Method and device for determining train automatic driving braking performance margin value

Abstract

The invention discloses a method and a device for determining a train automatic driving braking performance margin value. The method comprises the steps that according to a driving log set corresponding to each preset automatic driving braking performance margin value, the minimum tracking time interval and the minimum operation duration corresponding to each preset automatic driving braking performance margin value are determined; performing weighted summation calculation on the preset automatic driving braking performance margin value and the minimum tracking time interval and the minimum operation duration corresponding to the preset automatic driving braking performance margin value to obtain a weighted score corresponding to the preset automatic driving braking performance margin value; and selecting target automatic driving braking performance margins corresponding to the target main track and the target turn-back track from a plurality of preset automatic driving braking performance margins according to the weighted score corresponding to each preset automatic driving braking performance margin.

Description

Technical Field

[0001] The present application relates to the field of urban rail technology, and in particular to a method and device for determining a braking performance margin value of an automatic train driving system. Background Art

[0002] With the rapid development of urban rail transit systems, urban rail, as a rail transit system connecting the city center and surrounding areas, has gradually become an important mode of transportation to ease urban traffic pressure and improve urban comprehensive transportation efficiency. In order to improve transportation efficiency, urban rail has introduced automatic driving technology. The automatic driving system realizes the automatic driving operation of urban rail trains and the automatic adjustment function during the operation of urban rail trains to ensure that urban rail trains meet the design intervals and operating speeds required for operation.

[0003] The automatic driving braking margin refers to the braking margin reserved by the maximum conventional braking force output under the braking condition compared with the rated maximum conventional braking force during the operation of the urban rail train in the automatic driving mode. Among them, the larger the automatic driving braking margin value, the smaller the absolute value of the conventional braking deceleration output under the braking condition of the automatic driving mode, and the smoother the braking of the urban rail train, but the larger the automatic driving braking margin value, the longer the conventional braking distance, which makes the train tracking time interval and train operation time longer; on the contrary, the smaller the automatic driving braking margin value, the larger the absolute value of the conventional braking deceleration output under the braking condition of the automatic driving mode, and the shorter the conventional braking distance, which makes the train tracking time interval and train operation time shorter, but the smaller the automatic driving braking margin value, the more rapid the braking of the urban rail train, and the more likely it is for the passengers of the urban rail train to have safety problems. Therefore, in order to balance the safety of passengers, the train tracking time interval and train operation time of the urban rail train, it is necessary to determine an optimal automatic driving braking margin value.

[0004] At present, the staff usually manually determines the automatic driving braking margin value of the urban rail train. However, the staff's manual determination of the automatic driving braking margin value of the urban rail train depends entirely on the staff's work experience. When the staff's work experience is insufficient, the staff cannot accurately determine the automatic driving braking margin value of the urban rail train. Summary of the invention

[0005] The embodiments of the present application provide a method and device for determining the automatic driving braking performance margin value of a train, the main purpose of which is to accurately determine the automatic driving braking margin value of an urban railway train.

[0006] In order to solve the above technical problems, the embodiments of the present application provide the following technical solutions:

[0007] In a first aspect, the present application provides a method for determining a braking performance margin value of an automatic train driving system, the method comprising:

[0008] Obtaining a driving log set corresponding to each preset automatic driving braking performance margin value, wherein, for any preset automatic driving braking performance margin value, its corresponding driving log set includes driving logs collected by the on-board system corresponding to the first test urban rail train and the on-board system of the second test urban rail train during a tracking test on a target main track and a target return track included in a target urban rail line by controlling a first test urban rail train and a second test urban rail train based on the automatic driving configuration parameters after the automatic driving configuration parameters are formulated based on the preset automatic driving braking performance margin value;

[0009] According to the driving log set corresponding to each of the preset autonomous driving braking performance margin values, determine the mainline tracking time interval, minimum mainline operation time, return tracking time interval and minimum return operation time corresponding to each of the preset autonomous driving braking performance margin values;

[0010] Determine the minimum tracking time interval and minimum operating time corresponding to each of the preset autonomous driving braking performance margin values ​​according to the mainline tracking time interval, the minimum mainline operating time, the turnaround tracking time interval and the minimum turnaround operating time corresponding to each of the preset autonomous driving braking performance margin values;

[0011] For any preset autonomous driving braking performance margin value, a weighted sum calculation is performed on the preset autonomous driving braking performance margin value and the minimum tracking time interval and the minimum operating time duration corresponding to the preset autonomous driving braking performance margin value to obtain a weighted score corresponding to the preset autonomous driving braking performance margin value;

[0012] According to the weighted score corresponding to each of the preset automatic driving braking performance margin values, the target automatic driving braking performance margin values ​​corresponding to the target mainline track and the target return track are selected from the multiple preset automatic driving braking performance margin values.

[0013] In a second aspect, the present application further provides a device for determining a train automatic driving braking performance margin value, the device comprising:

[0014] an acquisition unit, configured to acquire a driving log set corresponding to each preset automatic driving braking performance margin value, wherein, for any preset automatic driving braking performance margin value, the corresponding driving log set includes driving logs collected by an on-board system corresponding to the first test urban rail train and an on-board system of the second test urban rail train during a tracking test on a target main track and a target return track included in a target urban rail line by controlling a first test urban rail train and a second test urban rail train based on the automatic driving configuration parameters after the automatic driving configuration parameters are formulated based on the preset automatic driving braking performance margin value;

[0015] A first determining unit is used to determine, according to a driving log set corresponding to each of the preset autonomous driving braking performance margin values, a mainline tracking time interval, a minimum mainline operation time duration, a return tracking time interval, and a minimum return operation time duration corresponding to each of the preset autonomous driving braking performance margin values;

[0016] A second determining unit is used to determine the minimum tracking time interval and the minimum operating time duration corresponding to each of the preset automatic driving braking performance margin values ​​according to the mainline tracking time interval, the minimum mainline operating time duration, the return tracking time interval and the minimum return operating time duration corresponding to each of the preset automatic driving braking performance margin values;

[0017] a calculation unit, configured to, for any preset autonomous driving braking performance margin value, perform a weighted sum calculation on the preset autonomous driving braking performance margin value and a minimum tracking time interval and a minimum operating duration corresponding to the preset autonomous driving braking performance margin value, so as to obtain a weighted score corresponding to the preset autonomous driving braking performance margin value;

[0018] A selection unit is used to select the target automatic driving braking performance margin value corresponding to the target mainline track and the target return track from a plurality of preset automatic driving braking performance margin values ​​according to the weighted score corresponding to each of the preset automatic driving braking performance margin values.

[0019] In a third aspect, an embodiment of the present application provides a storage medium, which includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the method for determining the train automatic driving braking performance margin value described in the first aspect.

[0020] In a fourth aspect, an embodiment of the present application provides a device for determining a train automatic driving braking performance margin value, the device comprising a storage medium; and one or more processors, the storage medium being coupled to the processor, the processor being configured to execute program instructions stored in the storage medium; when the program instructions are executed, the method for determining a train automatic driving braking performance margin value described in the first aspect is executed.

[0021] By means of the above technical solution, the technical solution provided by this application has at least the following advantages:

[0022] The present application provides a method and device for determining a train automatic driving braking performance margin value. After the target application program obtains a set of driving logs corresponding to each preset automatic driving braking performance margin value, the present application can determine the mainline tracking time interval, the minimum mainline operation time, the reversal tracking time interval and the minimum reversal operation time corresponding to each preset automatic driving braking performance margin value according to the set of driving logs corresponding to each preset automatic driving braking performance margin value, and determine each preset automatic driving braking performance margin according to the mainline tracking time interval, the minimum mainline operation time, the reversal tracking time interval and the minimum reversal operation time corresponding to each preset automatic driving braking performance margin value. The minimum tracking time interval and the minimum operating time duration corresponding to the preset autonomous driving braking performance margin value are calculated; for any preset autonomous driving braking performance margin value, a weighted summation calculation is performed on the preset autonomous driving braking performance margin value and the minimum tracking time interval and the minimum operating time duration corresponding to the preset autonomous driving braking performance margin value, so as to obtain the weighted score corresponding to the preset autonomous driving braking performance margin value; after calculating the weighted score corresponding to each preset autonomous driving braking performance margin value, the target autonomous driving braking performance margin value corresponding to the target mainline track and the target return track is selected from multiple preset autonomous driving braking performance margin values ​​according to the weighted score corresponding to each preset autonomous driving braking performance margin value. Therefore, in the present application, when the staff needs to determine the optimal automatic driving braking margin value corresponding to the automatic driving system when the urban rail train is running in automatic driving mode on the target mainline track and target return track included in the target urban rail line, the staff does not need to participate again after collecting the driving log set corresponding to each preset automatic driving braking performance margin value. The target application can automatically determine the target automatic driving braking performance margin value corresponding to the target mainline track and the target return track according to the preset rules, and no longer relies on the work experience of the staff, thereby being able to accurately determine the automatic driving braking margin value of the urban rail train.

[0023] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] By reading the detailed description below with reference to the accompanying drawings, the above and other purposes, features and advantages of the exemplary embodiments of the present application will become easy to understand. In the accompanying drawings, several embodiments of the present application are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0025] Figure 1 A flow chart of a method for determining a braking performance margin value of an automatic train driving system provided in an embodiment of the present application is shown;

[0026] Figure 2 A block diagram showing the composition of a device for determining a train automatic driving braking performance margin value provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] The exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0028] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the common meanings understood by technicians in the field to which this application belongs.

[0029] At present, the staff usually manually determines the automatic driving braking margin value of the urban rail train. However, the staff's manual determination of the automatic driving braking margin value of the urban rail train depends entirely on the staff's work experience. When the staff's work experience is insufficient, the staff cannot accurately determine the automatic driving braking margin value of the urban rail train.

[0030] Therefore, in order to accurately determine the automatic driving braking margin value of the urban rail train, the embodiment of the present application provides a method for determining the automatic driving braking performance margin value of the train, such as Figure 1 As shown, the method includes:

[0031] 101. Obtain a driving log set corresponding to each preset autonomous driving braking performance margin value.

[0032] In the embodiment of the present application, the execution subject in each step is a target application running in a target terminal device, wherein the target terminal device may be, but is not limited to, a computer, a tablet computer, a laptop computer, etc.

[0033] In order to determine the optimal automatic driving braking margin value corresponding to the automatic driving system when the urban rail train is running in automatic driving mode on the target mainline track and target return track included in the target urban rail line, the staff needs to pre-set multiple preset automatic driving braking performance margin values, and formulate automatic driving configuration parameters corresponding to each preset automatic driving braking performance margin value, wherein, for any preset automatic driving braking performance margin value, the first test urban rail train and the second test urban rail train are controlled to perform tracking tests on the target mainline track and the target return track based on the automatic driving configuration parameters corresponding to the preset automatic driving braking performance margin value, and during the tracking test, the on-board system corresponding to the first test urban rail train collects the driving log of the first test urban rail train. , the on-board system corresponding to the second test urban rail train collects the driving log of the second test urban rail train, so as to obtain the driving log set corresponding to the preset automatic driving braking performance margin value; after obtaining the driving log set corresponding to each preset automatic driving braking performance margin value, the driving log set corresponding to each preset automatic driving braking performance margin value can be stored in the local storage space of the target terminal device. When the staff needs to determine the optimal automatic driving braking margin value corresponding to the automatic driving system when the urban rail train is running in automatic driving mode on the target mainline track and the target return track included in the target urban rail line, the target application needs to obtain the driving log set corresponding to each preset automatic driving braking performance margin value in the local storage space of the target terminal device.

[0034] Among them, the target urban rail line includes a starting station, a terminal station and multiple intermediate stations.

[0035] Among them, for any preset automatic driving braking performance margin value, the process of controlling the first test urban rail train and the second test urban rail train to perform tracking test on the target main track based on the automatic driving configuration parameters corresponding to the preset automatic driving braking performance margin value is:

[0036] For the first test urban rail train, (1) the automatic driving configuration parameters corresponding to the preset automatic driving braking performance margin value are loaded into the on-board automatic driving system of the first test urban rail train; (2) a full-line forward operation to start plan is issued to the first test urban rail train, and the plan is compact so that the first test urban rail train can run at the highest speed in the automatic driving mode; (3) the first test urban rail train is added to the target main line track of the departure station, and the on-board system of the first test urban rail train is controlled to start recording the driving log; (4) the first test urban rail train is manually controlled to run out of the station, and when the first test urban rail train meets the preset conditions corresponding to entering the automatic driving mode, the first test urban rail train is controlled to enter the automatic driving mode; (5) the first test urban rail train enters the next intermediate station and stops steadily and accurately, and after the departure route is triggered, the automatic driving button is continued to be pressed to run to the next intermediate station; (6) step (5) is repeated until the first test urban rail train enters the terminal station and stops steadily and accurately, and the driving log is saved to obtain the first main line driving log.

[0037] For the second test urban rail train, (1) the automatic driving configuration parameters corresponding to the preset automatic driving braking performance margin value are loaded into the on-board automatic driving system of the second test urban rail train; (2) a full-line forward operation to start plan is issued to the second test urban rail train, and the plan is compact so that the second test urban rail train can run at the highest speed in the automatic driving mode. In the operation diagram interface of the centralized dispatching system (CTC), the second test urban rail train is set to cancel the automatic contact on the entire line, so that the second test urban rail train stops outside each station; (3) the second test urban rail train is added to the target mainline track of the departure station, and the on-board system of the second test urban rail train is controlled to start recording the driving log; (4) the second test The intercity railway train leaves the station. When the second test intercity railway train meets the preset conditions corresponding to entering the automatic driving mode, the second test intercity railway train is controlled to enter the automatic driving mode; (5) the second test intercity railway train is controlled to automatically stop outside the station entrance signal of the next intermediate station. After the train stops steadily, the station entrance route of the intermediate station is manually opened, and the automatic driving button is pressed to allow the second test intercity railway train to automatically enter the station; (6) the second test intercity railway train stops steadily and accurately at the intermediate station, and after the departure route is triggered, the automatic driving button is continued to be pressed to run outside the station entrance signal of the next intermediate station; (7) steps (5)-(6) are repeated until the second test intercity railway train arrives at the terminal station, and the driving log is saved to obtain the second main line driving log.

[0038] Among them, for any preset automatic driving braking performance margin value, the process of controlling the first test urban rail train and the second test urban rail train to perform tracking test on the target return track based on the automatic driving configuration parameters corresponding to the preset automatic driving braking performance margin value is:

[0039] For the first test intercity railway train, (1) the automatic driving configuration parameters corresponding to the preset automatic driving braking performance margin value are loaded into the onboard automatic driving system of the first test intercity railway train; (2) the first test intercity railway train is issued with a plan for picking up the train at the turnaround station, a plan for turning back, and a plan for departure after turning back, and plans to connect to the target turnaround track. The plan is compact, so that the first test intercity railway train can run at the highest speed in the automatic driving mode; (3) the first test intercity railway train is added to the target mainline track of the last intermediate station before the terminal station, and the onboard system of the first test intercity railway train is controlled to start recording the driving day. (4) Control the first test urban rail train to run out of the station in automatic driving mode; (5) Control the first test urban rail train to enter the target reversing track of the terminal station and stop steadily and accurately; (6) After the reversal, operate manually in partial mode, and after meeting the full transfer conditions, operate in automatic driving mode and drive out of the terminal station; (7) The first test urban rail train enters the next intermediate station and stops steadily and accurately. After triggering the departure route, continue to press the automatic driving button to run to the next intermediate station; (8) Repeat step (7) until the first test urban rail train enters the starting station and stops steadily and accurately, save the driving log, and obtain the first reversing driving log.

[0040] For the second test urban rail train, (1) the automatic driving configuration parameters corresponding to the preset automatic driving braking performance margin value are loaded into the on-board automatic driving system of the second test urban rail train; (2) the second test urban rail train is issued with a plan for picking up the train at the reversing station, a plan for reversing, and a plan for departure after reversing, and the plan is to connect to the target reversing track. The plan is compact, so that the second test urban rail train can run at the highest speed in the automatic driving mode, and the second test urban rail train is set to cancel the automatic contact on the whole line in the operation diagram interface of the centralized dispatching system (CTC), so that the second test urban rail train stops outside each station; (3) the second test urban rail train is added to the target main line track of the last intermediate station before the terminal station, and the on-board system of the second test urban rail train is controlled to start recording the driving log; (4) the second test urban rail train is controlled to run out of the station in the automatic driving mode; (5) the second test urban rail train is controlled to enter the terminal station The train stops automatically outside the signal, and after it stops steadily, the entrance route to the intermediate station is manually opened, and the automatic driving button is pressed to allow the second test urban rail train to automatically run into the target reversing track of the terminal station and stop steadily and accurately; (6) After the reversal, it is manually operated in partial mode. After the conditions for full transfer are met, it is operated in automatic driving mode, exits the terminal station, and runs outside the entrance signal of the next intermediate station. (7) The second test urban rail train is controlled to stop automatically outside the entrance signal of the next intermediate station, and after it stops steadily, the entrance route to the intermediate station is manually opened, and the automatic driving button is pressed to allow the second test urban rail train to automatically run into the station; (8) The second test urban rail train stops steadily and accurately at the intermediate station, and after the departure route is triggered, the automatic driving button is continued to be pressed to run outside the entrance signal of the next intermediate station; (9) Steps (7) to (8) are repeated until the second test urban rail train arrives at the departure station, and the driving log is saved to obtain the second reversing driving log.

[0041] 102. Based on the driving log set corresponding to each preset autonomous driving braking performance margin value, determine the mainline tracking time interval, minimum mainline operation time, turnaround tracking time interval and minimum turnaround operation time corresponding to each preset autonomous driving braking performance margin value.

[0042] After the target application obtains the driving log set corresponding to each preset autonomous driving braking performance margin value, it is necessary to determine the mainline tracking time interval, minimum mainline operation time, turnaround tracking time interval and minimum turnaround operation time corresponding to each preset autonomous driving braking performance margin value according to the driving log set corresponding to each preset autonomous driving braking performance margin value, that is, for any preset autonomous driving braking performance margin value, the mainline tracking time interval, minimum mainline operation time, turnaround tracking time interval and minimum turnaround operation time corresponding to the preset autonomous driving braking performance margin value are determined according to the first mainline driving log, the first turnaround driving log, the second mainline driving log and the second turnaround driving log corresponding to the preset autonomous driving braking performance margin value.

[0043] 103. Determine the minimum tracking time interval and minimum operating time corresponding to each preset autonomous driving braking performance margin value based on the mainline tracking time interval, minimum mainline operating time, turnaround tracking time interval and minimum turnaround operating time corresponding to each preset autonomous driving braking performance margin value.

[0044] After the target application determines the mainline tracking time interval, minimum mainline operating time, turnaround tracking time interval and minimum turnaround operating time corresponding to each preset autonomous driving braking performance margin value, it is necessary to determine the minimum tracking time interval and minimum operating time corresponding to each preset autonomous driving braking performance margin value based on the mainline tracking time interval, minimum mainline operating time, turnaround tracking time interval and minimum turnaround operating time corresponding to each preset autonomous driving braking performance margin value. That is, for any preset autonomous driving braking performance margin value, the larger value of the mainline tracking time interval and the turnaround tracking time interval corresponding to the preset autonomous driving braking performance margin value is determined as the minimum tracking time interval corresponding to the preset autonomous driving braking performance margin value, and the sum of the minimum mainline operating time and the minimum turnaround operating time corresponding to the preset autonomous driving braking performance margin value is determined as the minimum operating time corresponding to the preset autonomous driving braking performance margin value.

[0045] 104. For any preset autonomous driving braking performance margin value, a weighted summation calculation is performed on the preset autonomous driving braking performance margin value and the minimum tracking time interval and minimum operating time corresponding to the preset autonomous driving braking performance margin value to obtain a weighted score corresponding to the preset autonomous driving braking performance margin value.

[0046] After the target application determines the minimum tracking time interval and minimum operating time corresponding to each preset autonomous driving braking performance margin value, it is necessary to calculate the score corresponding to each preset autonomous driving braking performance margin value based on multiple preset autonomous driving braking performance margin values ​​and the minimum tracking time interval and minimum operating time corresponding to each preset autonomous driving braking performance margin value. That is, for any preset autonomous driving braking performance margin value, a weighted sum calculation is performed on the preset autonomous driving braking performance margin value and the minimum tracking time interval and minimum operating time corresponding to the preset autonomous driving braking performance margin value, so as to obtain the weighted score corresponding to the preset autonomous driving braking performance margin value.

[0047] 105. Select the target automatic driving braking performance margin value corresponding to the target mainline track and the target return track from multiple preset automatic driving braking performance margin values ​​according to the weighted score corresponding to each preset automatic driving braking performance margin value.

[0048] After the target application calculates the weighted score corresponding to each preset autonomous driving braking performance margin value, it is necessary to select the target autonomous driving braking performance margin value corresponding to the target mainline track and the target turnaround track from multiple preset autonomous driving braking performance margin values ​​according to the weighted score corresponding to each preset autonomous driving braking performance margin value, that is, to determine the preset autonomous driving braking performance margin value with the highest weighted score among the multiple preset autonomous driving braking performance margin values ​​as the target autonomous driving braking performance margin value corresponding to the target mainline track and the target turnaround track.

[0049] The embodiment of the present application provides a method for determining a train automatic driving braking performance margin value. The embodiment of the present application can, after the target application obtains a set of driving logs corresponding to each preset automatic driving braking performance margin value, determine the mainline tracking time interval, minimum mainline operation time, return tracking time interval and minimum return operation time corresponding to each preset automatic driving braking performance margin value according to the set of driving logs corresponding to each preset automatic driving braking performance margin value, and determine each preset automatic driving braking performance margin value according to the mainline tracking time interval, minimum mainline operation time, return tracking time interval and minimum return operation time corresponding to each preset automatic driving braking performance margin value. The minimum tracking time interval and the minimum operating time corresponding to the margin value; for any preset autonomous driving braking performance margin value, a weighted sum calculation is performed on the preset autonomous driving braking performance margin value and the minimum tracking time interval and the minimum operating time corresponding to the preset autonomous driving braking performance margin value, so as to obtain the weighted score corresponding to the preset autonomous driving braking performance margin value; after calculating the weighted score corresponding to each preset autonomous driving braking performance margin value, the target autonomous driving braking performance margin value corresponding to the target mainline track and the target return track is selected from multiple preset autonomous driving braking performance margin values ​​according to the weighted score corresponding to each preset autonomous driving braking performance margin value. Therefore, in an embodiment of the present application, when the staff needs to determine the optimal automatic driving braking margin value corresponding to the automatic driving system when the urban rail train is running in automatic driving mode on the target mainline track and target return track included in the target urban rail line, the staff does not need to participate again after collecting and obtaining the driving log set corresponding to each preset automatic driving braking performance margin value. The target application can automatically determine the target automatic driving braking performance margin value corresponding to the target mainline track and the target return track according to the preset rules, and no longer relies on the work experience of the staff, thereby being able to accurately determine the automatic driving braking margin value of the urban rail train.

[0050] Furthermore, in an embodiment of the present application, for any preset automatic driving braking performance margin value, its corresponding driving log set includes a first mainline driving log and a first return driving log corresponding to the first test urban rail train and a second mainline driving log and a second return driving log corresponding to the second test urban rail train, wherein, for any driving log, the driving log records the time when the test urban rail train crosses each kilometer mark and the speed change of the test urban rail train; according to the driving log set corresponding to each preset automatic driving braking performance margin value, determine the driving log corresponding to each preset automatic driving braking performance margin value. The specific process of determining the mainline tracking time interval, the minimum mainline operation time, the turnaround tracking time interval and the minimum turnaround operation time is as follows: for any preset autonomous driving braking performance margin value, (1) according to the first mainline driving log and the second mainline driving log corresponding to the preset autonomous driving braking performance margin value, determine the mainline tracking time interval and the minimum mainline operation time corresponding to the preset autonomous driving braking performance margin value; (2) according to the first turnaround driving log and the second turnaround driving log corresponding to the preset autonomous driving braking performance margin value, determine the turnaround tracking time interval and the minimum turnaround operation time corresponding to the preset autonomous driving braking performance margin value.

[0051] Among them, according to the first main line driving log and the second main line driving log corresponding to the preset automatic driving braking performance margin value, the specific process of determining the main line tracking time interval and the minimum main line operation time corresponding to the preset automatic driving braking performance margin value is as follows: (1) the target urban rail line including multiple intermediate stations and terminal stations is regarded as multiple other stations, that is, the target urban rail line includes a starting station and multiple other stations; (2) the kilometer mark of the exit signal corresponding to each other station is searched in the line engineering data table; (3) according to the kilometer mark of the exit signal corresponding to each other station and the length and running direction of the first test urban rail train, the kilometer mark of each other station is determined. The kilometer mark of the clearing track corresponding to other stations, wherein, when the first test urban rail train runs in the direction of increasing kilometer mark, for any other station, the kilometer mark of the clearing track corresponding to the other station = the kilometer mark of the exit signal corresponding to the other station + the length of the train corresponding to the first test urban rail train; when the first test urban rail train runs in the direction of decreasing kilometer mark, for any other station, the kilometer mark of the clearing track corresponding to the other station = the kilometer mark of the exit signal corresponding to the other station - the length of the train corresponding to the first test urban rail train; (4) according to the kilometer mark of the clearing track corresponding to each other station, search for each in the first main line driving log. The train clearing times corresponding to other stations, wherein, for any other station, the time when the first test urban railway train passes the clearing track kilometer mark corresponding to the other station is the train clearing track time corresponding to the other station; (5) Find the train start time and train stop time corresponding to each other station in the first main line driving log, wherein, for any other station, the time when the speed of the first test urban railway train changes from 0 to non-0 after stopping at the track of the other station is the train start time corresponding to the other station, and the time when the speed of the first test urban railway train changes to 0 in the track of the other station and applies the maximum common brake The time is the train stop time corresponding to the other station; (8) searching the second main line driving log for the corresponding off-station deceleration kilometer mark of each other station, wherein, for any other station, the kilometer mark at which the second test urban rail train starts to decelerate outside the other station is the off-station deceleration kilometer mark corresponding to the other station; (9) searching the train deceleration time corresponding to each other station in the first main line driving log according to the off-station deceleration kilometer mark corresponding to each other station, wherein, for any other station, the time when the first test urban rail train passes the off-station deceleration kilometer mark corresponding to the other station is the train deceleration time corresponding to the other station;(10) According to the track clearing time, train moving time, train stopping time and train deceleration time corresponding to each other station, the running time, track clearing time and station parking time corresponding to each other station are calculated, that is, for any other station, the train stopping time corresponding to the other station is subtracted from the train moving time corresponding to the previous other station to obtain the running time corresponding to the other station, the track clearing time corresponding to the other station is subtracted from the moving time corresponding to the other station to obtain the track clearing time corresponding to the other station, and the train stopping time corresponding to the other station is subtracted from the train deceleration time corresponding to the other station to obtain the station parking time corresponding to the other station; (11) According to the track clearing time, station parking time, station parking time, clearing delay time and route handling time corresponding to each other station, the tracking time interval corresponding to each other station is calculated, and the maximum value of the multiple tracking time intervals is determined as the mainline tracking time interval corresponding to the preset automatic driving braking performance margin value, that is, for any other train For each station, the track clearing time, station stop time, station stop time, clearing delay time and route handling time corresponding to the other station are summed up to obtain the tracking time interval corresponding to the other station, wherein the station stop time, clearing delay time and route handling time corresponding to the other station are pre-set by the staff according to the actual situation corresponding to the other station, the station stop time corresponding to the other station is used to indicate the length of time the test urban rail train stays at the other station, the clearing delay time corresponding to the other station is used to indicate the technical delay time for the test urban rail train to clear the route at the other station, and the route handling time corresponding to the other station is used to indicate the time required for the test urban rail train to handle the route at the other station; (12) according to the running time and station stop time corresponding to each other station, the minimum mainline operation time corresponding to the preset automatic driving braking performance margin value is calculated, that is, the running time and station stop time corresponding to each other station are summed up to obtain the minimum mainline operation time corresponding to the preset automatic driving braking performance margin value. ;

[0052] Among them, according to the first turnaround driving log and the second turnaround driving log corresponding to the preset automatic driving braking performance margin value, the specific process of determining the turnaround tracking time interval and the minimum turnaround operation time corresponding to the preset automatic driving braking performance margin value is:

[0053] (1) The target urban rail line contains multiple intermediate stations and the starting station as multiple other stations, that is, the target urban rail line contains a terminal station and multiple other stations; (2) The kilometer mark of the outer insulation section of the exit crossover corresponding to the terminal station and the kilometer mark of the exit signal corresponding to each other station are found in the line engineering data table; (3) The kilometer mark of the exit crossover corresponding to the terminal station is determined according to the kilometer mark of the outer insulation section of the exit crossover corresponding to the terminal station and the length and running direction of the first test urban rail train, wherein, when the first test urban rail train runs in the direction of increasing kilometer marks, the kilometer mark of the exit crossover corresponding to the terminal station = the kilometer mark of the outer insulation section of the exit crossover corresponding to the terminal station + the length of the first test urban rail train; when the first test urban rail train runs in the direction of decreasing kilometer marks, the kilometer mark of the exit crossover corresponding to the terminal station = the kilometer mark of the outer insulation section of the exit crossover corresponding to the terminal station - the length of the first test urban rail train The corresponding train length; (4) according to the clearing turnaround station crossing line kilometer mark corresponding to the terminal station, find the clearing cross-over time corresponding to the terminal station in the first turnaround driving log, wherein the time when the first test urban rail train crosses the clearing turnaround station crossing line kilometer mark corresponding to the terminal station is the clearing cross-over time corresponding to the terminal station; (5) in the first turnaround driving log, find the train start time and train stop time corresponding to the terminal station, as well as the train start time and train stop time corresponding to each other station; (6) in the second turnaround driving log, find the station outside deceleration kilometer mark corresponding to the terminal station, wherein the kilometer mark at which the second test urban rail train starts to decelerate outside the terminal station is the station outside deceleration kilometer mark corresponding to the terminal station; (7) according to the station outside deceleration kilometer mark corresponding to the terminal station, find the train deceleration time corresponding to the terminal station in the first turnaround driving log, wherein the time when the first test urban rail train crosses the station outside deceleration kilometer mark corresponding to the terminal station is the train deceleration time corresponding to the terminal station;(8) According to the clearing crossing time, train start time, train stop time and train deceleration time corresponding to the terminal station, the return tracking time interval corresponding to the preset automatic driving braking performance margin value is calculated, that is, first, the clearing crossing time corresponding to the terminal station is subtracted from the train start time corresponding to the terminal station to obtain the crossing crossing clearing time corresponding to the terminal station, and then the train stop time corresponding to the terminal station is subtracted from the train deceleration time corresponding to the terminal station to obtain the station entry parking time corresponding to the terminal station. Finally, the crossing crossing clearing time, station entry parking time, in-situ return time, clearing delay time and route handling time corresponding to the terminal station are summed up and calculated to obtain the return tracking time interval corresponding to the preset automatic driving braking performance margin value, wherein the in-situ return time, clearing delay time and route handling time corresponding to the terminal station are pre-set by the staff according to the actual situation of the terminal station, and the in-situ return time corresponding to the terminal station is used for Indicates the sum of the time consumed by automatic return at the original location and the time for boarding and alighting passengers. The corresponding clearance delay time of the terminal station is used to indicate the technical delay time for the test urban rail train to clear the route at the terminal station. The corresponding route handling time of the terminal station is used to indicate the time required for the test urban rail train to handle the route at the terminal station. (9) First, according to the train start time and train stop time corresponding to each other station, calculate the operation time corresponding to each other station, that is, for any other station, subtract the train start time corresponding to the other station from the train start time corresponding to the previous other station to obtain the operation time corresponding to the other station, and then calculate the minimum return operation time corresponding to the preset automatic driving braking performance margin value according to the operation time and stop time corresponding to each other station, that is, sum the operation time and stop time corresponding to each other station to obtain the minimum mainline operation time corresponding to the preset automatic driving braking performance margin value. ;

[0054] Further, in the embodiment of the present application, for any preset autonomous driving braking performance margin value, a weighted sum calculation is performed on the preset autonomous driving braking performance margin value and the minimum tracking time interval and the minimum operating time corresponding to the preset autonomous driving braking performance margin value to obtain the weighted score corresponding to the preset autonomous driving braking performance margin value. The specific process is as follows: first, a first preset weight value corresponding to the preset autonomous driving braking performance margin value, a second preset weight value corresponding to the minimum tracking time interval, and a third preset weight value corresponding to the minimum operating time are obtained, wherein the sum of the first preset weight value, the second preset weight value, and the third preset weight value is equal to 1; the preset autonomous driving braking performance margin value, the minimum tracking time interval, the minimum operating time, the first preset weight value, the second preset weight value, and the third preset weight value are substituted into the preset formula to calculate the weighted score corresponding to the preset autonomous driving braking performance margin value, wherein the preset formula is specifically:

[0055] Y=a1*[(t1'-t1) / t1']+a2*[(t2'-t2) / t2']+a3*M

[0056] Among them, Y is the weighted score corresponding to the preset autonomous driving braking performance margin value, a1 is the third preset weight value, t1' is the preset minimum operating time of engineering requirements, t1 is the minimum operating time, a2 is the second preset weight value, t2' is the preset minimum tracking time interval of engineering requirements, t2 is the minimum tracking time interval, a3 is the first preset weight value, and M is the preset autonomous driving braking performance margin value.

[0057] It should be noted that when the minimum tracking time interval corresponding to the preset autonomous driving braking performance margin value is greater than the preset minimum tracking time interval of the engineering requirement, or the minimum operating time corresponding to the preset autonomous driving braking performance margin value is greater than the preset minimum operating time of the engineering requirement, the weighted score corresponding to the preset autonomous driving braking performance margin value can be directly set to 0 without any calculation.

[0058] Furthermore, as a response to the above Figure 1 In order to realize the method shown in the figure, another embodiment of the present application also provides a device for determining the braking performance margin value of the train automatic driving. This device embodiment corresponds to the aforementioned method embodiment. For ease of reading, this device embodiment will no longer repeat the details of the aforementioned method embodiment one by one, but it should be clear that the device in this embodiment can correspond to all the contents of the aforementioned method embodiment. This device is used to accurately determine the automatic driving braking margin value of the urban rail train, specifically as follows Figure 2 As shown, the device comprises:

[0059] An acquisition unit 21 is used to acquire a driving log set corresponding to each preset automatic driving braking performance margin value, wherein, for any preset automatic driving braking performance margin value, its corresponding driving log set includes driving logs collected by the on-board system corresponding to the first test urban rail train and the on-board system of the second test urban rail train during a tracking test on a target main track and a target return track included in a target urban rail line by controlling a first test urban rail train and a second test urban rail train based on the automatic driving configuration parameters after the automatic driving configuration parameters are formulated based on the preset automatic driving braking performance margin value;

[0060] The first determining unit 22 is used to determine the mainline tracking time interval, the minimum mainline operation time, the return tracking time interval and the minimum return operation time corresponding to each of the preset automatic driving braking performance margin values ​​acquired by the acquiring unit 21 according to the driving log set corresponding to each of the preset automatic driving braking performance margin values ​​acquired by the acquiring unit 21;

[0061] The second determining unit 23 is used to determine the minimum tracking time interval and the minimum operation time duration corresponding to each of the preset automatic driving braking performance margin values ​​determined by the first determining unit 22, according to the mainline tracking time interval, the minimum mainline operation time duration, the return tracking time interval and the minimum return operation time duration corresponding to each of the preset automatic driving braking performance margin values;

[0062] a calculation unit 24, configured to, for any preset autonomous driving braking performance margin value, perform a weighted sum calculation on the preset autonomous driving braking performance margin value and the minimum tracking time interval and the minimum operating time duration corresponding to the preset autonomous driving braking performance margin value, so as to obtain a weighted score corresponding to the preset autonomous driving braking performance margin value;

[0063] The selection unit 25 is used to select the target automatic driving braking performance margin value corresponding to the target mainline track and the target return track from multiple preset automatic driving braking performance margin values ​​according to the weighted score corresponding to each preset automatic driving braking performance margin value.

[0064] Further, such as Figure 2 As shown, for any preset automatic driving braking performance margin value, its corresponding driving log set includes the first main line driving log and the first return driving log corresponding to the first test urban rail train and the second main line driving log and the second return driving log corresponding to the second test urban rail train; the first determination unit 22 is specifically used to: for any preset automatic driving braking performance margin value, determine the main line tracking time interval and the minimum main line operation time duration corresponding to the preset automatic driving braking performance margin value according to the first main line driving log and the second main line driving log corresponding to the preset automatic driving braking performance margin value; determine the return tracking time interval and the minimum return operation time duration corresponding to the preset automatic driving braking performance margin value according to the first return driving log and the second return driving log corresponding to the preset automatic driving braking performance margin value.

[0065] Further, such as Figure 2As shown, the target urban rail line includes a departure station and multiple other stations; the first determination unit 22 is specifically used to: search the line engineering data table for the kilometer mark of the exit signal corresponding to each of the other stations; determine the kilometer mark of the track-clearing kilometer mark corresponding to each of the other stations according to the kilometer mark of the exit signal corresponding to each of the other stations and the length and running direction of the first test urban rail train; search the first main line driving log for the train track-clearing time corresponding to each of the other stations according to the kilometer mark of the track-clearing kilometer mark corresponding to each of the other stations; search the first main line driving log for the train start time and train stop time corresponding to each of the other stations; search the second main line driving log for the station deceleration kilometer mark corresponding to each of the other stations; and determine the kilometer mark of the track-clearing kilometer mark corresponding to each of the other stations according to the kilometer mark of the track-clearing kilometer mark corresponding to each of the other stations. The off-station deceleration kilometer mark searches for the train deceleration time corresponding to each of the other stations in the first main line driving log; calculates the operating time, track clearing time and station parking time corresponding to each of the other stations according to the train clearing time, train moving time, train stopping time and train deceleration time corresponding to each of the other stations; calculates the tracking time interval corresponding to each of the other stations according to the track clearing time, station parking time, station stop time, clearing delay time and route handling time corresponding to each of the other stations, and determines the maximum value of multiple tracking time intervals as the main line tracking time interval corresponding to the preset automatic driving braking performance margin value; calculates the minimum main line operation time corresponding to the preset automatic driving braking performance margin value according to the operating time and station stop time corresponding to each of the other stations.

[0066] Further, such as Figure 2 As shown, the first determination unit 22 is specifically used for: for any other station, subtracting the train moving train time corresponding to the previous other station from the train stopping time corresponding to the other station to obtain the running time corresponding to the other station; subtracting the moving train time corresponding to the other station from the track clearing time corresponding to the other station to obtain the track clearing time corresponding to the other station; subtracting the train deceleration time corresponding to the other station from the train stopping time corresponding to the other station to obtain the station stopping time corresponding to the other station.

[0067] Further, such as Figure 2As shown, the target urban rail line includes a terminal station and multiple other stations; the first determination unit 22 is specifically used to: search the line engineering data table for the exit crossover outer insulation section kilometer mark corresponding to the terminal station and the exit signal kilometer mark corresponding to each of the other stations; determine the exit-clearing turnaround station crossover kilometer mark corresponding to the terminal station according to the exit crossover outer insulation section kilometer mark corresponding to the terminal station and the train length and running direction corresponding to the first test urban rail train; search the first turnaround driving log for the exit-clearing crossover time corresponding to the terminal station according to the exit-clearing turnaround station crossover kilometer mark corresponding to the terminal station; search the first turnaround driving log for the train start time and train stop time corresponding to the terminal station, as well as each of the other the train start timetable and train stop timetable corresponding to the other stations; searching the off-station deceleration kilometer mark corresponding to the terminal station in the second turnaround driving log; searching the train deceleration timetable corresponding to the terminal station in the first turnaround driving log according to the off-station deceleration kilometer mark corresponding to the terminal station; calculating the turnaround tracking time interval corresponding to the preset automatic driving braking performance margin value according to the clearing crossing timetable, train start timetable, train stop timetable and train deceleration time corresponding to the terminal station; calculating the operating time corresponding to each of the other stations according to the train start timetable and train stop time corresponding to each of the other stations, and calculating the minimum turnaround operation time corresponding to the preset automatic driving braking performance margin value according to the operating timetable and stop time corresponding to each of the other stations.

[0068] Further, such as Figure 2 As shown, the first determination unit 22 is specifically used to: subtract the EMU time corresponding to the terminal station from the clearing cross-over time corresponding to the terminal station to obtain the cross-over clearing time corresponding to the terminal station; subtract the train deceleration time corresponding to the terminal station from the train stop time corresponding to the terminal station to obtain the station entry parking time corresponding to the terminal station; calculate the turnaround tracking time interval corresponding to the preset automatic driving braking performance margin value according to the cross-over clearing time, station entry parking time, on-site return time, clearing delay time and route handling time corresponding to the terminal station.

[0069] Further, such as Figure 2As shown, the calculation unit 24 is specifically used to: obtain a first preset weight value corresponding to the preset automatic driving braking performance margin value, a second preset weight value corresponding to the minimum tracking time interval, and a third preset weight value corresponding to the minimum operating time; substitute the preset automatic driving braking performance margin value, the minimum tracking time interval, the minimum operating time, the first preset weight value, the second preset weight value, and the third preset weight value into a preset formula to calculate a weighted score corresponding to the preset automatic driving braking performance margin value, wherein the preset formula is specifically:

[0070] Y=a1*[(t1'-t1) / t1']+a2*[(t2'-t2) / t2']+a3*M

[0071] Among them, Y is the weighted score corresponding to the preset automatic driving braking performance margin value, a1 is the third preset weight value, t1' is the preset minimum operating time of engineering requirements, t1 is the minimum operating time, a2 is the second preset weight value, t2' is the preset minimum tracking time interval of engineering requirements, t2 is the minimum tracking time interval, a3 is the first preset weight value, and M is the preset automatic driving braking performance margin value.

[0072] The embodiment of the present application provides a method and device for determining a train automatic driving braking performance margin value. The embodiment of the present application can, after the target application obtains a driving log set corresponding to each preset automatic driving braking performance margin value, determine the mainline tracking time interval, minimum mainline operation time, return tracking time interval and minimum return operation time corresponding to each preset automatic driving braking performance margin value according to the driving log set corresponding to each preset automatic driving braking performance margin value, and determine each preset automatic driving braking performance margin value according to the mainline tracking time interval, minimum mainline operation time, return tracking time interval and minimum return operation time corresponding to each preset automatic driving braking performance margin value. The method comprises the following steps: determining the minimum tracking time interval and the minimum operating time corresponding to the preset automatic driving braking performance margin value; for any preset automatic driving braking performance margin value, performing a weighted sum calculation on the preset automatic driving braking performance margin value and the minimum tracking time interval and the minimum operating time corresponding to the preset automatic driving braking performance margin value, so as to obtain the weighted score corresponding to the preset automatic driving braking performance margin value; after calculating the weighted score corresponding to each preset automatic driving braking performance margin value, selecting the target automatic driving braking performance margin value corresponding to the target mainline track and the target return track from multiple preset automatic driving braking performance margin values ​​according to the weighted score corresponding to each preset automatic driving braking performance margin value. Therefore, in an embodiment of the present application, when the staff needs to determine the optimal automatic driving braking margin value corresponding to the automatic driving system when the urban rail train is running in automatic driving mode on the target mainline track and target return track included in the target urban rail line, the staff does not need to participate again after collecting and obtaining the driving log set corresponding to each preset automatic driving braking performance margin value. The target application can automatically determine the target automatic driving braking performance margin value corresponding to the target mainline track and the target return track according to the preset rules, and no longer relies on the work experience of the staff, thereby being able to accurately determine the automatic driving braking margin value of the urban rail train.

[0073] An embodiment of the present application provides a storage medium, which includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the above-mentioned method for determining the train automatic driving braking performance margin value.

[0074] The storage medium may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM, and the memory includes at least one storage chip.

[0075] An embodiment of the present application also provides a device for determining a train automatic driving braking performance margin value, the device comprising a storage medium; and one or more processors, the storage medium being coupled to the processor, the processor being configured to execute program instructions stored in the storage medium; when the program instructions are executed, the method for determining a train automatic driving braking performance margin value described above is executed.

[0076] The embodiment of the present application provides a device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, the following steps are implemented:

[0077] Obtaining a driving log set corresponding to each preset automatic driving braking performance margin value, wherein, for any preset automatic driving braking performance margin value, its corresponding driving log set includes driving logs collected by the on-board system corresponding to the first test urban rail train and the on-board system of the second test urban rail train during a tracking test on a target main track and a target return track included in a target urban rail line by controlling a first test urban rail train and a second test urban rail train based on the automatic driving configuration parameters after the automatic driving configuration parameters are formulated based on the preset automatic driving braking performance margin value;

[0078] According to the driving log set corresponding to each of the preset autonomous driving braking performance margin values, determine the mainline tracking time interval, minimum mainline operation time, return tracking time interval and minimum return operation time corresponding to each of the preset autonomous driving braking performance margin values;

[0079] Determine the minimum tracking time interval and minimum operating time corresponding to each of the preset autonomous driving braking performance margin values ​​according to the mainline tracking time interval, the minimum mainline operating time, the turnaround tracking time interval and the minimum turnaround operating time corresponding to each of the preset autonomous driving braking performance margin values;

[0080] For any preset autonomous driving braking performance margin value, a weighted sum calculation is performed on the preset autonomous driving braking performance margin value and the minimum tracking time interval and the minimum operating time duration corresponding to the preset autonomous driving braking performance margin value to obtain a weighted score corresponding to the preset autonomous driving braking performance margin value;

[0081] According to the weighted score corresponding to each of the preset automatic driving braking performance margin values, the target automatic driving braking performance margin values ​​corresponding to the target mainline track and the target return track are selected from the multiple preset automatic driving braking performance margin values.

[0082] Further, for any preset automatic driving braking performance margin value, its corresponding driving log set includes a first mainline driving log and a first return driving log corresponding to the first test urban rail train and a second mainline driving log and a second return driving log corresponding to the second test urban rail train; the mainline tracking time interval, the minimum mainline operation time, the return tracking time interval and the minimum return operation time corresponding to each preset automatic driving braking performance margin value are determined according to the driving log set corresponding to each of the preset automatic driving braking performance margin values, including:

[0083] For any preset autonomous driving braking performance margin value, determining the mainline tracking time interval and the minimum mainline operation time corresponding to the preset autonomous driving braking performance margin value according to the first mainline driving log and the second mainline driving log corresponding to the preset autonomous driving braking performance margin value;

[0084] According to the first turnaround driving log and the second turnaround driving log corresponding to the preset automatic driving braking performance margin value, the turnaround tracking time interval and the minimum turnaround operation time duration corresponding to the preset automatic driving braking performance margin value are determined.

[0085] Furthermore, the target urban rail line includes a departure station and a plurality of other stations; the determining the mainline tracking time interval and the minimum mainline operation time corresponding to the preset automatic driving braking performance margin value according to the first mainline driving log and the second mainline driving log corresponding to the preset automatic driving braking performance margin value includes:

[0086] Find the kilometer mark of the exit signal corresponding to each of the other stations in the line engineering data table;

[0087] Determine the clearing track kilometer mark corresponding to each of the other stations according to the kilometer mark of the exit signal corresponding to each of the other stations and the length and running direction of the first test urban rail train;

[0088] According to the track clearing kilometer mark corresponding to each of the other stations, searching the first main line driving log for the track clearing time of the train corresponding to each of the other stations;

[0089] Searching the first main line driving log for the train departure time and train stop time corresponding to each of the other stations;

[0090] Searching the off-station deceleration kilometer mark corresponding to each of the other stations in the second main line driving log;

[0091] According to the off-station deceleration kilometer mark corresponding to each of the other stations, searching the first main line driving log for the train deceleration time corresponding to each of the other stations;

[0092] Calculate the running time, track clearing time and station stop time corresponding to each of the other stations according to the train clearing time, train moving time, train stop time and train deceleration time corresponding to each of the other stations;

[0093] Calculate the tracking time interval corresponding to each of the other stations according to the track clearing time, station parking time, station stop time, clearing delay time and route handling time corresponding to each of the other stations, and determine the maximum value of the multiple tracking time intervals as the mainline tracking time interval corresponding to the preset automatic driving braking performance margin value;

[0094] According to the operating time and stop time corresponding to each of the other stations, the minimum mainline operating time corresponding to the preset automatic driving braking performance margin value is calculated.

[0095] Further, the calculation of the running time, track clearing time and station stop time corresponding to each of the other stations according to the train clearing time, train moving time, train stop time and train deceleration time corresponding to each of the other stations includes:

[0096] For any other station, the train stop time corresponding to the other station is subtracted from the train start time corresponding to the previous other station to obtain the running time corresponding to the other station;

[0097] Subtract the train clearing time corresponding to the other station from the train clearing time corresponding to the other station to obtain the track clearing time corresponding to the other station;

[0098] The train stopping time corresponding to the other stations is subtracted from the train deceleration time corresponding to the other stations to obtain the train stopping time corresponding to the other stations.

[0099] Furthermore, the target urban rail line includes a terminal station and a plurality of other stations; the determining the turnaround tracking time interval and the minimum turnaround operation time corresponding to the preset automatic driving braking performance margin value according to the first turnaround driving log and the second turnaround driving log corresponding to the preset automatic driving braking performance margin value includes:

[0100] Find the kilometer mark of the outer insulation section of the exit crossing line corresponding to the terminal station and the kilometer mark of the exit signal corresponding to each of the other stations in the line engineering data table;

[0101] According to the kilometer mark of the outer insulation section of the exit crossing line corresponding to the terminal station and the length and running direction of the first test urban rail train, the kilometer mark of the exit-clearance turnaround station crossing line corresponding to the terminal station is determined;

[0102] According to the crossing crossing kilometer mark of the clearing turnaround station corresponding to the terminal station, searching the clearing crossing crossing time corresponding to the terminal station in the first turnaround driving log;

[0103] Searching the first return driving log for the train start time and train stop time corresponding to the terminal station, and the train start time and train stop time corresponding to each of the other stations;

[0104] Searching the deceleration kilometer mark outside the station corresponding to the terminal station in the second return driving log;

[0105] According to the off-station deceleration kilometer mark corresponding to the terminal station, searching the first return driving log for the train deceleration time corresponding to the terminal station;

[0106] Calculate the return tracking time interval corresponding to the preset automatic driving braking performance margin value according to the clearing crossing time, train moving time, train stopping time and train deceleration time corresponding to the terminal station;

[0107] According to the train departure timetable and train stop time corresponding to each of the other stations, the operating time corresponding to each of the other stations is calculated, and according to the operating time and stop time corresponding to each of the other stations, the minimum round-trip operating time corresponding to the preset automatic driving braking performance margin value is calculated.

[0108] Furthermore, the calculation of the return tracking time interval corresponding to the preset automatic driving braking performance margin value according to the clearing crossing time, train moving time, train stopping time and train deceleration time corresponding to the terminal station includes:

[0109] The crossing crossing clearing time corresponding to the terminal station is subtracted from the train time corresponding to the terminal station to obtain the crossing crossing clearing time corresponding to the terminal station;

[0110] The train stop time corresponding to the terminal station is subtracted from the train deceleration time corresponding to the terminal station to obtain the train stop time corresponding to the terminal station;

[0111] According to the crossing line clearing time, station parking time, on-site turning time, clearing delay time and route processing time corresponding to the terminal station, the turning back tracking time interval corresponding to the preset automatic driving braking performance margin value is calculated.

[0112] Furthermore, the weighted sum calculation of the preset autonomous driving braking performance margin value and the minimum tracking time interval and the minimum operating time corresponding to the preset autonomous driving braking performance margin value to obtain the weighted score corresponding to the preset autonomous driving braking performance margin value includes:

[0113] Obtaining a first preset weight value corresponding to the preset automatic driving braking performance margin value, a second preset weight value corresponding to the minimum tracking time interval, and a third preset weight value corresponding to the minimum operating duration;

[0114] Substituting the preset autonomous driving braking performance margin value, the minimum tracking time interval, the minimum operating time, the first preset weight value, the second preset weight value, and the third preset weight value into a preset formula to calculate a weighted score corresponding to the preset autonomous driving braking performance margin value, wherein the preset formula is specifically:

[0115] Y=a1*[(t1'-t1) / t1']+a2*[(t2'-t2) / t2']+a3*M

[0116] Among them, Y is the weighted score corresponding to the preset automatic driving braking performance margin value, a1 is the third preset weight value, t1' is the preset minimum operating time of engineering requirements, t1 is the minimum operating time, a2 is the second preset weight value, t2' is the preset minimum tracking time interval of engineering requirements, t2 is the minimum tracking time interval, a3 is the first preset weight value, and M is the preset automatic driving braking performance margin value.

[0117] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing program code initializing the following method steps: obtaining a driving log set corresponding to each preset automatic driving braking performance margin value, wherein, for any preset automatic driving braking performance margin value, its corresponding driving log set includes driving logs collected by the on-board system of the first test urban rail train and the on-board system of the second test urban rail train during a tracking test on a target mainline track and a target return track included in a target urban rail line after an automatic driving configuration parameter is formulated based on the preset automatic driving braking performance margin value; determining the mainline tracking track corresponding to each preset automatic driving braking performance margin value according to the driving log set corresponding to each preset automatic driving braking performance margin value. tracking time interval, minimum mainline operation time, return tracking time interval and minimum return operation time; determine the minimum tracking time interval and minimum operation time corresponding to each preset automatic driving braking performance margin value according to the mainline tracking time interval, minimum mainline operation time, return tracking time interval and minimum return operation time corresponding to each of the preset automatic driving braking performance margin values; for any preset automatic driving braking performance margin value, perform weighted sum calculation on the preset automatic driving braking performance margin value and the minimum tracking time interval and minimum operation time corresponding to the preset automatic driving braking performance margin value to obtain the weighted score corresponding to the preset automatic driving braking performance margin value; select the target automatic driving braking performance margin value corresponding to the target mainline track and the target return track from multiple preset automatic driving braking performance margin values ​​according to the weighted score corresponding to each of the preset automatic driving braking performance margin values.

[0118] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0119] 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 generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. 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.

[0120] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate 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 A function specified in one or more boxes.

[0121] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions 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.

[0122] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0123] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0124] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0125] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0126] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may 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.

[0127] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for determining a train automatic driving braking performance margin value, characterized in that: The method comprises: Obtaining a driving log set corresponding to each preset automatic driving braking performance margin value, wherein, for any preset automatic driving braking performance margin value, its corresponding driving log set includes driving logs collected by the on-board system corresponding to the first test urban rail train and the on-board system of the second test urban rail train during a tracking test on a target main track and a target return track included in a target urban rail line by controlling a first test urban rail train and a second test urban rail train based on the automatic driving configuration parameters after the automatic driving configuration parameters are formulated based on the preset automatic driving braking performance margin value; According to the driving log set corresponding to each of the preset autonomous driving braking performance margin values, determine the mainline tracking time interval, minimum mainline operation time, return tracking time interval and minimum return operation time corresponding to each of the preset autonomous driving braking performance margin values; Determine the minimum tracking time interval and the minimum operating time duration corresponding to each of the preset autonomous driving braking performance margin values ​​according to the mainline tracking time interval, the minimum mainline operating time duration, the turnaround tracking time interval and the minimum turnaround operating time duration corresponding to each of the preset autonomous driving braking performance margin values; For any preset autonomous driving braking performance margin value, a weighted sum calculation is performed on the preset autonomous driving braking performance margin value and the minimum tracking time interval and the minimum operating time duration corresponding to the preset autonomous driving braking performance margin value to obtain a weighted score corresponding to the preset autonomous driving braking performance margin value; According to the weighted score corresponding to each of the preset automatic driving braking performance margin values, the target automatic driving braking performance margin values ​​corresponding to the target mainline track and the target return track are selected from the multiple preset automatic driving braking performance margin values.

2. The method according to claim 1, characterized in that For any preset automatic driving braking performance margin value, the corresponding driving log set includes the first mainline driving log and the first return driving log corresponding to the first test intra-city railway train and the second mainline driving log and the second return driving log corresponding to the second test intra-city railway train; the mainline tracking time interval, the minimum mainline operation time, the return tracking time interval and the minimum return operation time corresponding to each preset automatic driving braking performance margin value are determined according to the driving log set corresponding to each preset automatic driving braking performance margin value, including: For any preset autonomous driving braking performance margin value, determine the mainline tracking time interval and the minimum mainline operation time corresponding to the preset autonomous driving braking performance margin value according to the first mainline driving log and the second mainline driving log corresponding to the preset autonomous driving braking performance margin value; According to the first turnaround driving log and the second turnaround driving log corresponding to the preset automatic driving braking performance margin value, the turnaround tracking time interval and the minimum turnaround operation time duration corresponding to the preset automatic driving braking performance margin value are determined.

3. The method according to claim 2, characterized in that The target urban rail line includes a departure station and a plurality of other stations; determining the mainline tracking time interval and the minimum mainline operation time corresponding to the preset automatic driving braking performance margin value according to the first mainline driving log and the second mainline driving log corresponding to the preset automatic driving braking performance margin value, including: Find the kilometer mark of the exit signal corresponding to each of the other stations in the line engineering data table; Determine the clearing track kilometer mark corresponding to each of the other stations according to the kilometer mark of the exit signal corresponding to each of the other stations and the length and running direction of the first test urban rail train; According to the track clearing kilometer mark corresponding to each of the other stations, searching the first main line driving log for the track clearing time of the train corresponding to each of the other stations; Searching the first main line driving log for the train departure time and train stop time corresponding to each of the other stations; Searching the off-station deceleration kilometer mark corresponding to each of the other stations in the second main line driving log; According to the off-station deceleration kilometer mark corresponding to each of the other stations, searching the first main line driving log for the train deceleration time corresponding to each of the other stations; Calculate the running time, track clearing time and station stop time corresponding to each of the other stations according to the train clearing time, train moving time, train stop time and train deceleration time corresponding to each of the other stations; Calculate the tracking time interval corresponding to each of the other stations according to the track clearing time, station parking time, station stop time, clearing delay time and route handling time corresponding to each of the other stations, and determine the maximum value of the multiple tracking time intervals as the mainline tracking time interval corresponding to the preset automatic driving braking performance margin value; According to the operating time and stop time corresponding to each of the other stations, the minimum mainline operating time corresponding to the preset automatic driving braking performance margin value is calculated.

4. The method according to claim 3, characterized in that The calculating of the running time, track clearing time and station stop time corresponding to each of the other stations according to the train clearing time, train moving time, train stop time and train deceleration time corresponding to each of the other stations comprises: For any other station, the train stop time corresponding to the other station is subtracted from the train start time corresponding to the previous other station to obtain the running time corresponding to the other station; Subtract the train clearing time corresponding to the other station from the train clearing time corresponding to the other station to obtain the track clearing time corresponding to the other station; The train stopping time corresponding to the other stations is subtracted from the train deceleration time corresponding to the other stations to obtain the train stopping time corresponding to the other stations.

5. The method according to claim 2, characterized in that: The target urban rail line includes a terminal station and a plurality of other stations; the determining, according to the first turnaround driving log and the second turnaround driving log corresponding to the preset automatic driving braking performance margin value, the turnaround tracking time interval and the minimum turnaround operation time corresponding to the preset automatic driving braking performance margin value, comprises: Find the kilometer mark of the outer insulation section of the exit crossing line corresponding to the terminal station and the kilometer mark of the exit signal corresponding to each of the other stations in the line engineering data table; Determine the kilometer mark of the crossing line outside the clearing turnaround station corresponding to the terminal station according to the kilometer mark of the outer insulation section of the exit crossing line corresponding to the terminal station and the length and running direction of the first test urban rail train; According to the crossing crossing kilometer mark of the clearing turnaround station corresponding to the terminal station, searching the clearing crossing crossing time corresponding to the terminal station in the first turnaround driving log; Searching the first return driving log for the train start time and train stop time corresponding to the terminal station, and the train start time and train stop time corresponding to each of the other stations; Searching the deceleration kilometer mark outside the station corresponding to the terminal station in the second return driving log; According to the off-station deceleration kilometer mark corresponding to the terminal station, searching the first return driving log for the train deceleration time corresponding to the terminal station; Calculate the return tracking time interval corresponding to the preset automatic driving braking performance margin value according to the clearing crossing time, train moving time, train stopping time and train deceleration time corresponding to the terminal station; According to the train departure timetable and train stop time corresponding to each of the other stations, the operating time corresponding to each of the other stations is calculated, and according to the operating time and stop time corresponding to each of the other stations, the minimum return operation time corresponding to the preset automatic driving braking performance margin value is calculated.

6. The method according to claim 5, characterized in that The calculating the return tracking time interval corresponding to the preset automatic driving braking performance margin value according to the clearing crossing time, train moving time, train stopping time and train deceleration time corresponding to the terminal station includes: The crossing crossing clearing time corresponding to the terminal station is subtracted from the train time corresponding to the terminal station to obtain the crossing crossing clearing time corresponding to the terminal station; The train stop time corresponding to the terminal station is subtracted from the train deceleration time corresponding to the terminal station to obtain the train stop time corresponding to the terminal station; According to the crossing line clearing time, station parking time, on-site turning time, clearing delay time and route processing time corresponding to the terminal station, the turning back tracking time interval corresponding to the preset automatic driving braking performance margin value is calculated.

7. The method according to any one of claims 1 to 6, characterized in that The weighted sum calculation of the preset automatic driving braking performance margin value and the minimum tracking time interval and the minimum operating time duration corresponding to the preset automatic driving braking performance margin value to obtain a weighted score corresponding to the preset automatic driving braking performance margin value includes: Obtaining a first preset weight value corresponding to the preset automatic driving braking performance margin value, a second preset weight value corresponding to the minimum tracking time interval, and a third preset weight value corresponding to the minimum operating duration; Substituting the preset autonomous driving braking performance margin value, the minimum tracking time interval, the minimum operating time, the first preset weight value, the second preset weight value, and the third preset weight value into a preset formula to calculate a weighted score corresponding to the preset autonomous driving braking performance margin value, wherein the preset formula is specifically: Y=a1*[(t1'-t1) / t1']+a2*[(t2'-t2) / t2']+a3*M Among them, Y is the weighted score corresponding to the preset automatic driving braking performance margin value, a1 is the third preset weight value, t1' is the preset minimum operating time of engineering requirements, t1 is the minimum operating time, a2 is the second preset weight value, t2' is the preset minimum tracking time interval of engineering requirements, t2 is the minimum tracking time interval, a3 is the first preset weight value, and M is the preset automatic driving braking performance margin value.

8. A device for determining a braking performance margin value of a train automatic driving, characterized in that: The device comprises: an acquisition unit, configured to acquire a driving log set corresponding to each preset automatic driving braking performance margin value, wherein, for any preset automatic driving braking performance margin value, the corresponding driving log set includes driving logs collected by an on-board system corresponding to the first test urban rail train and an on-board system of the second test urban rail train during a tracking test on a target main track and a target return track included in a target urban rail line by controlling a first test urban rail train and a second test urban rail train based on the automatic driving configuration parameters after the automatic driving configuration parameters are formulated based on the preset automatic driving braking performance margin value; A first determining unit is used to determine, according to a driving log set corresponding to each of the preset autonomous driving braking performance margin values, a mainline tracking time interval, a minimum mainline operation time duration, a return tracking time interval, and a minimum return operation time duration corresponding to each of the preset autonomous driving braking performance margin values; A second determining unit is used to determine the minimum tracking time interval and the minimum operating time duration corresponding to each of the preset automatic driving braking performance margin values ​​according to the mainline tracking time interval, the minimum mainline operating time duration, the return tracking time interval and the minimum return operating time duration corresponding to each of the preset automatic driving braking performance margin values; a calculation unit, configured to, for any preset autonomous driving braking performance margin value, perform a weighted sum calculation on the preset autonomous driving braking performance margin value and a minimum tracking time interval and a minimum operating duration corresponding to the preset autonomous driving braking performance margin value, so as to obtain a weighted score corresponding to the preset autonomous driving braking performance margin value; A selection unit is used to select the target automatic driving braking performance margin value corresponding to the target mainline track and the target return track from a plurality of preset automatic driving braking performance margin values ​​according to the weighted score corresponding to each of the preset automatic driving braking performance margin values.

9. A storage medium, characterized in that: The storage medium includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the method for determining the train automatic driving braking performance margin value according to any one of claims 1 to 7.

10. A device for determining a braking performance margin value of a train automatic driving, characterized in that: The device includes a storage medium; and one or more processors, the storage medium is coupled to the processor, and the processor is configured to execute program instructions stored in the storage medium; when the program instructions are running, the device where the storage medium is located is controlled to execute the detection method for determining the train automatic driving braking performance margin value described in any one of claims 1 to 7.

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