Method, device, equipment and storage medium for planning a forward control curve

Abstract

The application provides a method, device, equipment and storage medium for planning a front speed control curve, the method comprising: calling a query function to obtain the start point and end point of each speed limit line in front of the train according to the current position of the train; uniformly processing the speed limit lines into a coherent rectangular form according to the start point and end point of each speed limit line; determining the speed limit value when the train moves forward according to the uniformly processed speed limit lines; and planning the front speed control curve according to the speed limit value when the train moves forward. In the existing scheme, the query function needs to be called twice every time the train moves a point, while the method provided by the application only calls the query function to obtain the start point and end point of each speed limit line in front of the train, thereby reducing the number of times of calling the query function, saving the time consumed by the query function, and directly solving the downtime problem.

Description

Technical Field

[0001] The present application relates to the field of rail transit technology, and in particular to a method, device, equipment, and storage medium for planning a forward vehicle control curve. Background Art

[0002] Large freight trains require a display of a train control curve ahead during operation. This curve guides the driver in controlling the train and provides the calculated speed limit to the Automatic Train Operation (ATO), which then drives the train automatically based on the curve.

[0003] The current calculation scheme for the forward vehicle control curve is:

[0004] 1. Move the current train position Loc1 forward every 100 meters and calculate a new point Loc2, Loc3, Loc4, ..., Loc n .

[0005] 2. According to the new train position Loc2, calculate the lowest value of the switch speed limit and the line speed limit contained in the train body at the Lox2 position as the fixed speed limit at that point. Similarly, query the fixed speed limit of several kilometers ahead of the train, and obtain N fixed speed limit points V1, V2, V3, V4, V5, ..., V n .

[0006] 3. Search from the last fixed speed limit point towards the direction close to the current train head. When V is found n Less than V n-1 When using V n The speed limit is calculated from the braking distance table of the traction gauge. The distance S from the end point is then n-1 The speed needs to be calculated using the distance S+100. The purpose of the calculation is to ensure that the final curve is not a rectangle but a smooth parabola.

[0007] The above solution requires calling the query function twice for each train movement. This is quite time-consuming, making it impractical when calculating long distances ahead. This high time consumption also leads to high ATP (Automatic Train Protection) timeouts and system downtime when the data volume is high. Summary of the Invention

[0008] In order to solve one of the above technical defects, the present application provides a method, device, equipment, and storage medium for planning a forward vehicle control curve.

[0009] In a first aspect, the present application provides a method for planning a forward vehicle control curve, the method comprising:

[0010] According to the current position of the train, call the query function to obtain the starting point and end point of each speed-limited line ahead;

[0011] According to the starting point and end point of each speed limit line, the speed limit lines are uniformly processed into a coherent rectangular form;

[0012] Determine the speed limit value when the train moves forward based on the unified speed limit line;

[0013] Plan the vehicle control curve ahead based on the speed limit when the train moves forward.

[0014] Optionally, the speed limit routes are uniformly processed into a coherent rectangular form according to the start and end points of each speed limit route, including:

[0015] Assign values ​​to the superimposed speed limit routes based on the start and end points of each speed limit route;

[0016] Complete the speed limit lines to form a coherent rectangular form.

[0017] Optionally, assign values ​​to the superimposed speed limit routes based on the start and end points of each speed limit route, including:

[0018] If two adjacent speed limit routes are determined to overlap based on the start point and the end point of each speed limit route, the speed limit value of the overlapping portion is the minimum value of the speed limit values ​​of the two adjacent speed limit routes.

[0019] Optionally, the speed limit value of the overlapping portion is the minimum of the speed limit values ​​of the two adjacent speed-limited routes and further includes:

[0020] Among two adjacent speed-limited lines, if the distance between the starting point of the next speed-limited line and the front of the train is smaller than the distance between the end point of the previous speed-limited line and the front of the train, the next speed-limited line is not completely covered by the previous speed-limited line; if the distance between the end point of the next speed-limited line and the front of the train is smaller than the distance between the end point of the previous speed-limited line and the front of the train, the next speed-limited line is completely covered by the previous speed-limited line.

[0021] Optionally, the speed limit line is completed to form a coherent rectangular form, including:

[0022] If there is only one speed-limited line that is the MA end point, the distance between the train head and the MA end point is completed to the preset speed limit value;

[0023] Otherwise, the locations where no speed limit line exists will be filled with the preset speed limit value.

[0024] Optionally, determining a speed limit value when the train moves forward based on the uniformly processed speed limit lines includes:

[0025] Determine the speed limit points contained in the train body;

[0026] According to the unified processed speed limit line, a first speed limit value of the vehicle body and a second speed limit value of each speed limit point when the train moves forward are determined;

[0027] If the vehicle body has not cleared the current locomotive position of the train, the minimum value among the first speed limit value and each second speed limit value is determined as the speed limit value.

[0028] Optionally, after determining the first speed limit value of the vehicle body and the second speed limit value of each speed limit point when the train moves forward according to the uniformly processed speed limit line, the method further includes:

[0029] If the rear end of the train moves ahead of the current front end of the train, the minimum value of the second speed limit values ​​is determined as the speed limit value.

[0030] In a second aspect of the present application, a device for planning a forward vehicle control curve is provided, the device comprising:

[0031] The calling module is used to call the query function to obtain the starting point and end point of each speed-limited line ahead according to the current position of the train;

[0032] The processing module is used to uniformly process the speed-limited routes into a coherent rectangular form according to the starting point and end point of each speed-limited route obtained by the calling module;

[0033] A determination module, used to determine the speed limit value when the train moves forward according to the speed limit line processed uniformly by the processing module;

[0034] The planning module is used to plan the forward vehicle control curve according to the speed limit value of the train when it moves forward determined by the determination module.

[0035] In a third aspect of the present application, an electronic device is provided, comprising:

[0036] Memory;

[0037] processor; and

[0038] computer programs;

[0039] The computer program is stored in the memory and is configured to be executed by the processor to implement the method as described in the first aspect above.

[0040] In a fourth aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored; the computer program is executed by a processor to implement the method described in the first aspect above.

[0041] The present application provides a method, apparatus, device, and storage medium for planning a forward vehicle control curve. The method comprises: based on the train's current position, calling a query function to obtain the starting and ending points of each forward speed-limited line; based on the starting and ending points of each forward speed-limited line, uniformly processing the forward speed-limited lines into a coherent rectangular form; based on the uniformly processed forward speed-limited lines, determining the speed limit value for the train's forward movement; and planning the forward vehicle control curve based on the forward speed limit value for the train's forward movement. Existing solutions require calling the query function twice for each point the train moves, while the method provided by the present application only calls the query function to obtain the starting and ending points of each forward speed-limited line, reducing the number of query function calls, saving query function time, and directly resolving the downtime issue. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0043] Figure 1 A flow chart of a method for planning a forward vehicle control curve provided in an embodiment of the present application;

[0044] Figure 2 A schematic diagram of a superimposed speed limit line assignment provided in an embodiment of the present application;

[0045] Figure 3 A schematic diagram of another superimposed speed limit line assignment provided in an embodiment of the present application;

[0046] Figure 4 A schematic diagram of a completed speed-limited circuit provided in an embodiment of the present application;

[0047] Figure 5 A schematic diagram of determining a speed limit value when a train moves forward provided in an embodiment of the present application;

[0048] Figure 6 A schematic diagram of another embodiment of the present application for determining a speed limit value when a train moves forward;

[0049] Figure 7 A schematic structural diagram of a device for planning a forward vehicle control curve provided in an embodiment of the present application;

[0050] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] In order to make the technical solutions and advantages of the embodiments of the present application more clearly understood, the exemplary embodiments of the present application are further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, and are not an exhaustive list of all the embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other unless they conflict.

[0052] During the implementation of this application, the inventors discovered that existing solutions for calculating the empty car curve ahead require two invocations of the query function for each train movement. This is quite time-consuming, making it impractical when calculating large distances ahead. This significant time consumption can easily lead to ATP timeouts and system downtime when the data volume is large.

[0053] To address the above-mentioned issues, embodiments of the present application provide a method, apparatus, device, and storage medium for planning a forward vehicle control curve. The method comprises: based on the current position of the train, calling a query function to obtain the starting and ending points of each speed-limited line ahead; based on the starting and ending points of each speed-limited line, uniformly processing the speed-limited lines into a coherent rectangular form; based on the uniformly processed speed-limited lines, determining the speed limit value when the train moves forward; and planning the forward vehicle control curve based on the speed limit value when the train moves forward. In existing solutions, the query function needs to be called twice for each point the train moves, while the method provided by the present application only calls the query function to obtain the starting and ending points of each speed-limited line ahead, reducing the number of query function calls, saving query function time, and directly resolving the downtime problem.

[0054] See also Figure 1 This embodiment provides a method for planning a forward vehicle control curve. The implementation process of the method is as follows:

[0055] 101. Based on the current position of the train, call the query function to obtain the starting point and end point of each speed-limited line ahead.

[0056] In step 101, a query function can be called based on the current position of the train to find out the speed limit at the speed limit point ahead. In this step, the query function will find out the starting point and end point of each speed limit line ahead, which is convenient for subsequent speed limit value completion.

[0057] 102. Based on the starting point and end point of each speed limit route, the speed limit routes are uniformly processed into a coherent rectangular form.

[0058] The implementation process of step 102 is:

[0059] 102-1, assign values ​​to the superimposed speed limit routes according to the starting point and end point of each speed limit route.

[0060] Specifically, if it is determined based on the start point and end point of each speed limit route that two adjacent speed limit routes overlap, the speed limit value of the overlapping portion is the minimum speed limit value of the two adjacent speed limit routes.

[0061] In addition, for two adjacent speed-limited lines, if the distance between the starting point of the next speed-limited line and the front of the train is less than the distance between the end point of the previous speed-limited line and the front of the train, the next speed-limited line is not completely covered by the previous speed-limited line. If the distance between the end point of the next speed-limited line and the front of the train is less than the distance between the end point of the previous speed-limited line and the front of the train, the next speed-limited line is completely covered by the previous speed-limited line.

[0062] For example, in two adjacent speed-limited lines, the distance between the starting point of the next speed-limited line and the front of the train is smaller than the distance between the end point of the previous speed-limited line and the front of the train, as shown in the following example: Figure 2 Shown, including Figure 2 In cases 11 and 12, the starting point of the next speed-limited line is closer to the train's front end than the end point of the previous speed-limited line. This indicates that the superposition of two speed-limited lines requires special processing: the superimposed speed limit is assigned according to the smaller speed limit, and the next speed-limited line is not completely covered by the previous speed-limited line. The thin solid line represents the speed limit value of the speed-limited line before the superimposed speed-limited line is assigned in step 102-1, and the thin dashed line represents the speed limit value after the superimposed speed-limited line is assigned in step 102-1.

[0063] After the speed limit routes are assigned with superimposed thin dashed lines in step 102-1, the next speed limit route is not completely covered by the previous speed limit route. For example, in case 11, after the speed limit routes are assigned with superimposed thin dashed lines, step 102-1 will use the starting point of the next speed limit route as the end point of the current speed limit route. In case 12, after the speed limit routes are assigned with superimposed thin dashed lines, step 102-1 will replace the starting point of the next speed limit route with the end point of the previous speed limit route.

[0064] In the case of two adjacent speed-limited lines, the distance between the end point of the next speed-limited line and the front of the train is smaller than the distance between the end point of the previous speed-limited line and the front of the train, such as Figure 3 Shown, including Figure 3 In cases 21 and 22, the end point of the next speed-limited line is closer to the train's front end than the end point of the previous speed-limited line. This indicates that the superposition of two speed-limited lines requires special processing. The superimposed speed limit is assigned according to the smaller speed limit, and the next speed-limited line is completely covered by the previous speed-limited line. The thin solid line represents the speed limit value of the speed-limited line before the superimposed speed-limited line is assigned in step 102-1, and the thin dashed line represents the speed limit value after the superimposed speed-limited line is assigned in step 102-1.

[0065] After the superimposed speed limit lines are assigned values ​​in step 102-1, the next speed limit line is not completely covered by the previous speed limit line. For example, in case 21, after the superimposed speed limit lines are assigned values ​​in step 102-1, the n+1th speed limit line is directly deleted. In case 22, after the superimposed speed limit lines are assigned values ​​in step 102-1, one speed limit line is added to the two speed limit lines, resulting in three speed limit lines.

[0066] 102-2, complete the speed limit line to form a coherent rectangular form.

[0067] Specifically, if there is only one speed-limited line that is the MA end point, the distance between the train's head and the MA end point is filled in as the preset speed limit value. Otherwise, the distance between the train's head and the MA end point is filled in as the preset speed limit value.

[0068] For example, if the preset speed limit is 80Km / h, then if there is only one speed limit line as the MA end point, the distance between the train head and the MA end point will be completed to the line speed limit of 80Km / h. Figure 4 Complete as shown to form a coherent rectangular form. Figure 4 The thin solid line represents the speed limit value before step 102-2 is executed to complete the speed limit line, and the thin dotted line represents the speed limit value after step 102-2 is executed to complete the speed limit line, where the places without speed limits are completed to the preset speed limit value (such as 80Km / h).

[0069] 103. Determine the speed limit value when the train moves forward based on the unified speed limit line.

[0070] Through step 103, the speed limit value of the speed limit line after unified processing in step 102 can be assigned to the array of the train body speed limit according to a preset distance (such as 100 meters). The implementation process of step 103 is as follows:

[0071] 103-1, determine the speed limit points included in the train body.

[0072] For example, calculate the number of points required to divide the train body into 100-meter intervals. If the result of this division is not an integer, the round-up method is used, i.e., the result is rounded up to the nearest integer as the number of points required. The speed limit points included in the train body are determined based on the number of points required.

[0073] 103-2, according to the unified processed speed limit line, determine the first speed limit value of the vehicle body and the second speed limit value of each speed limit point when the train moves forward.

[0074] 103-3, if the train body has not cleared the current front position of the train, the minimum of the first speed limit and each second speed limit is determined as the speed limit. If the rear of the train moves ahead of the current front position of the train, the minimum of the second speed limit is determined as the speed limit.

[0075] When step 103-3 is executed, the speed limit point closest to the train head can be assigned to the speed limit point farther from the train head. Figure 5 As shown, the thin solid line is the current position of the train, and the thin dotted line is the position after the train moves. In step 103-3, the minimum value of the first speed limit value of the current vehicle body and the second speed limit value of each speed limit point when the train moves forward will be used as the fixed speed limit value at this position. When the rear of the train moves to the front of the current vehicle body, as shown in FIG. Figure 6 As shown, there are four cases: case 31 is that the speed limit line includes the train body; case 32 is that the starting point of the speed limit line is on the train body and the end point of the speed limit line passes the train body; case 33 is that the starting point of the speed limit line is behind the train but the end point of the speed limit line is on the train body; case 34 is that the entire speed limit line is on the train body.

[0076] 104. Plan the vehicle control curve ahead based on the speed limit value when the train moves forward.

[0077] This step is implemented using existing solutions, such as searching from the last fixed speed limit point towards the direction close to the current train head. When V n Less than V n-1 When using V n The speed limit is calculated from the braking distance table of the traction gauge. The distance S from the end point is then n-1 The speed needs to be calculated using the distance S+100. The purpose of the calculation is to ensure that the final curve is not a rectangle but a smooth parabola.

[0078] The method for planning a forward vehicle control curve provided in this embodiment can save time calculating the speed of the preceding point, resolving the issue of vehicle timeouts and downtimes. This method saves time by reducing the number of query function calls. Furthermore, the method for planning a forward vehicle control curve provided in this embodiment can be configured to plan a point at any number of meters ahead without causing timeouts.

[0079] In specific practice, the method for planning the forward vehicle control curve provided in this embodiment can reduce the time consumption by 10 times.

[0080] This embodiment provides a method for planning a forward vehicle control curve. Based on the train's current position, a query function is called to obtain the starting and ending points of each speed-limited line ahead. Based on the starting and ending points of each speed-limited line, the speed-limited lines are uniformly processed into a coherent rectangular form. Based on the uniformly processed speed-limited lines, the speed limit for the train's forward movement is determined. Finally, the forward vehicle control curve is planned based on the speed limit for the train's forward movement. Existing solutions require two query function calls for each point the train moves. However, the method provided in this embodiment only calls the query function to obtain the starting and ending points of each speed-limited line ahead, reducing the number of query function calls, saving query function time, and directly resolving system downtime issues.

[0081] Based on the same inventive concept of the method for planning a front vehicle control curve, this embodiment provides a device for electronically planning a front vehicle control curve, see Figure 7 , the device comprises:

[0082] The calling module 701 is used to call a query function to obtain the starting point and end point of each speed-limited line ahead according to the current position of the train.

[0083] The processing module 702 is configured to uniformly process the speed-limited routes into a continuous rectangular form according to the start and end points of each speed-limited route obtained by the calling module 701 .

[0084] The determination module 703 is used to determine the speed limit value when the train moves forward according to the speed limit line processed uniformly by the processing module 702.

[0085] The planning module 704 is used to plan the forward vehicle control curve according to the speed limit value of the train when moving forward determined by the determination module 703.

[0086] The processing module 702 is configured to assign values ​​to the superimposed speed-limited routes according to the starting point and end point of each speed-limited route, and complete the speed-limited routes to form a continuous rectangular form.

[0087] Among them, according to the starting point and end point of each speed limit line, the superimposed speed limit lines are assigned values, including:

[0088] If two adjacent speed limit routes are determined to overlap based on the start point and the end point of each speed limit route, the speed limit value of the overlapping portion is the minimum value of the speed limit values ​​of the two adjacent speed limit routes.

[0089] The speed limit value of the overlapping part is the minimum of the speed limits of the two adjacent speed-limited lines, and also includes:

[0090] For two adjacent speed-limited lines, if the distance between the starting point of the next speed-limited line and the front of the train is less than the distance between the end point of the previous speed-limited line and the front of the train, the next speed-limited line is not completely covered by the previous speed-limited line. If the distance between the end point of the next speed-limited line and the front of the train is less than the distance between the end point of the previous speed-limited line and the front of the train, the next speed-limited line is completely covered by the previous speed-limited line.

[0091] Among them, the speed limit line is completed to form a coherent rectangular form, including:

[0092] If there is only one speed-limited line that is the MA end point, the position of the train's front end from the MA end point will be completed to the preset speed limit value.

[0093] Otherwise, the locations where no speed limit line exists will be filled with the preset speed limit value.

[0094] The determination module 703 is used to determine the speed limit value when the train moves forward according to the uniformly processed speed limit line, including:

[0095] Determine the speed limit points contained within the train's body.

[0096] According to the uniformly processed speed limit line, a first speed limit value of the vehicle body and a second speed limit value of each speed limit point when the train moves forward are determined.

[0097] If the vehicle body has not cleared the current locomotive position of the train, the minimum value among the first speed limit value and each second speed limit value is determined as the speed limit value.

[0098] Wherein, after determining the first speed limit value of the vehicle body and the second speed limit value of each speed limit point when the train moves forward according to the unified processed speed limit line, the method further includes:

[0099] If the rear end of the train moves ahead of the current front end of the train, the minimum value of the second speed limit values ​​is determined as the speed limit value.

[0100] This embodiment provides a device for planning a forward vehicle control curve. Based on the train's current position, a query function is called to obtain the starting and ending points of each forward speed-limited line. Based on the starting and ending points of each forward speed-limited line, the forward speed-limited lines are uniformly processed into a coherent rectangular form. Based on the uniformly processed forward speed-limited lines, the speed limit value for the train's forward movement is determined. The forward vehicle control curve is then planned based on the forward speed limit value for the train's forward movement. Existing solutions require two query function calls for each point the train moves. However, the device provided in this embodiment only calls the query function to obtain the starting and ending points of each forward speed-limited line, reducing the number of query function calls, saving query function time, and directly resolving system downtime issues.

[0101] Based on the same inventive concept of the method for planning a front vehicle control curve, this embodiment provides an electronic device such as Figure 8 As shown, it includes: a memory 801, a processor 802, and a computer program.

[0102] The computer program is stored in the memory 801 and is configured to be executed by the processor 802 to implement the above-mentioned method for planning a forward vehicle control curve.

[0103] Specifically,

[0104] According to the current position of the train, the query function is called to obtain the starting point and end point of each speed-limited line ahead.

[0105] According to the starting point and end point of each speed limit line, the speed limit lines are uniformly processed into a coherent rectangular form.

[0106] Determine the speed limit value when the train moves forward based on the unified speed limit lines.

[0107] Plan the vehicle control curve ahead based on the speed limit when the train moves forward.

[0108] Optionally, the speed limit routes are uniformly processed into a coherent rectangular form according to the start and end points of each speed limit route, including:

[0109] Assign values ​​to the superimposed speed limit routes based on the start and end points of each speed limit route.

[0110] Complete the speed limit lines to form a coherent rectangular form.

[0111] Optionally, assign values ​​to the superimposed speed limit routes based on the start and end points of each speed limit route, including:

[0112] If two adjacent speed limit routes are determined to overlap based on the start point and the end point of each speed limit route, the speed limit value of the overlapping portion is the minimum value of the speed limit values ​​of the two adjacent speed limit routes.

[0113] Optionally, the speed limit value of the overlapping portion is the minimum of the speed limit values ​​of the two adjacent speed-limited routes and further includes:

[0114] For two adjacent speed-limited lines, if the distance between the starting point of the next speed-limited line and the front of the train is less than the distance between the end point of the previous speed-limited line and the front of the train, the next speed-limited line is not completely covered by the previous speed-limited line. If the distance between the end point of the next speed-limited line and the front of the train is less than the distance between the end point of the previous speed-limited line and the front of the train, the next speed-limited line is completely covered by the previous speed-limited line.

[0115] Optionally, the speed limit line is completed to form a coherent rectangular form, including:

[0116] If there is only one speed-limited line that is the MA end point, the position of the train's front end from the MA end point will be completed to the preset speed limit value.

[0117] Otherwise, the locations where no speed limit line exists will be filled with the preset speed limit value.

[0118] Optionally, determining a speed limit value when the train moves forward based on the uniformly processed speed limit lines includes:

[0119] Determine the speed limit points contained within the train's body.

[0120] According to the uniformly processed speed limit line, a first speed limit value of the vehicle body and a second speed limit value of each speed limit point when the train moves forward are determined.

[0121] If the vehicle body has not cleared the current locomotive position of the train, the minimum value among the first speed limit value and each second speed limit value is determined as the speed limit value.

[0122] Optionally, after determining the first speed limit value of the vehicle body and the second speed limit value of each speed limit point when the train moves forward according to the uniformly processed speed limit line, the method further includes:

[0123] If the rear end of the train moves ahead of the current front end of the train, the minimum value of the second speed limit values ​​is determined as the speed limit value.

[0124] This embodiment provides an electronic device in which a computer program executed by a processor calls a query function based on the train's current position to obtain the starting and ending points of each speed-limited line ahead; based on the starting and ending points of each speed-limited line, the speed-limited lines are uniformly processed into a coherent rectangular form; based on the uniformly processed speed-limited lines, the speed limit value for the train's forward movement is determined; and the forward vehicle control curve is planned based on the speed limit value for the train's forward movement. Existing solutions require two query function calls for each point the train moves, while this embodiment only calls the query function to obtain the starting and ending points of each speed-limited line ahead. This reduces the number of query function calls, saves query function time, and directly solves the problem of system downtime.

[0125] Based on the same inventive concept of the method for planning a forward vehicle control curve, this embodiment provides a computer-readable storage medium having a computer program stored thereon. The computer program is executed by a processor to implement the method for planning a forward vehicle control curve.

[0126] Specifically,

[0127] According to the current position of the train, the query function is called to obtain the starting point and end point of each speed-limited line ahead.

[0128] According to the starting point and end point of each speed limit line, the speed limit lines are uniformly processed into a coherent rectangular form.

[0129] Determine the speed limit value when the train moves forward based on the unified speed limit lines.

[0130] Plan the vehicle control curve ahead based on the speed limit when the train moves forward.

[0131] Optionally, the speed limit routes are uniformly processed into a coherent rectangular form according to the start and end points of each speed limit route, including:

[0132] Assign values ​​to the superimposed speed limit routes based on the start and end points of each speed limit route.

[0133] Complete the speed limit lines to form a coherent rectangular form.

[0134] Optionally, assign values ​​to the superimposed speed limit routes based on the start and end points of each speed limit route, including:

[0135] If two adjacent speed limit routes are determined to overlap based on the start point and the end point of each speed limit route, the speed limit value of the overlapping portion is the minimum value of the speed limit values ​​of the two adjacent speed limit routes.

[0136] Optionally, the speed limit value of the overlapping portion is the minimum of the speed limit values ​​of the two adjacent speed-limited routes and further includes:

[0137] For two adjacent speed-limited lines, if the distance between the starting point of the next speed-limited line and the front of the train is less than the distance between the end point of the previous speed-limited line and the front of the train, the next speed-limited line is not completely covered by the previous speed-limited line. If the distance between the end point of the next speed-limited line and the front of the train is less than the distance between the end point of the previous speed-limited line and the front of the train, the next speed-limited line is completely covered by the previous speed-limited line.

[0138] Optionally, the speed limit line is completed to form a coherent rectangular form, including:

[0139] If there is only one speed-limited line that is the MA end point, the position of the train's front end from the MA end point will be completed to the preset speed limit value.

[0140] Otherwise, the locations where no speed limit line exists will be filled with the preset speed limit value.

[0141] Optionally, determining a speed limit value when the train moves forward based on the uniformly processed speed limit lines includes:

[0142] Determine the speed limit points contained within the train's body.

[0143] According to the uniformly processed speed limit line, a first speed limit value of the vehicle body and a second speed limit value of each speed limit point when the train moves forward are determined.

[0144] If the vehicle body has not cleared the current locomotive position of the train, the minimum value among the first speed limit value and each second speed limit value is determined as the speed limit value.

[0145] Optionally, after determining the first speed limit value of the vehicle body and the second speed limit value of each speed limit point when the train moves forward according to the uniformly processed speed limit line, the method further includes:

[0146] If the rear end of the train moves ahead of the current front end of the train, the minimum value of the second speed limit values ​​is determined as the speed limit value.

[0147] This embodiment provides a computer-readable storage medium on which a computer program is executed by a processor to call a query function based on the train's current position to obtain the starting and ending points of each speed-limited line ahead; based on the starting and ending points of each speed-limited line, the speed-limited lines are uniformly processed into a coherent rectangular form; based on the uniformly processed speed-limited lines, the speed limit value for the train's forward movement is determined; and the forward train control curve is planned based on the speed limit value for the train's forward movement. Existing solutions require two query function calls for each point the train moves, while this embodiment only calls the query function to obtain the starting and ending points of each speed-limited line ahead. This reduces the number of query function calls, saves query function time, and directly solves the problem of system downtime.

[0148] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code. The scheme in the embodiment of the present application can be implemented in various computer languages, for example, object-oriented programming language Java and literal translation scripting language JavaScript, etc.

[0149] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0150] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0151] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0152] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0153] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present application.

[0154] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. A method for planning a forward vehicle control curve, characterized in that: The method comprises: According to the current position of the train, call the query function to obtain the starting point and end point of each speed-limited line ahead; According to the starting point and end point of each speed limit line, the speed limit lines are uniformly processed into a coherent rectangular form; Determine the speed limit value when the train moves forward based on the unified speed limit line; Plan the vehicle control curve ahead based on the speed limit of the train as it moves forward; The speed limit routes are uniformly processed into a coherent rectangular form according to the starting point and end point of each speed limit route, including: Assign values ​​to the superimposed speed limit routes based on the start and end points of each speed limit route; Complete the speed limit line to form a coherent rectangular form; The step of assigning values ​​to the superimposed speed limit routes according to the starting point and the end point of each speed limit route includes: If two adjacent speed limit routes are determined to overlap based on the start and end points of each speed limit route, the speed limit value of the overlapping portion is the minimum of the speed limit values ​​of the two adjacent speed limit routes; The speed limit value of the overlapping portion is the minimum of the speed limit values ​​of the two adjacent speed-limited routes, and further includes: Among two adjacent speed-limited lines, if the distance between the starting point of the next speed-limited line and the front of the train is smaller than the distance between the end point of the previous speed-limited line and the front of the train, the next speed-limited line is not completely covered by the previous speed-limited line; if the distance between the end point of the next speed-limited line and the front of the train is smaller than the distance between the end point of the previous speed-limited line and the front of the train, the next speed-limited line is completely covered by the previous speed-limited line.

2. The method according to claim 1, characterized in that The completion of the speed limit line to form a coherent rectangular form includes: If there is only one speed-limited line that is the MA end point, the distance between the train head and the MA end point is completed to the preset speed limit value; Otherwise, the locations where no speed limit line exists will be filled with the preset speed limit value.

3. The method according to claim 1, characterized in that The method of determining the speed limit value when the train moves forward according to the uniformly processed speed limit line includes: Determine the speed limit points contained in the train body; According to the unified processed speed limit line, a first speed limit value of the vehicle body and a second speed limit value of each speed limit point when the train moves forward are determined; If the vehicle body has not cleared the current locomotive position of the train, the minimum value among the first speed limit value and each second speed limit value is determined as the speed limit value.

4. The method according to claim 3, characterized in that After determining the first speed limit value of the vehicle body and the second speed limit value of each speed limit point when the train moves forward according to the unified processed speed limit line, the method further includes: If the rear end of the train moves ahead of the current front end of the train, the minimum value of the second speed limit values ​​is determined as the speed limit value.

5. An electronic device, characterized in that: include: Memory; processor; as well as computer programs; The computer program is stored in the memory and configured to be executed by the processor to implement the method according to any one of claims 1 to 4.

6. A computer-readable storage medium, characterized in that A computer program is stored thereon; the computer program is executed by a processor to implement the method according to any one of claims 1 to 4.

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