Target speed curve planning method and device, storage medium and driving system

Abstract

This disclosure relates to the field of target speed curve technology, and particularly to a method, apparatus, storage medium, and driving system for planning target speed curves. The method includes: acquiring the rapid running time required for a train to run according to a rapid target curve within a target operating section, and the planned running time required for the train to run according to a punctual target curve; comparing the rapid running time with the planned running time to determine whether to optimize for the punctual target curve; if the planned running time is greater than the rapid running time, optimizing for the punctual target curve based on a preset coasting time within the target operating section to obtain the target speed curve for train operation within the target operating section; and being able to plan a target speed curve that includes coasting time.

Description

Technical Field

[0001] This disclosure relates to the field of target speed curve technology, and particularly to a method, apparatus, storage medium, and driving system for planning target speed curves. Background Technology

[0002] Urban rail transit boasts advantages such as punctuality, safety, large capacity, and environmental friendliness, bearing a significant portion of urban transportation burden. With the continuous development of urban rail systems, their total energy consumption has shown a year-on-year increasing trend, with traction system energy consumption accounting for 40%-50% of the total. Planning the target speed curve is not only a prerequisite for achieving ATO (Automatic Train Operation) control but also holds considerable potential for energy savings. However, no method has been found to calculate the coasting energy-saving speed curve as the target speed curve based on the coasting time ratio.

[0003] There is an urgent need in this field for a solution that calculates the coasting energy-saving speed curve based on the coasting time ratio as the target speed curve. Summary of the Invention

[0004] The target speed curve planning method, apparatus, storage medium, and driving system disclosed herein solve the technical problem that some technical solutions do not use the coasting time ratio to calculate the coasting energy-saving speed curve as the target speed curve.

[0005] Firstly, this disclosure provides a target velocity curve planning method, including:

[0006] Obtain the rapid travel time required for the train to run within the target operating section according to the rapid target curve, and the planned travel time required for the train to run according to the punctuality target curve;

[0007] Compare the fast run time with the planned run time to determine whether to optimize the target curve.

[0008] If the planned running time is longer than the rapid running time, the alignment target curve is optimized based on the preset coasting time of the target running section to obtain the target speed curve of the train running within the target running section.

[0009] In some embodiments, the rapid target curve includes a sequence of operating conditions: maximum traction section - first speed cruise section - maximum braking section;

[0010] The on-time target curve includes a sequence of operating conditions: maximum traction section - second speed cruise section - maximum braking section;

[0011] The first speed is not less than the second speed.

[0012] In some embodiments, the preset coasting time is obtained based on the preset coasting time ratio and the planned running time.

[0013] In some embodiments, optimizing the alignment target curve based on a preset coasting time within the target running range includes:

[0014] The coasting starts at the midpoint of the second speed cruise section of the on-time target curve and stops when the coasting reaches the maximum braking section of the on-time target curve, thus obtaining the first coasting time.

[0015] Based on the comparison between the difference between the preset coasting time and the first coasting time and the first threshold, the target curve is optimized.

[0016] In some embodiments, the alignment target curve is optimized based on a comparison between the difference between a preset coasting time and a first coasting time and a first threshold, including:

[0017] Determine whether the difference between the preset idle time and the first idle time is greater than the first threshold.

[0018] If the difference between the preset coasting time and the first coasting time is greater than the first threshold, the distance of the preset step size is adjusted from the midpoint of the second speed cruise section of the target curve to the direction of the maximum braking section, and the adjusted position is used as the coasting start point to start coasting. Coasting stops when the target curve reaches the maximum braking section to obtain the first coasting time again. Then, the step of judging whether the difference between the preset coasting time and the first coasting time is greater than the first threshold is executed.

[0019] In some embodiments, optimizing the alignment target curve based on a comparison between the difference between a preset coasting time and a first coasting time and a first threshold further includes:

[0020] If the difference between the preset coasting time and the first coasting time is not greater than the first threshold, then the second speed of the on-time target curve is adjusted according to the difference between the fast running time and the planned running time.

[0021] In some embodiments, adjusting the second speed of the on-time target curve based on the difference between the fast run time and the planned run time includes:

[0022] If the difference between the fast run time and the planned run time is greater than the second threshold, and the fast run time is less than the planned run time, then the second speed of the on-time target curve is reduced.

[0023] If the difference between the fast run time and the planned run time is greater than the second threshold, and the fast run time is greater than the planned run time, then the second speed of the on-time target curve is increased.

[0024] In some embodiments, it also includes:

[0025] If the planned running time is less than or equal to the fast running time, the train will run within the target running section according to the fast running time.

[0026] Secondly, this disclosure provides a target velocity curve planning device, comprising:

[0027] The acquisition module is used to acquire the rapid running time required for the train to run within the target operating section according to the rapid target curve, and to acquire the planned running time required for the train to run within the target operating section according to the punctuality target curve.

[0028] The comparison module is used to compare the fast run time with the planned run time to determine whether optimization is needed for the target curve.

[0029] The optimization module is used to optimize the alignment target curve based on the preset coasting time of the target operating section if the planned running time is greater than the rapid running time, so as to obtain the target speed curve of the train running in the target operating section.

[0030] Thirdly, this disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method of the first aspect.

[0031] Fourthly, this disclosure provides a train automatic driving system, including a processor and a memory, wherein a computer program is stored in the memory, and the processor executes the computer program to implement the method of the first aspect.

[0032] The target speed curve planning method, apparatus, storage medium, and driving system disclosed herein acquire the rapid running time required for the train to run according to the rapid target curve within the target operating section, and the planned running time required for the train to run according to the punctual target curve; compare the rapid running time with the planned running time to determine whether to optimize the punctual target curve; if the planned running time is greater than the rapid running time, optimize the punctual target curve based on the preset coasting time of the target operating section to obtain the target speed curve for the train running within the target operating section; and can calculate the coasting energy-saving speed curve based on the coasting time ratio as the target speed curve to reduce traction energy consumption, so that the train can achieve the optimal energy-saving operating speed curve in the operating section between all stations along the entire line. Attached Figure Description

[0033] The present disclosure will be described in more detail below based on embodiments and with reference to the accompanying drawings:

[0034] Figure 1 A flowchart of a target velocity curve planning method according to an embodiment of the present disclosure is shown;

[0035] Figure 2 A schematic diagram of the rapid target curve and the on-time target curve according to an embodiment of this disclosure is shown;

[0036] Figure 3 A schematic diagram illustrating the optimization of the on-time target curve according to an embodiment of the present disclosure is shown;

[0037] Figure 4 A schematic diagram of a target velocity curve planning device according to an embodiment of the present disclosure is shown.

[0038] In the accompanying drawings, the same parts are referred to by the same reference numerals, and the drawings are not drawn to scale. Detailed Implementation

[0039] To enable those skilled in the art to better understand the present disclosure and to fully understand and implement the process of how the present disclosure applies technical means to solve technical problems and achieve corresponding technical effects, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present disclosure, not all embodiments. The embodiments of the present disclosure and the various features therein can be combined with each other without conflict, and the resulting technical solutions are all within the protection scope of the present disclosure. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present disclosure.

[0040] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0041] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0042] Urban rail transit boasts advantages such as punctuality, safety, large capacity, and environmental friendliness, bearing a significant portion of urban transportation pressure. With the continuous development of urban rail systems, their total energy consumption has shown a year-on-year increasing trend, with traction system energy consumption accounting for 40%-50% of the total. The planning of the target speed curve is not only a prerequisite for achieving ATO (Automatic Train Control) but also holds considerable potential for energy conservation.

[0043] In some cases, based on the maximum value principle, it is found that energy consumption can be minimized when the train operates in a single section and roughly follows the sequence of "maximum traction-cruising-coasting-maximum braking". When the train is in traction mode, it converts the obtained electrical energy into kinetic energy to increase speed; when the train is in braking mode, it converts kinetic energy back into electrical energy to decrease speed. This part of the converted electrical energy is called regenerative braking energy.

[0044] Without considering the use of regenerative braking energy, traction energy consumption can be reduced by minimizing unnecessary traction during interval operation. For example, potential energy can be converted into kinetic energy by making full use of the track gradient, and the train can be switched to coasting mode multiple times. For example, coasting downhill can replace traction to increase speed, and coasting uphill can replace braking to decrease speed, thereby avoiding frequent switching between traction and braking modes.

[0045] However, no relevant scheme has yet been found that provides a planning method for urban rail trains that uses the coasting time ratio to calculate the coasting energy-saving speed curve as the target speed curve.

[0046] This disclosure proposes an ATO curve planning method, which obtains the optimal energy-saving target curve between stations of the entire line as the target speed curve based on a given coasting time ratio and with the optimization objective of reducing traction energy consumption.

[0047] Example 1

[0048] Figure 1 A flowchart of a target velocity curve planning method according to an embodiment of this disclosure is shown. Figure 1 As shown, a target velocity curve planning method includes:

[0049] Obtain the rapid travel time required for the train to run within the target operating section according to the rapid target curve, and the planned travel time required for the train to run according to the punctuality target curve;

[0050] Compare the fast run time with the planned run time to determine whether to optimize the target curve.

[0051] If the planned running time is longer than the rapid running time, the alignment target curve is optimized based on the preset coasting time of the target running section to obtain the target speed curve of the train running within the target running section.

[0052] Figure 2 A schematic diagram of a rapid target curve and a precise target curve according to an embodiment of this disclosure is shown. The horizontal axis represents distance, and the vertical axis represents speed. Figure 2 The system includes multiple target curves, each comprising a traction section, a braking section, and a cruise section. Target curves with coasting also include a coasting section. Specifically, the solid line section on the left represents the traction section, the solid line section on the right represents the braking section, the solid horizontal line section in the middle represents the cruise section, and the dashed line section between the cruise and braking sections represents the coasting section.

[0053] In this embodiment, the fast target curve is as follows: Figure 2 As shown by the thick solid line, this process aims to maximize the train's traction and braking capabilities while ensuring safe operation, completing the entire journey in the shortest possible time. To fully utilize the train's capacity, maximum acceleration is used during the acceleration phase (traction section), maximum deceleration during the braking phase, and the speed during the intermediate cruising phase is kept as close as possible to the speed limit.

[0054] In this embodiment, the target curve at the designated time is as follows: Figure 2 As shown by the thin solid line in the figure, the on-time target curve is based on the rapid target curve. According to the given planned running time, the speed during the intermediate cruise phase or the acceleration and deceleration during the acceleration and deceleration phases are adjusted so that the actual running time of the train is equal to the planned running time.

[0055] In this embodiment, the target speed curve is an energy-saving curve that includes coasting time, and the coasting portion is as follows: Figure 2 As shown by the dashed line in the diagram. The target speed curve must not only ensure on-time operation but also minimize energy consumption through methods such as coasting.

[0056] The target speed curve planning method provided in this embodiment obtains the rapid running time required for the train to run according to the rapid target curve within the target operating section, and the planned running time required for the train to run according to the punctual target curve; compares the rapid running time with the planned running time to determine whether to optimize the punctual target curve; if the planned running time is greater than the rapid running time, then optimizes the punctual target curve based on the preset coasting time of the target operating section to obtain the target speed curve for the train running within the target operating section; it can plan a target speed curve that includes coasting time.

[0057] Example 2

[0058] Based on the above embodiments, the rapid target curve includes a sequence of operating conditions: maximum traction section - first speed cruise section - maximum braking section;

[0059] The on-time target curve includes a sequence of operating conditions: maximum traction section - second speed cruise section - maximum braking section;

[0060] The first speed is not less than the second speed.

[0061] In this embodiment, the preset coasting time is obtained based on the preset coasting time ratio and the planned running time.

[0062] In one example, the calculation of the preset lazy driving time includes the following steps:

[0063] Step 1: Given static information such as urban rail line parameters (platform information, speed limit, gradient, etc.) and timetable (planned running time between stations, stopping time), give the coasting time ratio of the urban rail line during the entire turnaround time.

[0064] Step 2: Based on the given planned travel times between stations, the on-time target curve can be obtained according to the operating condition sequence of maximum traction – second speed cruise – maximum braking. For example, the planned travel times between stations on the northbound direction of Metro Line 4 in a certain area are shown in Table 1 below.

[0065] Table 1 Planned Running Time

[0066]

[0067]

[0068] The total coasting time is calculated based on the planned running time of the operating section and the coasting time ratio; according to the given planned running time, the planned running time of operating section i in the up direction is T. i Where i represents the station number, and the total travel time of the line is the sum of the travel times between all stations, calculated as follows:

[0069]

[0070] Given the coasting time ratio δ, the total coasting time T for the entire uplink line is... coast The calculation formula is as follows:

[0071] T coast =T·δ

[0072] The total travel time of the northbound direction of Metro Line 4 in a certain city is 2474 seconds. Given that the coasting time ratio δ is 30%, the total coasting time of the entire northbound line is 742.2 seconds.

[0073] Given a fixed total coasting time across the entire line, the coasting time is allocated based on the ratio of the planned running time to the total coasting time for each running section, thus obtaining the preset coasting time for each running section.

[0074] Based on the planned operating time between stations, the coasting time between stations is allocated proportionally, and the coasting time T for each operating section is determined. coast,i The calculation is as follows:

[0075]

[0076] Based on the above running time information, the coasting time allocated between each station is shown in Table 2 below.

[0077] Table 2. Coasting time for each operating section

[0078]

[0079]

[0080] Based on the route information, the rapid target curve for each section is calculated according to the operating condition combination of maximum traction - first speed cruise - maximum braking. The rapid operation time of each section under the rapid operation mode is shown in Table 3, as well as the rapid operation time of the entire route. For example, the rapid operation time of operating section i is T. fast,i It should be noted that, for any operating range, the first speed, which serves as the cruise speed for the rapid target curve, must not be less than the second speed, which serves as the cruise speed for the on-time target curve, obtained based on the planned operating time.

[0081] Table 3 Fast running time

[0082]

[0083]

[0084] Example 3

[0085] Based on the above embodiments, the alignment target curve is optimized based on the preset coasting time of the target running range, including:

[0086] The coasting starts at the midpoint of the second speed cruise section of the on-time target curve and stops when the coasting reaches the maximum braking section of the on-time target curve, thus obtaining the first coasting time.

[0087] Based on the comparison between the difference between the preset coasting time and the first coasting time and the first threshold, the target curve is optimized.

[0088] In this embodiment, the alignment target curve is optimized based on the comparison result of the difference between the preset coasting time and the first coasting time and the first threshold, including:

[0089] Determine whether the difference between the preset idle time and the first idle time is greater than the first threshold.

[0090] If the difference between the preset coasting time and the first coasting time is greater than the first threshold, the distance of the preset step size is adjusted from the midpoint of the second speed cruise section of the target curve to the direction of the maximum braking section, and the adjusted position is used as the coasting start point to start coasting. Coasting stops when the target curve reaches the maximum braking section to obtain the first coasting time again. Then, the step of judging whether the difference between the preset coasting time and the first coasting time is greater than the first threshold is executed.

[0091] In this embodiment, if the planned running time is equal to the fast running time, the train runs within the target running section according to the fast running time; if the planned running time is less than the fast running time, the train cannot run according to the plan and runs within the target running section according to the fast running time.

[0092] Taking the aforementioned example, we compare the planned running time of each running interval in Table 1 with the corresponding fast running time in Table 3, using the running interval as the unit.

[0093] If the planned running time in Table 1 is equal to the rapid running time in Table 3, then run according to the rapid target curve in Table 3;

[0094] If the planned running time in Table 1 is less than the fast running time in Table 3, then the train cannot run according to the planned running time in this section and will run according to the fast running time in Table 3.

[0095] If the planned operating time in Table 1 is greater than the rapid operating time in Table 3, it indicates that there is still a coasting time margin within the rapid operating time of Table 3 in this operating interval. Therefore, coasting time can be allocated to this operating interval to achieve energy savings. The following, combined with... Figure 2 Explain the specific scheme for implementing coasting by allocating coasting time to the operating range.

[0096] Based on the target curve, the coasting start point is selected as the midpoint of the maximum cruising speed segment of the target curve. Coasting from this point to the braking segment of the target curve stops coasting and braking begins. At this point, the actual coasting time of the target curve including the coasting is calculated and compared with the preset coasting time calculated based on the coasting time ratio in Table 2. If the actual coasting time is less than or equal to the preset coasting time in Table 2, the comparison is stopped or the cruising speed is adjusted. If the actual coasting time is greater than the preset coasting time obtained in Table 2, the coasting start point is adjusted in steps until the difference between the actual coasting time and the preset coasting time in Table 2 meets the accuracy requirement of the first threshold. Then, the comparison is stopped or the cruising speed is adjusted.

[0097] In this embodiment, by starting coasting at the midpoint of the cruise segment and comparing the actual coasting time with the preset coasting time, the starting point of coasting can be determined while ensuring that the actual coasting time is close to the preset coasting time, and the target speed curve can be planned.

[0098] Example 4

[0099] Figure 3 A schematic diagram illustrating the optimization of the on-time target curve according to an embodiment of this disclosure is shown. Based on the above embodiment, the on-time target curve is optimized according to the comparison result of the difference between a preset coasting time and a first coasting time and a first threshold, further including:

[0100] If the difference between the preset coasting time and the first coasting time is not greater than the first threshold, then the second speed of the on-time target curve is adjusted according to the difference between the fast running time and the planned running time.

[0101] In this embodiment, adjusting the second speed of the on-time target curve based on the difference between the rapid running time and the planned running time includes:

[0102] If the difference between the fast run time and the planned run time is greater than the second threshold, and the fast run time is less than the planned run time, then the second speed of the on-time target curve is reduced.

[0103] If the difference between the fast run time and the planned run time is greater than the second threshold, and the fast run time is greater than the planned run time, then the second speed of the on-time target curve is increased.

[0104] In some implementations, the current running time of the target curve including the coasting curve in the above embodiments is calculated, and the difference between the current running time and the planned running time shown in Table 1 is compared. If the difference meets the accuracy requirement of the second threshold, the calculation ends; if the difference is greater than the accuracy requirement of the second threshold, the calculation is iterated until the time difference between the calculated current running time and the planned running time meets the accuracy requirement of the second threshold. The following, in conjunction with... Figure 3 Explain the method of iterative adjustment.

[0105] If the time difference does not meet the accuracy requirements, the cruise speed (second speed) is adjusted based on the time difference. For example: if the current running time is less than the planned running time, and the difference is greater than the accuracy value, the cruise speed is reduced, and the coasting time is increased to extend the current running time; if the current running time is greater than the planned coasting time, and the difference is greater than the accuracy value, the cruise speed is increased, and the coasting time is decreased to reduce the running time. Figure 3As shown, if the current running time is less than the planned running time, and the difference between the two is greater than the accuracy value, and the current cruise speed is Vc2, then the cruise speed will be reduced to a speed less than Vc2, for example, reduced to Vc1, where Vc1 < Vc2. Of course, it can also be reduced to any other speed less than Vc2. Conversely, if the current running time is greater than the planned running time, and the difference between the two is greater than the accuracy value, and the current cruise speed is Vc1, then the cruise speed will be increased to a speed greater than Vc1, for example, increased to Vc2. Of course, it can also be increased to any other speed greater than Vc1.

[0106] Example 5

[0107] Figure 4 A schematic diagram of a target velocity curve planning device according to an embodiment of the present disclosure is shown. Figure 4 As shown, a target velocity curve planning device includes:

[0108] The acquisition module is used to acquire the rapid running time required for the train to run within the target operating section according to the rapid target curve, and to acquire the planned running time required for the train to run within the target operating section according to the punctuality target curve.

[0109] The comparison module is used to compare the fast run time with the planned run time to determine whether optimization is needed for the target curve.

[0110] The optimization module is used to optimize the alignment target curve based on the preset coasting time of the target operating section if the planned running time is greater than the rapid running time, so as to obtain the target speed curve of the train running in the target operating section.

[0111] The target speed curve planning device provided in this embodiment obtains the rapid running time required for the train to run according to the rapid target curve within the target operating section, and the planned running time required for the train to run according to the punctual target curve; compares the rapid running time with the planned running time to determine whether to optimize the punctual target curve; if the planned running time is greater than the rapid running time, it optimizes the punctual target curve based on the preset coasting time of the target operating section to obtain the target speed curve for the train running within the target operating section; it can plan a target speed curve that includes coasting time.

[0112] Example 6

[0113] Based on the above embodiments, this embodiment provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the method of the above embodiments.

[0114] The aforementioned storage media can be flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, optical disk, server, app store, etc.

[0115] For details on the method, please refer to the foregoing embodiments; it will not be repeated in this embodiment.

[0116] Example 7

[0117] Based on the above embodiments, this embodiment provides a train automatic driving system, including a processor and a memory, wherein a computer program is stored in the memory, and the processor executes the computer program to implement the method of the above embodiments.

[0118] For details on the method, please refer to the foregoing embodiments; it will not be repeated in this embodiment.

[0119] The processor can be implemented as an Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), controller, microcontroller, microprocessor, or other electronic components, and is used to execute the methods in the above embodiments. Please refer to the foregoing embodiments for details on the methods; they will not be repeated in this embodiment.

[0120] Memory can be implemented from any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0121] In the embodiments provided in this disclosure, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0122] It should be noted that, in this disclosure, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element limited by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0123] While the embodiments disclosed herein are as described above, the foregoing content is merely for the purpose of facilitating understanding of this disclosure and is not intended to limit this disclosure. Any person skilled in the art to which this disclosure pertains may make any modifications and changes in form and detail of the implementation without departing from the spirit and scope of this disclosure; however, the scope of patent protection of this disclosure shall still be determined by the scope defined in the appended claims.

Claims

1. A target velocity curve planning method, characterized in that, include: Obtain the rapid travel time required for the train to run within the target operating section according to the rapid target curve, and the planned travel time required for the train to run according to the punctuality target curve; The fast running time is compared with the planned running time to determine whether the on-time target curve needs to be optimized. If the planned running time is greater than the fast running time, the on-time target curve is optimized based on the preset coasting time of the target running section to obtain the target speed curve of the train running within the target running section. The optimization of the on-time target curve based on the preset coasting time of the target running interval includes: The coasting starts at the midpoint of the second speed cruise section of the on-time target curve and stops when the coasting reaches the maximum braking section of the on-time target curve, thus obtaining the first coasting time. The on-time target curve is optimized based on the comparison result between the difference between the preset coasting time and the first coasting time and the first threshold. The rapid target curve includes a sequence of operating conditions: maximum traction section - first speed cruise section - maximum braking section. The on-time target curve includes a sequence of operating conditions: maximum traction section - second speed cruise section - maximum braking section; Wherein, the first speed is not less than the second speed; The step of optimizing the on-time target curve based on the comparison result of the difference between the preset coasting time and the first coasting time and the first threshold includes: Determine whether the difference between the preset idle time and the first idle time is greater than the first threshold. If the difference between the preset coasting time and the first coasting time is greater than the first threshold, the distance of the preset step size is adjusted from the midpoint of the second speed cruise section of the target curve to the direction of the maximum braking section, and the adjusted position is used as the coasting start point to start coasting. Coasting stops when the target curve reaches the maximum braking section to obtain the first coasting time again, and then the step of judging whether the difference between the preset coasting time and the first coasting time is greater than the first threshold is executed. The step of optimizing the on-time target curve based on the comparison result of the difference between the preset coasting time and the first coasting time and the first threshold further includes: If the difference between the preset coasting time and the first coasting time is not greater than the first threshold, then the second speed of the on-time target curve is adjusted according to the difference between the fast running time and the planned running time. The step of adjusting the second speed of the on-time target curve based on the difference between the rapid running time and the planned running time includes: If the difference between the fast run time and the planned run time is greater than the second threshold, and the fast run time is less than the planned run time, then the second speed of the on-time target curve is reduced. If the difference between the fast run time and the planned run time is greater than the second threshold, and the fast run time is greater than the planned run time, then the second speed of the on-time target curve is increased.

2. The method according to claim 1, characterized in that, The preset coasting time is obtained based on the preset coasting time ratio and the planned running time.

3. The method according to claim 1, characterized in that, Also includes: If the planned running time is less than or equal to the fast running time, the train runs within the target running section according to the fast running time.

4. A target velocity curve planning device applying the target velocity curve planning method according to any one of claims 1 to 3, characterized in that, include: The acquisition module is used to acquire the rapid running time required for the train to run within the target operating section according to the rapid target curve, and to acquire the planned running time required for the train to run within the target operating section according to the punctuality target curve. The comparison module is used to compare the fast running time with the planned running time to determine whether the on-time target curve should be optimized. An optimization module is used to optimize the on-time target curve based on a preset coasting time of the target operating section if the planned running time is greater than the rapid running time, so as to obtain the target speed curve of the train running within the target operating section.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method of any one of claims 1 to 3.

6. A driving system, comprising a processor and a memory, characterized in that, The memory stores a computer program, and the processor executes the computer program to implement the method of any one of claims 1 to 3.

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