforementioned preset downward floating value, preset upward floating value and vehicle control cycle.

[0045] Based on the above description, the slope control method for automatic train operation according to the embodiment of the present application considers the slope error tolerance range of the ATO control algorithm, combines the attribute information of the train and the slope information in the line, and selects the slope smoothing method to achieve the purpose of accurately obtaining the line slope information, thereby enabling effective slope compensation, facilitating precise train control, and ensuring the comfort of train control on the basis of achieving precise train control.

[0046] The above exemplary illustrates the slope control method for automatic train operation according to the embodiment of the present application. Figure 4 The following describes a slope control device 400 for automatic train operation provided according to another aspect of the present application. Figure 4As shown, the hill-climbing vehicle control device 400 for automatic train operation according to the embodiment of the present application includes a memory 410 and a processor 420, wherein: the memory 410 stores a computer executable program executed by the processor 420, and when the computer executable program is executed by the processor 420, the processor 420 executes the above-mentioned hill-climbing vehicle control method 100 for automatic train operation. Those skilled in the art can understand the structure and specific operation of each module in the hill-climbing vehicle control device 400 for automatic train operation according to the embodiment of the present application in combination with the above-mentioned contents. For the sake of brevity, only some main contents are described here without repeating the details.

[0047] In one embodiment of the present application, when the computer executable program is run by the processor 420, the processor 420 performs the following operations: obtaining attribute information of the train and slope information of the route on which the train is to travel; determining a slope smoothing method to be adopted based on the attribute information and the slope information; when the train travels on the slope, obtaining the slope data of the slope, obtaining smoothed slope information based on the slope smoothing method and the slope data according to the train control algorithm of the train operation automatic system, and controlling the train based on the smoothed slope information.

[0048] In one embodiment of the present application, the attribute information includes the train length, and the slope information includes the minimum slope section length and the maximum slope per thousand; the processor 420 determines the slope smoothing method to be adopted based on the attribute information and the slope information, including: when the minimum slope section length and the maximum slope per thousand are both greater than the train length, determining to adopt a fixed slope smoothing method; wherein the slope smoothing parameters of the fixed slope smoothing method include a unit smoothing slope.

[0049] In one embodiment of the present application, the attribute information includes the train length, and the slope information includes the minimum slope section length and / or the maximum slope percentage per thousand; the processor 420 determines the slope smoothing method to be adopted based on the attribute information and the slope information, including: when the minimum slope section length or the maximum slope percentage per thousand is less than the train length, determining to adopt a fixed length smoothing method; wherein the slope smoothing parameters of the fixed length smoothing method include a unit smoothing length.

[0050] In one embodiment of the present application, the attribute information includes the train length, and the slope information includes the minimum slope section length and / or the maximum slope per thousand; the processor 420 determines the slope smoothing method to be adopted based on the attribute information and the slope information, including: when the minimum slope section length and / or the maximum slope per thousand is equal to the train length, determining to adopt a fixed slope smoothing method or a fixed length smoothing method; wherein the slope smoothing parameters of the fixed slope smoothing method include a unit smoothing slope, and the slope smoothing parameters of the fixed length smoothing method include a unit smoothing length.

[0051] In one embodiment of the present application, the unit smooth slope is equal to the product of any slope error value in the slope error tolerance range and a preset adjustable coefficient.

[0052] In one embodiment of the present application, the unit smoothing length is equal to the product of a thousandth of any slope error value in the slope error tolerance range and a vertical curve radius at the slope change location.

[0053] In one embodiment of the present application, the processor 420 controls the train based on the smooth gradient information, including: calculating the average gradient within a predetermined range according to the current position of the train, the length of the train and the smooth gradient information, wherein the predetermined range refers to the body range of the train and the range from the front of the train to the predicted position, and the predicted position represents the predicted travel distance of the train within the delay time from the time when the train control algorithm of the train operation automatic system gives the train control level to the time when the train responds to the train control level; converting the average gradient into an equivalent acceleration as a first acceleration; calculating the second acceleration required for the train to reach the target speed based on the current speed of the train, the target speed of the train and the train control cycle of the train control algorithm of the train operation automatic system; determining the final train control acceleration based on the first acceleration and the second acceleration, and outputting the train control level corresponding to the train control acceleration for train control.

[0054] In one embodiment of the present application, the processor 420 determines a final vehicle control acceleration based on the first acceleration and the second acceleration, including: adding the first acceleration to the second acceleration to obtain the vehicle control acceleration.

[0055] In one embodiment of the present application, the target speed includes a speed range, the lower limit of the speed range is equal to the preset target speed minus the preset downward floating value, and the upper limit of the speed range is equal to the preset target speed plus the preset upward floating value.

[0056] In one embodiment of the present application, the processor 420 obtains smoothed slope information based on the slope smoothing method and the slope data, including: when the fixed slope smoothing method is adopted, the slope data is smoothed once per unit smoothing slope to obtain smoothed slope information; when the fixed length smoothing method is adopted, the slope data is smoothed once per unit smoothing length to obtain smoothed slope information.

[0057] Based on the above description, the slope control method and device for automatic train operation according to the embodiment of the present application considers the slope error tolerance range of the ATO control algorithm, combines the attribute information of the train and the slope information in the line, and selects the slope smoothing method to achieve the purpose of accurately obtaining the line slope information, thereby enabling effective slope compensation, which is helpful for precise train control, and can ensure the comfort of train control on the basis of achieving precise train control.

[0058] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely exemplary and are not intended to limit the scope of the present application to this. Those of ordinary skill in the art may make various changes and modifications therein without departing from the scope and spirit of the present application. All these changes and modifications are intended to be included within the scope of the present application as required by the appended claims.

[0059] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0060] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0061] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0062] Similarly, it should be understood that in order to streamline the present application and help understand one or more of the various inventive aspects, in the description of the exemplary embodiments of the present application, the various features of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, the method of the present application should not be interpreted as reflecting the following intention: the claimed application requires more features than the features clearly stated in each claim. More specifically, as reflected in the corresponding claims, the inventive point is that the corresponding technical problem can be solved with features less than all the features of a single disclosed embodiment. Therefore, the claims following the specific embodiment are hereby explicitly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present application.

[0063] It will be understood by those skilled in the art that, except for mutually exclusive features, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this specification may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature that provides the same, equivalent or similar purpose.

[0064] In addition, those skilled in the art will appreciate that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present application and form different embodiments. For example, in the claims, any one of the claimed embodiments may be used in any combination.

[0065] The various component embodiments of the present application can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It should be understood by those skilled in the art that a microprocessor or digital signal processor (DSP) can be used in practice to implement some or all functions of some modules according to the embodiments of the present application. The application can also be implemented as a device program (e.g., computer program and computer program product) for executing a part or all of the methods described herein. Such a program implementing the present application can be stored on a computer-readable medium, or can have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0066] It should be noted that the above embodiments illustrate the present application rather than limit the present application, and that those skilled in the art may design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets should not be constructed as a limitation to the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of multiple such elements. The present application may be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In a unit claim that lists several devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names.

[0067] The above is only a specific implementation or description of a specific implementation of the present application, and the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. The protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for controlling a train on a slope for automatic train operation, characterized in that: The method comprises: Acquiring attribute information of a train and slope information of a route on which the train is to travel; Determining a slope smoothing method to be adopted according to the attribute information and the slope information, wherein the slope smoothing method includes a fixed slope smoothing method and a fixed length smoothing method, wherein the slope smoothing parameter of the fixed slope smoothing method includes a unit smoothing slope, and the slope smoothing parameter of the fixed length smoothing method includes a unit smoothing length; When the train runs on the slope, the slope data of the slope is obtained, and according to the train control algorithm of the train operation automatic system, the smoothed slope information is obtained based on the slope smoothing method to be determined and the slope data, and the train is controlled based on the smoothed slope information.

2. The method according to claim 1, characterized in that The attribute information includes the train length, and the slope information includes the minimum slope length and the maximum slope percentage; The determining of the slope smoothing method to be adopted according to the attribute information and the slope information includes: When the minimum slope length and the maximum slope percentage are both greater than the train length, it is determined to adopt the fixed slope smoothing method.

3. The method according to claim 1, characterized in that The attribute information includes the train length, and the slope information includes the minimum slope length and / or the maximum slope percentage; The step of determining the slope smoothing method to be adopted according to the attribute information and the slope information comprises: When the minimum slope length or the maximum slope percentage is less than the train length, it is determined to adopt the fixed length smoothing method.

4. The method according to claim 1, characterized in that: The attribute information includes the train length, and the slope information includes the minimum slope length and / or the maximum slope percentage; The determining of the slope smoothing method to be adopted according to the attribute information and the slope information includes: When the minimum slope length and / or the maximum slope per thousand is equal to the train length, it is determined to adopt the fixed slope smoothing method or the fixed length smoothing method.

5. The method according to claim 2 or 4, characterized in that: The unit smooth slope is equal to the product of any slope error value in the slope error tolerance range of the vehicle control algorithm and a preset adjustable coefficient.

6. The method according to claim 3 or 4, characterized in that: The unit smoothing length is equal to the product of the thousandth of any slope error value in the slope error tolerance range of the vehicle control algorithm and the vertical curve radius at the slope change location.

7. The method according to any one of claims 2 to 4, characterized in that: The controlling the vehicle based on the smooth slope information includes: Calculate the average slope within a predetermined range according to the current position of the train, the length of the train and the smooth slope information, wherein the predetermined range refers to the range from the body of the train and the range from the front of the train to the predicted position, and the predicted position represents the predicted travel distance of the train within the delay time from the time when the control algorithm of the train operation automatic system gives the control level position to the time when the train responds to the control level position; Converting the average slope into an equivalent acceleration as a first acceleration; Calculating a second acceleration required for the train to reach the target speed based on the current speed of the train, the target speed of the train, and the train control cycle of the train control algorithm of the train operation automatic system; A final vehicle control acceleration is determined based on the first acceleration and the second acceleration, and a vehicle control level corresponding to the vehicle control acceleration is output for vehicle control.

8. The method according to claim 7, characterized in that The determining a final vehicle control acceleration based on the first acceleration and the second acceleration includes: The first acceleration is added to the second acceleration to obtain the vehicle control acceleration.

9. The method according to claim 7, characterized in that: The target speed includes a speed range, a lower limit value of the speed range is equal to a preset target speed minus a preset downward floating value, and an upper limit value of the speed range is equal to the preset target speed plus a preset upward floating value.

10. The method according to claim 4, characterized in that The obtaining of smoothed slope information based on the slope smoothing method and the slope data includes: When the fixed slope smoothing method is adopted, the slope data is smoothed once per unit smoothing slope to obtain smoothing slope information; When the fixed-length smoothing method is adopted, the slope data is smoothed once per unit smoothing length to obtain smoothed slope information.

11. A slope control device for automatic train operation, characterized in that: The device includes a memory and a processor, wherein the memory stores a computer executable program to be run by the processor, and when the computer executable program is run by the processor, the processor executes the slope control method for automatic train operation as described in any one of claims 1-10.

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