Train control method, device, equipment, medium and program based on coupler state

Abstract

The present disclosure relates to a train operation method and device based on the coupler state, equipment, storage medium and computer program, the method comprising: initializing all gear discrete points in the discrete position domain to obtain a discrete gear sequence set, calculating an expected speed sequence according to the discrete gear sequence set, calculating a train coupler state sequence according to the pre-acquired coupler critical displacement and the discrete position domain sequence, calculating a train coupler state change sequence according to the train coupler state sequence, calculating a coupler state change index sequence according to the train coupler state change sequence, calculating a stability index sequence according to the coupler state change index sequence, calculating a speed following index sequence according to the expected speed sequence and a preset target speed sequence, calculating a comprehensive evaluation index sequence according to the stability index sequence and the speed following index sequence, selecting an optimal gear sequence in the discrete gear sequence set according to the comprehensive evaluation index sequence, and controlling the train to run by using the optimal gear sequence.

Description

Technical Field

[0001] This disclosure relates to the field of locomotive control technology, and in particular to a train operation method, apparatus, device, storage medium, and computer program based on coupler status. Background Technology

[0002] Heavy-haul railways, with their large transport capacity, high efficiency, and low cost, are internationally recognized as the future direction for bulk freight transport. Given the uneven distribution of resources in my country, developing heavy-haul railway transport is of significant strategic importance for rapidly improving transport capacity, alleviating capacity bottlenecks, and enhancing overall economic efficiency. Automatic driving of heavy-haul freight trains, as one of the development directions for intelligent heavy-haul railways, presents greater challenges than urban rail transit. Drivers often need to invest considerable time in training to master the characteristics of heavy-haul lines.

[0003] Traditional methods of operating heavy-haul freight trains rely heavily on the driver's experience and skills, lacking scientific evaluation and control methods. Drivers often adjust speed and braking force solely based on their own feelings and experience, making it difficult to ensure stable train operation. This method is not only inefficient but also prone to operational errors, leading to problems such as train swaying and jerking, thus affecting operational safety. Summary of the Invention

[0004] This disclosure provides a train operation method, apparatus, device, storage medium, and computer program based on coupler status to improve the safety of heavy-haul freight train operation.

[0005] In a first aspect, this disclosure provides a train control method based on coupler status, including:

[0006] Initialize all discrete points of gear positions in the discrete position domain to obtain a set of discrete gear position sequences;

[0007] Calculate the desired speed sequence based on the set of discrete gear sequences;

[0008] The train coupler state sequence is calculated based on the pre-acquired critical displacement of the coupler and the discrete position domain sequence, and the train coupler state change sequence is calculated based on the train coupler state sequence.

[0009] Calculate the coupler state change index sequence based on the train coupler state change sequence, and calculate the stability index sequence based on the coupler state change index sequence.

[0010] Calculate the speed tracking index sequence based on the desired speed sequence and the preset target speed sequence;

[0011] Calculate the comprehensive evaluation index sequence based on the stationarity index sequence and the pacing index sequence;

[0012] The optimal gear sequence in the discrete gear sequence set is selected based on the magnitude of the comprehensive evaluation index in the comprehensive evaluation index sequence, and the train is controlled using the optimal gear sequence.

[0013] In some embodiments, calculating the desired speed sequence based on the discrete gear sequence set includes:

[0014] The desired velocity sequence is calculated using the following formula:

[0015]

[0016] in, The desired velocity sequence is the first... A desired speed, The first in the discrete gear sequence set The speed of each gear sequence The first in the discrete gear sequence set Acceleration of each gear sequence, This is the preset simulation step size.

[0017] In some embodiments, calculating the train coupler state sequence based on the pre-acquired critical coupler displacement and discrete position domain sequence includes:

[0018] The step size for the discrete position domain is calculated using the following formula:

[0019]

[0020] in, Represents the first in the discrete position domain The step size between the current position and the previous position. Represents the first in the discrete position domain A location point, This indicates the distance between the centers of mass of adjacent carriages when the coupler is at its midpoint;

[0021] The train coupler state sequence is calculated using the following formula based on the step size of the discrete position domain:

[0022]

[0023] in, This indicates the first train coupler state sequence. Each state value Represents the first in the discrete position domain The step size between the current position and the previous position. The critical displacement at which the coupler disengages from its free state is obtained in advance.

[0024] In some embodiments, the step of calculating a coupler state change index sequence based on the train coupler state change sequence, and calculating a stability index sequence based on the coupler state change index sequence, includes:

[0025] The coupler state change index sequence is calculated using the following formula:

[0026]

[0027] in, This represents the sequence of indicators indicating changes in the coupler's state. For the number of couplers obtained in advance, This indicates the sequence of changes in the train coupler state. The change value of the coupler status of each train;

[0028] The stability index sequence is calculated based on the coupler state change index sequence using the following formula:

[0029]

[0030] in, For the stationarity index sequence, This represents the number of gear sequences in the discrete gear sequence set. This indicates the first index in the sequence of coupler state change indicators. Individual coupler status change indicators.

[0031] In some embodiments, calculating the sprint index sequence based on the desired speed sequence and the preset target speed sequence includes:

[0032] The following formula is used to calculate the following speed index sequence:

[0033]

[0034] in, The following is the sequence of speed indicators. This represents the number of gear sequences in the discrete gear sequence set. The desired velocity sequence is the first... A desired speed, For the preset target velocity sequence, the first The target speed.

[0035] In some embodiments, calculating the comprehensive evaluation index sequence based on the stationarity index sequence and the pacing index sequence includes:

[0036] The comprehensive evaluation index sequence is calculated using the following formula:

[0037]

[0038] in, The comprehensive evaluation index sequence is as follows. For the stationarity index sequence, The following is the sequence of speed indicators. The preset first weighting coefficient, This is the preset second weighting coefficient.

[0039] Secondly, this disclosure provides a train control device based on coupler status, comprising:

[0040] The data initialization module is used to initialize all discrete points of all gear positions in the discrete position domain to obtain a set of discrete gear position sequences.

[0041] The data calculation module is used to calculate the desired speed sequence based on the discrete gear sequence set, calculate the train coupler state sequence based on the pre-acquired coupler critical displacement and discrete position domain sequence, calculate the train coupler state change sequence based on the train coupler state sequence, calculate the coupler state change index sequence based on the train coupler state change sequence, calculate the stability index sequence based on the coupler state change index sequence, and calculate the speed-following index sequence based on the desired speed sequence and the preset target speed sequence.

[0042] The comprehensive evaluation index calculation module is used to calculate the comprehensive evaluation index sequence based on the stationarity index sequence and the speed-following index sequence.

[0043] The optimal gear sequence acquisition module is used to select the optimal gear sequence from the discrete gear sequence set based on the magnitude of the comprehensive evaluation index in the comprehensive evaluation index sequence, and to control the train operation using the optimal gear sequence.

[0044] Thirdly, this disclosure provides a computer device including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method described in the foregoing aspects.

[0045] Fourthly, this disclosure provides a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps of the methods described in the above aspects.

[0046] Fifthly, this disclosure provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the methods described in the above aspects.

[0047] This disclosure provides a train control method, device, equipment, storage medium, and computer program based on coupler status. It initializes all discrete points in a discrete position domain to obtain a discrete gear sequence set. Based on this set, it calculates a desired speed sequence, calculates a train coupler state sequence based on pre-acquired coupler critical displacements and the discrete position domain sequence, calculates a train coupler state change sequence based on the coupler state change sequence, calculates a coupler state change index sequence based on the coupler state change sequence, calculates a stability index sequence based on the coupler state change index sequence, calculates a speed-following index sequence based on the desired speed sequence and a preset target speed sequence, calculates a comprehensive evaluation index sequence based on the stability index sequence and the speed-following index sequence, and selects the optimal gear sequence from the discrete gear sequence set based on the magnitude of the comprehensive evaluation index in the comprehensive evaluation index sequence. The optimal gear sequence is then used to control train movement. This solves the safety problem of existing heavy-haul freight locomotive control methods and improves the operational safety of heavy-haul freight locomotives. Attached Figure Description

[0048] The present disclosure will be described in more detail below based on embodiments and with reference to the accompanying drawings:

[0049] Figure 1 A schematic flowchart illustrating a train control method based on coupler status provided in an embodiment of this disclosure;

[0050] Figure 2 This is a functional block diagram of a train control device based on coupler status, provided in an embodiment of this disclosure.

[0051] 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

[0052] To enable those skilled in the art to better understand the technical solutions of this disclosure, and to fully understand and implement the process of how this disclosure applies technical means to solve technical problems and achieve corresponding technical effects, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, not all embodiments. The embodiments of this disclosure and the various features within them can be combined with each other without conflict, and the resulting technical solutions are all within the protection scope of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort should fall within the protection scope of this disclosure.

[0053] 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.

[0054] 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.

[0055] Example 1

[0056] Figure 1 This is a flowchart illustrating a train control method based on coupler status, provided as an embodiment of this disclosure. Figure 1 As shown, a train control method based on coupler status includes:

[0057] S1. Initialize all discrete points of gear positions in the discrete position domain to obtain a set of discrete gear position sequences.

[0058] In this embodiment of the invention, the discrete position domain refers to dividing the locomotive's location into a series of discrete states or regions during its operation. The discrete position domain is achieved by transforming the continuous spatial range of the locomotive's operation into a finite number of discrete position states through a specific division method. For example, a railway line can be divided into multiple position points or regions according to preset distance intervals.

[0059] In detail, the railway line is divided into multiple location points or areas according to preset distance intervals, which makes it easier to determine the position of the locomotive in the discrete location domain. This allows for a more accurate grasp of the locomotive's operating status and location information, facilitating scheduling and monitoring.

[0060] In this embodiment of the invention, all discrete points of gear positions in the discrete position domain are initialized to obtain a set of discrete gear sequence positions. This is to set a feasible gear sequence for each position point of the train in the discrete position domain, and finally obtain a set of gear sequence positions.

[0061] In this embodiment of the invention, by initializing all discrete points of all gear positions in the discrete position domain, a set of discrete gear position sequences is obtained, which improves the efficiency of subsequent calculation of the desired speed sequence.

[0062] S2. Calculate the desired speed sequence based on the discrete gear sequence set.

[0063] In this embodiment of the invention, the step of calculating the desired speed sequence based on the discrete gear sequence set is to calculate the desired speed sequence with reference to the Euler method.

[0064] In this embodiment of the invention, the step of calculating the desired speed sequence based on the discrete gear sequence set can be performed using an automatic driving device installed in the train.

[0065] In detail, the Euler method is a numerical solution method widely used in science and engineering to solve initial value problems of ordinary differential equations. The core idea of ​​this method is to use known information to predict the approximate value of the function at a future point.

[0066] In this embodiment of the invention, calculating the desired speed sequence based on the discrete gear sequence set includes:

[0067] The desired velocity sequence is calculated using the following formula:

[0068]

[0069] in, The first in the desired velocity sequence A desired speed, The first in the discrete gear sequence set The speed of each gear sequence The first in the discrete gear sequence set Acceleration of each gear sequence, This is the preset simulation step size.

[0070] In this embodiment of the invention, the efficiency of subsequent calculation of the speed index sequence is improved by calculating the desired speed sequence based on the discrete gear sequence set.

[0071] S3. Calculate the train coupler state sequence based on the pre-acquired critical displacement of the coupler and the discrete position domain sequence, and calculate the train coupler state change sequence based on the train coupler state sequence.

[0072] In this embodiment of the invention, the steps of calculating the train coupler state sequence based on the pre-acquired coupler critical displacement and discrete position domain sequence, and calculating the train coupler state change sequence based on the train coupler state sequence can be performed by an automatic driving device installed in the train.

[0073] In this embodiment of the invention, the step of calculating the train coupler state sequence based on the pre-acquired critical displacement of the coupler and the discrete position domain sequence includes:

[0074] The step size for the discrete position domain is calculated using the following formula:

[0075]

[0076] in, Represents the first in the discrete position domain The step size between the current position and the previous position. Represents the first in the discrete position domain A location point, This indicates the distance between the centers of mass of adjacent carriages when the coupler is at its midpoint;

[0077] The train coupler state sequence is calculated using the following formula based on the step size of the discrete position domain:

[0078]

[0079] in, This indicates the first train coupler state sequence. Each state value Represents the first in the discrete position domain The step size between the current position and the previous position. The critical displacement at which the coupler disengages from its free state is obtained in advance.

[0080] In this embodiment of the invention, the step of calculating the train coupler state change sequence based on the train coupler state sequence is to obtain the train coupler state change sequence by subtracting two adjacent state values ​​in the train coupler state sequence.

[0081] In this embodiment of the invention, the efficiency of calculating the train coupler state sequence is improved by calculating the train coupler state change sequence based on the pre-acquired critical displacement of the coupler and the discrete position domain sequence. The efficiency of subsequently calculating the coupler state change index sequence is improved by calculating the train coupler state change sequence based on the train coupler state sequence.

[0082] S4. Calculate the coupler state change index sequence based on the train coupler state change sequence, and calculate the stability index sequence based on the coupler state change index sequence.

[0083] In this embodiment of the invention, an automatic driving device installed in the train can be used to perform the steps of calculating the coupler state change index sequence based on the train coupler state change sequence and calculating the stability index sequence based on the coupler state change index sequence.

[0084] In this embodiment of the invention, the step of calculating the coupler state change index sequence based on the train coupler state change sequence, and calculating the stability index sequence based on the coupler state change index sequence, includes:

[0085] The coupler state change index sequence is calculated using the following formula:

[0086]

[0087] in, This represents the sequence of indicators indicating changes in the coupler's state. For the number of couplers obtained in advance, This indicates the sequence of changes in the train coupler state. The change value of the coupler status of each train;

[0088] The stability index sequence is calculated based on the coupler state change index sequence using the following formula:

[0089]

[0090] in, For the stationarity index sequence, This represents the number of gear sequences in the discrete gear sequence set. This indicates the first index in the sequence of coupler state change indicators. Individual coupler status change indicators.

[0091] In this embodiment of the invention, by calculating the coupler state change index sequence based on the train coupler state change sequence, the efficiency of calculating the stability index sequence is improved. Furthermore, by calculating the stability index sequence based on the coupler state change index sequence, the efficiency of subsequently calculating the comprehensive evaluation index sequence is improved.

[0092] S5. Calculate the speed index sequence based on the desired speed sequence and the preset target speed sequence.

[0093] In this embodiment of the invention, the step of calculating the following speed index sequence based on the desired speed sequence and the preset target speed sequence can be performed using an automatic driving device installed in the train.

[0094] In this embodiment of the invention, calculating the sprint index sequence based on the desired speed sequence and the preset target speed sequence includes:

[0095] The following formula is used to calculate the following speed index sequence:

[0096]

[0097] in, The following is the sequence of speed indicators. This represents the number of gear sequences in the discrete gear sequence set. The desired velocity sequence is the first... A desired speed, For the preset target velocity sequence, the first The target speed.

[0098] In this embodiment of the invention, the efficiency of subsequent calculation of comprehensive evaluation indicators is improved by calculating the following speed index sequence based on the desired speed sequence and the preset target speed sequence.

[0099] S6. Calculate the comprehensive evaluation index sequence based on the stability index sequence and the speed-following index sequence.

[0100] In this embodiment of the invention, the comprehensive evaluation index sequence is a set of evaluation indicators for each gear sequence in the discrete gear sequence set.

[0101] In detail, the comprehensive evaluation index is an index coefficient used to represent the level of stability of a gear sequence during the current locomotive's operation.

[0102] In this embodiment of the invention, the step of calculating the comprehensive evaluation index sequence based on the stability index sequence and the speed-following index sequence can be performed using an automatic driving device installed in the train.

[0103] In this embodiment of the invention, the step of calculating the comprehensive evaluation index sequence based on the stationarity index sequence and the following rate index sequence includes:

[0104] The comprehensive evaluation index sequence is calculated using the following formula:

[0105]

[0106] in, The comprehensive evaluation index sequence is as follows. For the stationarity index sequence, The following is the sequence of speed indicators. The preset first weighting coefficient, This is the preset second weighting coefficient.

[0107] Specifically, the first weighting coefficient is used to adjust the proportion of the stationarity index sequence in the comprehensive evaluation index sequence. The second weighting coefficient is used to adjust the proportion of the tracking index sequence in the comprehensive evaluation index sequence.

[0108] In this embodiment of the invention, by calculating a comprehensive evaluation index sequence based on the stability index sequence and the speed-following index sequence, the efficiency of subsequently selecting the optimal gear sequence is improved.

[0109] S7. Select the optimal gear sequence from the discrete gear sequence set according to the magnitude of the comprehensive evaluation index in the comprehensive evaluation index sequence, and use the optimal gear sequence to control the train's movement.

[0110] In this embodiment of the invention, an automatic driving device installed in the train can be used to perform the step of selecting the optimal gear sequence from the discrete gear sequence set based on the magnitude of the comprehensive evaluation index in the comprehensive evaluation index sequence, and using the optimal gear sequence to control the train's movement.

[0111] In this embodiment of the invention, the step of selecting the optimal gear sequence in the discrete gear sequence set based on the magnitude of the comprehensive evaluation index in the comprehensive evaluation index sequence is to determine the comprehensive evaluation index of each gear sequence in the discrete gear sequence set based on the comprehensive evaluation index sequence, and select the gear sequence with the highest comprehensive evaluation index as the optimal gear sequence.

[0112] In this embodiment of the invention, the optimal gear sequence in the discrete gear sequence set is selected based on the magnitude of the comprehensive evaluation index in the comprehensive evaluation index sequence, and the train is controlled using the optimal gear sequence, thereby improving the stability and safety of heavy-haul freight train operation.

[0113] Example 2

[0114] Based on the above embodiments, this embodiment provides an application example.

[0115] S1. Calculate the desired velocity based on the desired level.

[0116] In this embodiment of the invention, there exists a discrete position for smooth manipulation optimization. Step size is Let all discrete points in the discrete domain be . The current gear is The desired gear is .

[0117] Based on this, the process of migrating from the current gear position to the desired gear position involves a large number of discrete gear position sequences, where any discrete gear position sequence can be set as follows: Let the set of all feasible discrete gear sequences be denoted as .

[0118] In this embodiment of the invention, during the initialization process, a set containing all feasible discrete gear sequences can be obtained. For a given gear sequence Referring to the Euler method, assuming the simulation step size is... The current train status of car number ... at the current moment, including acceleration as... The speed is The location is The time is Regarding the train status for the next cycle, we have:

[0119] (1)

[0120] (2)

[0121] (3)

[0122] Finally, the desired speed sequence corresponding to the gear sequence can be calculated, let it be... .

[0123] S2. Calculate the stationarity cost and the following rate cost.

[0124] In this embodiment of the invention, the longitudinal dynamic equation of the train is a very complex nonlinear equation, containing many nonlinear factors, such as the nonlinear impedance characteristics of the buffer, the coupler clearance, and the nonlinear operating characteristics of traction and braking. Currently, the direct numerical integration method is mainly used to solve the nonlinear dynamic equation. Direct integration methods for dynamic response in engineering applications are divided into two main categories: explicit and implicit. Commonly used implicit methods include... France, Wilson- Methods include the central difference method and the Houbolt method; commonly used explicit methods include the two-loop iterative method with the trapezoidal rule, and the Newmark method. Fast explicit integration methods, predictive-correction integration methods, and precise integration methods (PIM) are proposed. Based on train dynamics principles, there are...

[0125] (4)

[0126] in, For the system mass matrix; For the system damping array; The system stiffness matrix; The external forces acting on the system. This includes: basic operating resistance (including wind resistance and rolling resistance), gradient running resistance, curve resistance, braking force, traction force, etc. The calculation methods for each force are based on the train traction calculation regulations. According to the coupler force equation, and considering the entire train as a whole, the vehicle motion equation can be obtained using Newton's second law. Combining these equations, we can obtain:

[0127] (5)

[0128] in, The position of each coupler relative to the front of the train. This refers to the position of the locomotive relative to the track. For vehicle speed.

[0129] Existing The traction motor generates a pushing force on the train through wheel-rail contact. , is a function that controls the level and speed; For air braking force, , .

[0130] set up The resistance exerted on the train by the curve of the track; assuming Let the resultant resistance force generated by the track gradient on the train be... This is the resultant force of wind resistance and bearing dynamic friction on the train.

[0131] Based on its characteristics, there is a gear adjustment speed per second. According to the current speed and formula It can be calculated .

[0132] There exists a set of manipulations ,and

[0133] Furthermore, only the direction towards the desired gear is selected.

[0134] (6)

[0135] (7)

[0136] When the coupler force changes drastically, gear shifting should be performed as slowly as possible to allow for a slower change in the coupler state. For example, the locomotive depot stipulates a 10-second coasting wait and a specific gear shift slope. It cannot exceed a certain limit. This value should not be set too high, as this can easily lead to impulsive actions, nor should it be set too low, as this makes acceleration and deceleration difficult and affects efficiency. The quantitative indicators will be determined based on the changes in the coupler's condition.

[0137] Now Chinese calculation . Let be the distance between the centers of mass of adjacent vehicles when the coupler is at its midpoint. This is the critical displacement at which the coupler disengages from its free state. The train coupler state sequence is set in this way. ,have

[0138] (8)

[0139] Each gear position corresponds to a train coupler state sequence. Subtracting the coupler state sequences of two adjacent gear positions yields the coupler state change sequence. Let the number of couplers be... Thus, the coupler status change index at each gear position is:

[0140] (9)

[0141] Therefore, each gear sequence has a corresponding coupler state change index sequence. Thus, the stationarity indices for different gear sequences can be obtained as follows:

[0142] (10)

[0143] S3, Speed ​​Evaluation

[0144] In this embodiment of the invention, the desired speed sequence is calculated from a specific gear sequence. , and the target velocity sequence By comparison, the following speed indicators can be obtained:

[0145] (11)

[0146] S4. Comprehensive Evaluation Indicators

[0147] In this embodiment of the invention, a comprehensive evaluation index is obtained by weighted summation of the stability index and the follow-up evaluation index, which is used to evaluate the gear sequence. The formula is shown below.

[0148] (12)

[0149] in , These are the corresponding weighting coefficients.

[0150] S5, Obtain the gear sequence

[0151] Based on the above comprehensive evaluation indicators, the gear sequence set For each sequence, calculate the corresponding index, and select the sequence with the best index.

[0152] S6. Train operation is controlled using the first control gear.

[0153] In this embodiment of the invention, the first gear position in the gear sequence is taken as the current optimal gear suggestion, and the actual operation of the train can be controlled according to this gear.

[0154] Example 3

[0155] like Figure 2The diagram shown is a functional block diagram of a train control device based on coupler status provided in this embodiment.

[0156] The train control device 100 based on coupler status described in this invention can be installed in an electronic device. Depending on the functions implemented, the train control device 100 based on coupler status may include a data initialization module 101, a data calculation module 102, a comprehensive evaluation index calculation module 103, and an optimal gear sequence acquisition module 104. The module described in this invention can also be called a unit, which refers to a series of computer program segments that can be executed by the processor of an electronic device and can perform a fixed function, and is stored in the memory of the electronic device.

[0157] In this embodiment, the functions of each module / unit are as follows:

[0158] The data initialization module 101 is used to initialize all discrete points of gear positions in the discrete position domain to obtain a discrete gear position sequence set.

[0159] The data calculation module 102 is used to calculate the desired speed sequence based on the discrete gear sequence set, calculate the train coupler state sequence based on the pre-acquired coupler critical displacement and discrete position domain sequence, calculate the train coupler state change sequence based on the train coupler state sequence, calculate the coupler state change index sequence based on the train coupler state change sequence, calculate the stability index sequence based on the coupler state change index sequence, and calculate the speed-following index sequence based on the desired speed sequence and the preset target speed sequence.

[0160] The comprehensive evaluation index calculation module 103 is used to calculate the comprehensive evaluation index sequence based on the stability index sequence and the speed-following index sequence.

[0161] The optimal gear sequence acquisition module 104 is used to select the optimal gear sequence from the discrete gear sequence set according to the magnitude of the comprehensive evaluation index in the comprehensive evaluation index sequence, and to control the train movement using the optimal gear sequence.

[0162] Example 4

[0163] Based on the above embodiments, this embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method described in the above embodiments.

[0164] In some embodiments of this example, a computer-readable storage medium is provided, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the steps of the method described in the above embodiments.

[0165] In some embodiments of this example, a computer program product is provided, including a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the method described in the above embodiments.

[0166] The processor may include, but is not limited to, one or more processors or microprocessors. Each processor may 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 component, for executing the methods in the above embodiments.

[0167] Computer-readable storage media can be implemented by any type of volatile or non-volatile storage device or a combination thereof. Computer-readable storage media may include, but are not limited to, random access memory (RAM), read-only memory (ROM), flash memory, EPROM memory, EEPROM memory, registers, and computer storage media (e.g., hard disks, floppy disks, solid-state drives, removable disks, Blu-ray discs, etc.).

[0168] Computer-readable storage media may also store at least one computer-executable program, such as computer-readable instructions. Computer-readable storage media include, but are not limited to, volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Computer-readable storage media may include, for example, read-only memory (ROM), hard disk, flash memory, etc. For example, a non-transitory computer-readable storage medium may be connected to a computing device such as a computer, and then, when the computing device executes the computer-readable instructions stored on the computer-readable storage medium, the various methods described above can be performed.

[0169] In addition, the computer device may include (but is not limited to) a data bus, an input / output (I / O) bus, a display, and input / output devices (e.g., keyboard, mouse, speakers, etc.).

[0170] The processor can communicate with external devices via the I / O bus through wired or wireless networks.

[0171] In one embodiment, the at least one computer-executable instruction may also be compiled into or comprise a software product / computer program product, wherein one or more computer-executable instructions are executed by a processor to perform the steps of the various functions and / or methods in the embodiments described herein.

[0172] 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.

[0173] 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.

[0174] 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 train handling method based on the status of the couplers, characterized in that, The application relates to a train driving control method and device. The method comprises the following steps: initializing all gear discrete points in a discrete position domain to obtain a discrete gear sequence set; calculating an expected speed sequence according to the discrete gear sequence set; calculating a train coupler state sequence according to a pre-acquired coupler critical displacement and a discrete position domain sequence, and calculating a train coupler state change sequence according to the train coupler state sequence; calculating a coupler state change index sequence according to the train coupler state change sequence, and calculating a stability index sequence according to the coupler state change index sequence; calculating a speed following index sequence according to the expected speed sequence and a preset target speed sequence; calculating a comprehensive evaluation index sequence according to the stability index sequence and the speed following index sequence; 2. The method of claim 1, wherein, selecting an optimal gear sequence in the discrete gear sequence set according to the size of a comprehensive evaluation index in the comprehensive evaluation index sequence, and controlling train driving by using the optimal gear sequence. The method comprises the following steps: wherein is the desired speed in the sequence of desired speeds, is the desired speed in the sequence of desired speeds, is the speed of the sequence of discrete gears in the set of sequences of discrete gears, is the speed of the sequence of discrete gears in the set of sequences of discrete gears, is the acceleration of the sequence of discrete gears in the set of sequences of discrete gears, is the acceleration of the sequence of discrete gears in the set of sequences of discrete gears, is a preset simulation step size.

3. The method of claim 2, wherein, calculating the expected speed sequence by using the following formula: calculating the train coupler state sequence according to the step length of the discrete position domain by using the following formula: wherein, represents the step size of the n-th position point in the discrete position domain from the previous position point, represents the n-th position point in the discrete position domain, represents the distance of the center of mass of the adjacent car from the midpoint of the car coupler.​​ calculating the coupler state change index sequence by using the following formula: wherein, represents the state value of the train coupler state sequence, represents the step length from the previous position point to the is the pre-acquired critical displacement of the free uncoupling state of the train coupler.​​ 4. The method of claim 1, wherein, calculating the stability index sequence according to the coupler state change index sequence by using the following formula: calculating the speed following index sequence by using the following formula: wherein, denotes the sequence of the car coupler status changes, is the number of car couplers acquired in advance, denotes the i-th car coupler status change value in the sequence of the train car coupler status changes, denotes the i-th car coupler status change value in the sequence of the train car coupler status changes, calculating the comprehensive evaluation index sequence by using the following formula: wherein, is the sequence of smoothness indicators, denotes the number of sequences of gear positions in the set of sequences of discrete gear positions, denotes the i-th car coupler state change indicator in the sequence of car coupler state change indicators, denotes the i-th car coupler state change indicator in the sequence of car coupler state change indicators.

5. The method of claim 4, wherein, The application relates to a train driving control method and device. The data initialization module is used for initializing all gear discrete points in a discrete position domain to obtain a discrete gear sequence set. in, The following is the sequence of speed indicators. This represents the number of gear sequences in the discrete gear sequence set. The desired velocity sequence is the first... A desired speed, For the preset target velocity sequence, the first The target speed.

6. The method of claim 5, wherein, The data calculation module is used for calculating an expected speed sequence according to the discrete gear sequence set, calculating a train coupler state sequence according to a pre-acquired coupler critical displacement and a discrete position domain sequence, calculating a train coupler state change sequence according to the train coupler state sequence, calculating a coupler state change index sequence according to the train coupler state change sequence, calculating a stability index sequence according to the coupler state change index sequence, and calculating a speed following index sequence according to the expected speed sequence and a preset target speed sequence. The comprehensive evaluation index calculation module is used for calculating a comprehensive evaluation index sequence according to the stability index sequence and the speed following index sequence. wherein, is the sequence of the comprehensive evaluation indexes, is the sequence of the stationarity indexes, is the sequence of the speed-following indexes, is a preset first weight coefficient, is a preset second weight coefficient.

7. A train handling device based on the status of the couplers, characterized in that, The optimal gear sequence acquisition module is used for selecting an optimal gear sequence in the discrete gear sequence set according to the size of a comprehensive evaluation index in the comprehensive evaluation index sequence, and controlling train driving by using the optimal gear sequence. ​ ​ ​ ​ 8. A computer device comprising a memory, a processor, and a computer program stored on the memory, wherein the computer program comprises instructions that, when executed by the processor, cause the processor to perform the method of any one of claims 1-7. The processor executes the computer program to implement the steps of the method of any one of claims 1 to 6.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program, which when executed by the processor, implements the steps of the method of any one of claims 1 to 6.

10. A computer program product comprising a computer program, characterized in that, The computer program, which when executed by the processor, implements the steps of the method of any one of claims 1 to 6.

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