Vehicle control method, storage medium, and vehicle-mounted controller
By dividing the train route into multiple sections and setting different speeds according to speed relationships, the problem of excessive speed differences in automatic train operation has been solved, achieving greater comfort and energy efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BYD CO LTD
- Filing Date
- 2022-06-28
- Publication Date
- 2026-07-14
AI Technical Summary
The speed optimization of automatic train operation has resulted in excessively large differences in the train's operating speed at different locations, leading to additional traction or braking processes, which affects comfort and energy efficiency.
The vehicle route is divided into multiple operating sections. The speed of the first operating section and the remaining operating sections are determined based on the relationship between the target average operating speed and the reference operating speed. The vehicle is controlled to travel at different speeds in different sections. By simple comparison, the operating route is divided into the first operating section and the remaining operating sections. The vehicle is then controlled to travel at a set speed in the first operating section and at an average speed in the remaining operating sections.
It reduces computational costs, minimizes additional traction or braking processes, and improves vehicle comfort and fuel efficiency.
Smart Images
Figure CN117341770B_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of vehicle control technology, specifically to a vehicle control method, a storage medium, and an on-board controller. Background Technology
[0002] Currently, Automatic Train Operation (ATO) systems optimize train speed using various computational intelligence-based methods such as genetic algorithms, ant colony optimization, and particle swarm optimization. These methods rely on large-scale search, analysis, and evolutionary processes to find feasible solutions that meet certain requirements, often involving complex calculations that necessitate high-performance computing units in the train, increasing costs. Furthermore, during real-time optimization, excessive speed differences between different locations can easily occur, leading to additional traction or braking processes, resulting in poor comfort and energy efficiency. Summary of the Invention
[0003] The purpose of this disclosure is to provide a vehicle control method, storage medium, and on-board controller to solve the problem in the related art where speed optimization during automatic train operation results in excessive differences in the train's operating speed at different locations.
[0004] To achieve the above objectives, a first aspect of this disclosure provides a vehicle control method, the method comprising:
[0005] The multiple operating segments included in the vehicle's operating route are used as the initial target segments;
[0006] For a target segment, a first operating segment is determined from the target segment based on the relationship between the target average operating speed and the reference operating speed corresponding to each operating segment. The reference operating speed corresponding to the first operating segment is less than or equal to the target average operating speed. The initial value of the target average operating speed is determined based on the planning time and distance of the operating route.
[0007] Set a first target operating speed for the first operating segment, and determine a new average operating speed for the remaining operating segments in the target segment other than the first operating segment based on the first target operating speed;
[0008] The remaining running segments are taken as the new target segments, and the new average running speed is taken as the target average running speed. The process of determining the first running segment from the target segment based on the relationship between the target average running speed and the reference running speed corresponding to each running segment is repeated until the reference running speed of the remaining running segments is greater than the new average running speed.
[0009] The vehicle is controlled to travel at the set first target speed in the first operating segment, and at the new average speed in the remaining operating segments.
[0010] Optionally, the number of the plurality of operating segments is N, where N is a positive integer, and the method further includes:
[0011] Obtain the actual running time of the vehicle in the i-th running segment, where i is a positive integer less than N;
[0012] If the target difference between the preset running time and the actual running time of the i-th running segment is less than or greater than 0, then a new preset running time for the remaining running segments from the (i+1)-th to the N-th running segments is determined based on the target difference. The initial value of the preset running time is determined based on the first target running speed and distance of the first running segment, or the initial value of the preset running time is determined based on the new average running speed and distance of the remaining running segments.
[0013] For the remaining operating segment from the (i+1)th operating segment to the Nth operating segment, a new operating speed is determined based on the distance of the remaining operating segment and the new preset operating time, and the vehicle is controlled to travel in the remaining operating segment according to the new operating speed.
[0014] Optionally, if the target difference between the preset running time of the i-th running segment and the actual running time is less than or greater than 0, then determining a new preset running time for the remaining running segments from the (i+1)-th to the N-th running segments based on the target difference includes:
[0015] The remaining running segments from the (i+1)th running segment to the Nth running segment are used as the initial target update segment;
[0016] Determine the total distance of the target update segment;
[0017] For each running segment in the target update segment, a new preset running time for the running segment is determined based on the ratio of the segment distance to the total distance and the target difference. If the new preset running time of the running segment is less than the minimum reference time of the running segment, then the running segment is determined as the second running segment.
[0018] The remaining running segments of the target update segment, excluding the second running segment, are taken as the new target running segments. The difference between the minimum reference time and the new preset running time of the second running segment is taken as the new target difference. The step of determining the total distance of the target update segment is repeated until the new preset running time of each running segment in the target update segment is greater than the minimum reference time of that running segment. The minimum reference time of the second running segment is then taken as the new preset running time of the second running segment.
[0019] Optionally, the step of determining a new operating speed based on the distance of the remaining operating segment from the (i+1)th operating segment to the Nth operating segment, and controlling the vehicle to travel at the new operating speed in the remaining operating segment, includes:
[0020] For the second operating segment from the (i+1)th operating segment to the Nth operating segment, a second target operating speed is set for the second operating segment, and the vehicle is controlled to travel in the second operating segment according to the second target operating speed;
[0021] For the remaining operating segments from the (i+1)th operating segment to the Nth operating segment, excluding the first and second operating segments, the average operating speed determined based on the distance of the remaining operating segment and the new preset operating time is used as the new operating speed, and the vehicle is controlled to travel in the remaining operating segment according to the new operating speed.
[0022] Optionally, determining the new average operating speed of the remaining operating segments in the target segment, excluding the first operating segment, based on the first target operating speed includes:
[0023] The first operating time required for the first operating segment is determined based on the first target operating speed and the total distance of the first operating segment;
[0024] The new average operating speed of the remaining operating segment is determined based on the difference between the planned time of the operating route and the first operating time, and the total distance of the remaining operating segment.
[0025] Optionally, setting the first target running speed for the first running segment includes:
[0026] Based on the preset speed limit curve of the operating route, the maximum operating speed of the first operating section is determined, and the maximum operating speed is set as the first target operating speed.
[0027] Optionally, the multiple operating segments included in the vehicle's operating route are determined in the following manner:
[0028] The operating route is divided into multiple operating sections based on the location of the turning point of the preset speed limit curve of the operating route. The starting point of the first operating section is the starting point of the operating route, and the ending point of the last operating section is the ending point of the operating route.
[0029] Optionally, the reference operating speed corresponding to the operating segment is determined in the following way:
[0030] The maximum operating speed curve of the operating section is determined based on the preset operating speed limit curve of the operating route;
[0031] The maximum average operating speed determined by the maximum operating speed curve is used as the reference operating speed for the operating section.
[0032] A second aspect of this disclosure also provides a non-transitory computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps of the method described in any of the first aspects above.
[0033] A third aspect of this disclosure also provides an on-board controller, comprising:
[0034] A memory on which computer programs are stored;
[0035] A processor for executing the computer program in the memory to implement the steps of the method described in any of the first aspects above.
[0036] The above technical solution can achieve at least the following technical effects:
[0037] First, the vehicle's route is divided into multiple initial target segments. Then, for each target segment, a first operating segment is determined based on the relationship between the target average operating speed and the reference operating speed corresponding to each segment. Next, a new average operating speed is determined for the remaining operating segments based on the first target operating speed set for the first segment. These remaining segments are then used as new target segments, and the new average operating speed is used as the target average operating speed. This process of re-dividing the target segments continues until the reference operating speed for each remaining segment is greater than the new average operating speed. Finally, the vehicle is controlled to travel at the set first target operating speed in the first segment and at the new average operating speed in the remaining segments. This method divides the route into first and remaining operating segments before operation through a simple comparison. The vehicle is then controlled to travel at a set speed in the first segment and at the average operating speed in the remaining segments. This reduces computational costs and smooths out the speed settings across different segments, minimizing additional traction or braking processes, thereby improving vehicle comfort and fuel efficiency.
[0038] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description
[0039] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:
[0040] Figure 1 This is a schematic flowchart of a vehicle control method provided in an embodiment of this disclosure;
[0041] Figure 2 This is a schematic diagram of the operating speed limit curve and the maximum operating speed curve of an operating line provided in an embodiment of this disclosure;
[0042] Figure 3 This is a schematic diagram illustrating the division of vehicle operation phases according to an embodiment of this disclosure;
[0043] Figure 4 This is a schematic diagram of an on-board controller shown in an embodiment of this disclosure. Detailed Implementation
[0044] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.
[0045] It should be understood that the various steps described in the method embodiments of this disclosure may be performed in different orders and / or in parallel. Furthermore, method embodiments may include additional steps and / or omit the steps shown. The scope of this disclosure is not limited in this respect. The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Relevant definitions for other terms will be given in the description below.
[0046] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are used only to distinguish different devices, modules, or units, and are not used to limit the order of functions performed by these devices, modules, or units or their interdependencies. It should also be noted that the modifications of "a" and "a plurality of" mentioned in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise expressly indicated in the context, they should be understood as "one or more".
[0047] In related technologies, automatic train operation systems require complex calculations to optimize the speed of automatic train operation, necessitating the use of high-performance computing units and increasing costs. Furthermore, during real-time optimization, if there is an error between the actual and planned running time of the previous section, the train will accelerate or decelerate in the next section to compensate for the error. This can lead to excessively large speed differences between different locations and additional traction or braking processes, resulting in poor comfort and energy efficiency.
[0048] In view of this, the present disclosure provides a vehicle control method, a storage medium, and an on-board controller to solve the above problems.
[0049] It should be noted that the vehicle control method provided in this disclosure can be applied to autonomous vehicles with limited operating speed and operating time, such as bullet trains, high-speed trains, subways, and light rail. By setting the vehicle's operating speed to be more gradual, additional traction or braking processes are reduced, thereby improving vehicle comfort and energy efficiency.
[0050] The following provides a detailed description of the embodiments of the technical solution disclosed herein.
[0051] This disclosure provides a vehicle control method, referring to... Figure 1 The method includes:
[0052] S101. The multiple operating sections included in the vehicle's operating route are taken as the initial target sections.
[0053] S102. For the target section, the first operating section is determined from the target section based on the relationship between the target average operating speed and the reference operating speed corresponding to each operating section.
[0054] The reference operating speed for the first operating section is less than or equal to the target average operating speed, and the initial value of the target average operating speed is determined based on the planning time and distance of the operating route.
[0055] For example, the distance of the route is fixed, and the planned time, which is the preset running time from the starting point to the end point of the route, is also preset. For example, if the planned running time is 0.2 hours and the distance is 20KM, then the initial value of the target average running speed is 100KM / h.
[0056] S103. Set the first target operating speed for the first operating segment, and determine the new average operating speed for the remaining operating segments in the target segment other than the first operating segment based on the first target operating speed.
[0057] S104. Take the remaining operating segments as the new target segments, take the new average operating speed as the target average operating speed, and return to execute the step of determining the first operating segment from the target segment based on the relationship between the target average operating speed and the reference operating speed corresponding to each operating segment, until the reference operating speed of the remaining operating segments is greater than the new average operating speed.
[0058] S105. Control the vehicle to travel at the set first target speed in the first operating section, and at the new average speed in the remaining operating sections.
[0059] Using the above method, the route is divided into a first operating section and a remaining operating section by a simple comparison before the vehicle starts running. Then, the vehicle is controlled to travel at a set speed in the first operating section and at an average speed in the remaining operating section. This reduces computational costs and makes the speed settings of different operating sections more gradual, reducing additional traction or braking processes, thereby improving the comfort and energy efficiency of the vehicle.
[0060] To enable those skilled in the art to better understand the vehicle control method provided in this disclosure, the above steps are illustrated in detail below.
[0061] In one possible manner, the multiple operating sections of the vehicle's route are determined as follows: the operating route is divided into multiple operating sections based on the location of the turning point of the preset speed limit curve of the operating route, wherein the starting point of the first operating section is the starting point of the operating route, and the ending point of the last operating section is the ending point of the operating route.
[0062] For example, to ensure the safe operation of vehicles on the route, speed limits are typically imposed at different locations along the route. (See reference...) Figure 2 v-lim represents the preset speed limit curve of the operating route, which can be set according to requirements, and this disclosure does not limit it. The operating route is divided according to the route position corresponding to the turning point of the speed limit curve, such as operating section AB, operating section BC, and operating section CD, etc., thus obtaining multiple operating sections.
[0063] In one possible manner, the reference operating speed corresponding to the operating section is determined as follows: the maximum operating speed curve of the operating section is determined based on the preset operating speed limit curve of the operating line, and the maximum average operating speed determined by the maximum operating speed curve is used as the reference operating speed corresponding to the operating section.
[0064] For example, refer to Figure 2 v-max represents the maximum operating speed curve of the operating line. The operating speed corresponding to each line position in the maximum operating speed curve is less than or equal to the operating speed corresponding to the line position in the operating speed limit curve. Furthermore, the maximum operating speed curves for different operating sections are obtained from the maximum operating speed curves of the operating lines.
[0065] For example, refer to Figure 3 The vehicle's operation can be divided into a traction phase, a traction cut-off phase, a cruising phase, a coasting phase, and a braking phase, or simply a traction phase (including the traction and traction cut-off phases), a cruising phase, and a braking phase (including the coasting and braking phases). The specific division can be determined based on accuracy requirements, and this disclosure does not impose any limitations on this. Each phase can be considered a uniformly accelerated process. The minimum reference time for the vehicle to pass through that phase can be obtained from the average acceleration, starting speed, and ending speed of that phase, provided by the phase distance and maximum operating speed curves. For example, when the vehicle is traveling in the braking phase within the operating segment BC, the minimum reference time for passing through segment BC can be obtained from the distance of segment BC, the speed at point B, the speed at point C, and the average acceleration of segment BC. Furthermore, dividing the distance of segment BC by the minimum reference time yields the maximum average operating speed of segment BC.
[0066] It should be noted that using the maximum average operating speed as the reference operating speed for the corresponding operating segment is one embodiment of this disclosure. Based on this, the minimum reference time for the vehicle to pass through the operating segment can be considered, thereby facilitating the adjustment of the vehicle's operating time in different operating segments. In other possible implementations, the instantaneous speed at the midpoint of operating segment BC can also be used as the reference operating speed, or the average speed of point B and point C in operating segment BC can be used as the reference operating speed, etc. This disclosure does not limit this to any particular method.
[0067] In one possible way, setting the first target operating speed for the first operating section can be: determining the maximum operating speed of the first operating section based on the preset operating speed limit curve of the operating line, and setting the maximum operating speed as the first target operating speed.
[0068] For example, taking the reference operating speed as the maximum average operating speed, the maximum average operating speed used by a vehicle to pass through the first operating section in the minimum reference time is less than or equal to the target average operating speed. In other words, due to the limitation of the maximum operating speed obtained from the operating speed limit curve, the vehicle cannot operate at the target average operating speed in the first operating section, and the operating time required for the vehicle to pass through the operating section at the maximum achievable operating speed is greater than the operating time required to pass through the operating section at the target average operating speed.
[0069] Therefore, the vehicle's operating speed in the first operating section can be set according to the maximum operating speed curve, i.e., the first target operating speed is a changing speed curve. The vehicle controls its operating speed at the corresponding position on the track according to this speed curve, so that the vehicle can pass through the first operating section within the minimum reference time and reduce the speed difference between the first operating section and the remaining operating sections. Of course, in other possible methods, since the maximum operating speed curve of the operating line is less than or equal to the operating speed limit curve, the operating speed slightly lower than the maximum operating speed curve can also be set as the first target operating speed. For example, if the speed corresponding to the maximum operating speed curve at point X in the first operating section is 80 km / h, then the target operating speed at point X can be set to 78 km / h to avoid the vehicle always traveling at the maximum operating speed and further avoid speeding. The method for setting the first target operating speed can be determined according to needs, and this disclosure does not limit it.
[0070] In one possible manner, determining the new average operating speed of the remaining operating segments in the target segment, excluding the first operating segment, based on the first target operating speed, can be achieved by: determining the first operating time required for the first operating segment based on the first target operating speed and the total distance of the first operating segment; and determining the new average operating speed of the remaining operating segments based on the difference between the planned time of the operating line and the first operating time, as well as the total distance of the remaining operating segments.
[0071] For example, the new average operating speed for the remaining operating segment can be determined by the following formula:
[0072]
[0073] Where V represents the new average operating speed of the remaining operating section, and T represents the planning time of the operating route. l S represents the first running time required for the first running segment, and S represents the total distance of the remaining running segments.
[0074] For example, the planned time and distance of the operating route are fixed. The total distance of the first operating segment can be obtained by summing the distances of each segment within the first operating segment. Based on the first target operating speed and the total distance of the first operating segment, the first operating time required for the first operating segment can be obtained. Subtracting the first operating time from the planned time of the operating route yields the operating time of the remaining operating segments. The total distance of the remaining operating segments can be obtained by subtracting the total distance of the first operating segment from the total distance of the operating route, or by summing the distances of each segment within the remaining operating segments.
[0075] Further, the remaining operating segment is designated as the new target segment, and the new average operating speed is designated as the target average operating speed. The process returns to step S102 until the reference operating speeds of the remaining operating segments are all greater than the new average operating speed. Finally, the vehicle is controlled to travel at the set first target operating speed in the first operating segment and at the new average operating speed in the remaining operating segments.
[0076] In other words, the vehicle travels at the first target speed corresponding to each segment of the first operating section, and then travels at the new average speed in each of the remaining operating sections. (Refer to...) Figure 2 The speed curve set for a vehicle with a shorter planning time, as shown in run1, is closer to the maximum speed curve. The speed curve set for a vehicle with a longer planning time, as shown in run2, is flatter. In other words, the longer the planning time, the better the speed planning effect on the route. By introducing the global average speed of the route to set the speed curve, the speed settings in different sections are made flatter, reducing additional traction or braking processes, thereby improving vehicle comfort and fuel efficiency.
[0077] Using the above method, the operating speed and time for each segment of the entire route can be determined before the vehicle operation begins. However, during actual operation, external interference may cause the vehicle to deviate from the predetermined speed and time, resulting in delays or early arrivals. Therefore, it is possible to monitor the vehicle's operating time in real time and make adjustments accordingly to avoid delays or early arrivals.
[0078] In one possible approach, the number of multiple operating segments is N, where N is a positive integer. The method further includes: obtaining the actual operating time of the vehicle in the i-th operating segment, where i is a positive integer less than N; if the target difference between the preset operating time and the actual operating time of the i-th operating segment is less than or greater than 0, then determining a new preset operating time for the remaining operating segments from the (i+1)-th to the N-th operating segments based on the target difference. The initial value of the preset operating time is determined based on the first target operating speed and distance of the first operating segment, or the initial value of the preset operating time is determined based on the new average operating speed and distance of the remaining operating segments. Finally, for the remaining operating segments from the (i+1)-th to the N-th operating segments, a new operating speed is determined based on the distance of the remaining operating segment and the new preset operating time, and the vehicle is controlled to travel in the remaining operating segments according to the new operating speed.
[0079] For example, the preset running time of each running segment in the first running segment can be determined by the distance of the running segment and the first target running speed, and the preset running time of each running segment in the remaining running segments can be determined by the distance of the running segment and the average running speed.
[0080] It should be noted that if the target difference between the preset running time and the actual running time of the i-th running segment is less than or greater than 0, it indicates that the vehicle's running time in that segment has deviated. Therefore, the original running speed needs to be adjusted in the subsequent untraveled running segments (from the (i+1)-th to the N-th running segments) to compensate for the deviation. However, since the first running segment is limited by the speed limit curve, the original running speed and preset running time cannot be adjusted. Therefore, adjustments are made to the remaining running segments.
[0081] In one possible approach, if the target difference between the preset running time and the actual running time of the i-th running segment is less than or greater than 0, then determining the new preset running time for the remaining running segments from the (i+1)-th running segment to the N-th running segment based on the target difference can be achieved by: using the remaining running segments from the (i+1)-th running segment to the N-th running segment as the initial target update segment, and determining the total distance of the target update segment. For each running segment in the target update segment, a new preset running time for that running segment is determined based on the ratio of the segment distance to the total distance and the target difference. If the new preset running time for that running segment is less than the minimum reference time for that running segment, then that running segment is designated as the second running segment. Then, the remaining running segments of the target update segment, excluding the second running segment, are taken as the new target running segments, and the difference between the minimum reference time of the second running segment and the new preset running time is taken as the new target difference. The step of determining the total distance of the target update segment is repeated until the new preset running time of each running segment in the target update segment is greater than the minimum reference time of that running segment, and the minimum reference time of the second running segment is taken as the new preset running time of the second running segment.
[0082] For example, the new preset running time for each running segment in the target update segment can be determined by the following formula:
[0083]
[0084] Among them, t x This represents the new preset running time of the x-th running segment in the target update segment, where t0 represents the original preset running time of that running segment. 误差 S represents the target difference. x S represents the distance of this operating segment. all This represents the total distance of the target update segment.
[0085] For example, the distance of each running segment in the target update segment is known, and the total distance of the target update segment can be calculated. Thus, the ratio between the distance of the running segment and the total distance of the target update segment can be determined, and the target difference is allocated to the running segment according to the ratio to obtain the new preset running time of the running segment.
[0086] Furthermore, constrained by the speed limit curve of the operating route, vehicles have a minimum reference time for traveling at maximum speed in each operating segment. Since the preset operating time for each operating segment within the target update segment changes, to prevent the new preset operating time of an operating segment from being less than the minimum reference time, the operating segments within the target update segment whose new preset operating time is less than the minimum reference time need to be designated as the second operating segment. Then, the remaining operating segments in the target update segment, excluding the second operating segment, are designated as the new target operating segments, and the difference between the minimum reference time and the new preset operating time of the second operating segment is used as the new target difference. The step of determining the total distance of the target update segment is repeated until the new preset operating time of each operating segment in the target update segment is greater than the minimum reference time of that operating segment.
[0087] Finally, the minimum reference time corresponding to each running segment in the second running segment is taken as the final preset running time of that running segment, while the new preset running time of each running segment in the target update segment is taken as the final preset running time of that running segment.
[0088] In one possible approach, for the remaining operating segments from the (i+1)th to the Nth operating segment, determining a new operating speed based on the distance of the remaining operating segment and a new preset operating time, and controlling the vehicle to travel at the new operating speed in the remaining operating segment can be as follows: For the second operating segment from the (i+1)th to the Nth operating segment, setting a second target operating speed for the second operating segment, and controlling the vehicle to travel at the second target operating speed in the second operating segment. Alternatively, for the remaining operating segments from the (i+1)th to the Nth operating segment excluding the first and second operating segments, using the average operating speed determined based on the distance of the remaining operating segment and a new preset operating time as the new operating speed, and controlling the vehicle to travel at the new operating speed in the remaining operating segment.
[0089] For example, since the adjustment is made for the operating segments from the (i+1)th to the Nth operating segments excluding the first operating segment, the vehicle travels in the first operating segment according to the originally planned preset operating time and the first target operating speed. In the second operating segment, the vehicle can travel according to the minimum reference time and the second target operating speed determined based on the minimum reference time. The method for setting the second target operating speed in the second operating segment can refer to the method for setting the first target operating speed in the first operating segment, and will not be repeated here. For the remaining operating segments from the (i+1)th to the Nth operating segments excluding the first and second operating segments, the vehicle determines its average operating speed based on the distance of the remaining operating segments and the new preset operating time, and then travels according to the new preset operating time and average operating speed.
[0090] It should be noted that, during vehicle operation, the entire route can be a route from one station to the next, or a route passing through multiple stations. Since each station has a predetermined arrival time, the actual travel time between stations must also adhere to the planned time. Therefore, the method for real-time adjustment during vehicle operation can be implemented when a deviation occurs between the actual and preset travel times for a certain operating segment, or in a route passing through multiple stations, when a deviation occurs between the actual and preset travel times while the vehicle is traveling between one station and the next. This disclosure does not limit the specific method.
[0091] Based on the same inventive concept, this disclosure also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described vehicle control method steps.
[0092] Based on the same inventive concept, this disclosure also provides an in-vehicle controller, including:
[0093] A memory on which computer programs are stored;
[0094] A processor is configured to execute the computer program in the memory to implement the steps of the vehicle control method described above.
[0095] Figure 4 This is a block diagram illustrating an in-vehicle controller 400 according to an exemplary embodiment. (Refer to...) Figure 4 The vehicle controller 400 includes a processor 401, which may be one or more, and a memory 402 for storing computer programs executable by the processor 401. The computer programs stored in the memory 402 may include one or more modules, each corresponding to a set of instructions. Furthermore, the processor 401 may be configured to execute the computer program to perform the vehicle control method described above.
[0096] Additionally, the vehicle controller 400 may also include a power supply component 405 and a communication component 403. The power supply component 405 can be configured to perform power management of the vehicle controller 400, and the communication component 403 can be configured to enable communication of the vehicle controller 400, such as wired or wireless communication. Furthermore, the vehicle controller 400 may also include an input / output (I / O) interface 404. The vehicle controller 400 can operate on an operating system, such as Windows Server, stored in the memory 402. TM Mac OS X TM Unix TM LinuxTM etc.
[0097] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the vehicle control method described above. For example, the non-transitory computer-readable storage medium may be the memory 402 including the program instructions described above, which may be executed by the processor 401 of the vehicle controller 400 to complete the vehicle control method described above.
[0098] In another exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program executable by a programmable device, the computer program having a code portion for performing the vehicle control method described above when executed by the programmable device.
[0099] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.
[0100] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.
[0101] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.
Claims
1. A vehicle control method, characterized in that, The method includes: The multiple operating segments included in the vehicle's operating route are used as the initial target segments; For a target segment, a first operating segment is determined from the target segment based on the relationship between the target average operating speed and the reference operating speed corresponding to each operating segment. The reference operating speed corresponding to the first operating segment is less than or equal to the target average operating speed. The initial value of the target average operating speed is determined based on the planning time and distance of the operating route. Set a first target operating speed for the first operating segment, and determine a new average operating speed for the remaining operating segments in the target segment other than the first operating segment based on the first target operating speed; The remaining running segments are taken as the new target segments, and the new average running speed is taken as the target average running speed. The process of determining the first running segment from the target segment based on the relationship between the target average running speed and the reference running speed corresponding to each running segment is repeated until the reference running speed of the remaining running segments is greater than the new average running speed. The vehicle is controlled to travel at the set first target speed in the first operating segment, and at the new average speed in the remaining operating segments.
2. The method according to claim 1, characterized in that, The number of the plurality of operating segments is N, where N is a positive integer, and the method further includes: Obtain the actual running time of the vehicle in the i-th running segment, where i is a positive integer less than N; If the target difference between the preset running time and the actual running time of the i-th running segment is less than or greater than 0, then a new preset running time for the remaining running segments from the (i+1)-th to the N-th running segments is determined based on the target difference. The initial value of the preset running time is determined based on the first target running speed and distance of the first running segment, or the initial value of the preset running time is determined based on the new average running speed and distance of the remaining running segments. For the remaining operating segment from the (i+1)th operating segment to the Nth operating segment, a new operating speed is determined based on the distance of the remaining operating segment and the new preset operating time, and the vehicle is controlled to travel in the remaining operating segment according to the new operating speed.
3. The method according to claim 2, characterized in that, If the target difference between the preset running time and the actual running time of the i-th running segment is less than or greater than 0, then determining a new preset running time for the remaining running segments from the (i+1)-th to the N-th running segments based on the target difference includes: The remaining running segments from the (i+1)th running segment to the Nth running segment are used as the initial target update segment; Determine the total distance of the target update segment; For each running segment in the target update segment, a new preset running time for the running segment is determined based on the ratio of the segment distance to the total distance and the target difference. If the new preset running time of the running segment is less than the minimum reference time of the running segment, then the running segment is determined as the second running segment. The remaining running segments of the target update segment, excluding the second running segment, are taken as the new target running segments. The difference between the minimum reference time and the new preset running time of the second running segment is taken as the new target difference. The step of determining the total distance of the target update segment is repeated until the new preset running time of each running segment in the target update segment is greater than the minimum reference time of that running segment. The minimum reference time of the second running segment is then taken as the new preset running time of the second running segment.
4. The method according to claim 3, characterized in that, The step of determining a new operating speed for the remaining operating segment from the (i+1)th operating segment to the Nth operating segment, based on the distance of the remaining operating segment and a new preset operating time, and controlling the vehicle to travel according to the new operating speed in the remaining operating segment, includes: For the second operating segment from the (i+1)th operating segment to the Nth operating segment, a second target operating speed is set for the second operating segment, and the vehicle is controlled to travel in the second operating segment according to the second target operating speed; For the remaining operating segments from the (i+1)th operating segment to the Nth operating segment, excluding the first and second operating segments, the average operating speed determined based on the distance of the remaining operating segment and the new preset operating time is used as the new operating speed, and the vehicle is controlled to travel in the remaining operating segment according to the new operating speed.
5. The method according to claim 1, characterized in that, The step of determining the new average operating speed of the remaining operating segments in the target segment, excluding the first operating segment, based on the first target operating speed includes: The first operating time required for the first operating segment is determined based on the first target operating speed and the total distance of the first operating segment; The new average operating speed of the remaining operating segment is determined based on the difference between the planned time of the operating route and the first operating time, and the total distance of the remaining operating segment.
6. The method according to claim 1, characterized in that, Setting the first target operating speed for the first operating segment includes: Based on the preset speed limit curve of the running route, the maximum running speed of the first running section is determined, and the maximum running speed is set as the first target running speed.
7. The method according to claim 1, characterized in that, The multiple operating sections included in the vehicle's operating route are determined in the following way: The route is divided into multiple operating segments based on the location of the turning point of the preset speed limit curve of the operating route. The starting point of the first operating segment is the starting point of the operating route, and the ending point of the last operating segment is the ending point of the operating route.
8. The method according to claim 1, characterized in that, The reference operating speed corresponding to the operating segment is determined in the following way: The maximum operating speed curve of the operating section is determined based on the preset operating speed limit curve of the operating route; The maximum average operating speed determined by the maximum operating speed curve is used as the reference operating speed for the operating section.
9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the steps of the method described in any one of claims 1-8.
10. A vehicle-mounted controller, characterized in that, include: A memory on which computer programs are stored; A processor for executing the computer program in the memory to implement the steps of the method according to any one of claims 1-8.