Railway vehicle speed curve planning method and device and railway vehicle

Abstract

The invention provides a speed curve planning method and device for a railway vehicle and the railway vehicle, the method is applied to the railway vehicle, the railway vehicle runs on a vehicle road, and the vehicle road comprises a traffic light intersection and / or a speed limiting road section. The method comprises the following steps: dividing a vehicle road into a plurality of road subintervals based on traffic light intersections and / or speed limiting road sections in the vehicle road; determining arrival operation time information of the rail vehicle in the road subintervals and speed limit information of the rail vehicle in the road subintervals; constructing an operation constraint based on the arrival operation time information and the speed limit information; determining a sub-interval reference speed curve of the rail vehicle in the road sub-interval based on the operation constraint; and constructing a road reference speed curve about the vehicle road based on the reference speed curves of the subintervals. Accurate and efficient speed curve planning is carried out on the railway vehicle, so that the railway vehicle runs according to the road reference speed curve, and frequent start and stop of the railway vehicle can be avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of rail vehicles, and in particular to a speed curve planning method and device for a rail vehicle and a rail vehicle. Background Art

[0002] As a new type of public transportation, the Smart Rail Train uses a multi-carriage series design to achieve operation without physical tracks. This type of train not only inherits the advantage of large-volume rail transit, but also significantly reduces construction costs. Therefore, it is regarded as an effective means to alleviate urban traffic congestion. Compared with traditional rail transit such as subways and trains that rely on physical tracks, the operation scenarios of the Smart Rail Train are more open and need to share road resources with social vehicles.

[0003] Among the existing speed curve planning methods, most are designed for trains with clear track constraints, such as subways and trains. These trains usually operate in a relatively closed driving environment and are subject to relatively few uncertainties, so their speed curve planning problems are relatively simple and clear. However, the situation of smart rail trains is quite different. Because they need to mix with social vehicles and must strictly abide by traffic rules such as traffic lights and speed limits, the driving environment of smart rail trains has become complex and changeable, and the uncertainties have increased significantly.

[0004] Therefore, finding a speed curve planning method that can efficiently and accurately plan the speed curve of smart rail trains has become a current research hotspot. Summary of the invention

[0005] The present invention provides a speed curve planning method and device for a rail vehicle and a rail vehicle, which can realize accurate and efficient speed curve planning for the rail vehicle, so that the rail vehicle can run according to the road reference speed curve, avoid frequent starting and stopping of the rail vehicle, and realize comfortable and energy-saving operation of the rail vehicle.

[0006] The present invention provides a speed curve planning method for a rail vehicle, the method is applied to a rail vehicle, the rail vehicle travels on a vehicle road, the vehicle road includes a traffic light intersection and / or a speed-limited road section, the method includes: based on the traffic light intersection and / or the speed-limited road section in the vehicle road, dividing the vehicle road into a plurality of road sub-intervals; determining the arrival operation time information of the rail vehicle in the road sub-interval, and the speed limit information of the rail vehicle in the road sub-interval, wherein the speed limit information is the speed limit information about the traffic light intersection and / or the speed-limited road section; constructing an operation constraint based on the arrival operation time information and the speed limit information; determining a sub-interval reference speed curve of the rail vehicle in the road sub-interval based on the operation constraint; and constructing a road reference speed curve about the vehicle road based on each sub-interval reference speed curve of each road sub-interval.

[0007] According to a speed curve planning method for a rail vehicle provided by the present invention, before determining the sub-interval reference speed curve of the rail vehicle in the road sub-interval based on the operation constraint, the method further includes: for the road sub-interval, respectively determining a passenger comfort index function, an energy consumption index function, and a punctuality index function, and constructing a target optimization function under the road sub-interval based on the passenger comfort index function, the energy consumption index function, and the punctuality index function; determining the sub-interval reference speed curve of the rail vehicle in the road sub-interval based on the operation constraint specifically includes: determining the sub-interval reference speed curve of the rail vehicle in the road sub-interval based on the target optimization function and the operation constraint, so as to maximize the function value of the target optimization function under the sub-interval reference speed curve.

[0008] According to a speed curve planning method for a rail vehicle provided by the present invention, the target optimization function under the road sub-interval is constructed based on the passenger comfort index function, the energy consumption index function, and the punctuality index function, specifically comprising: respectively obtaining a preset first weight coefficient of the passenger comfort index function, a second weight coefficient of the energy consumption index function, and a third weight coefficient of the punctuality index function; based on the passenger comfort index function, the first weight coefficient, the energy consumption index function, the second weight coefficient, the punctuality index function, and the third weight coefficient, constructing the target optimization function under the road sub-interval.

[0009] According to a speed curve planning method for a rail vehicle provided by the present invention, the passenger comfort index function is determined in the following manner: determining the acceleration of the rail vehicle; and determining the passenger comfort index function based on the acceleration of the rail vehicle.

[0010] According to a speed curve planning method for a rail vehicle provided by the present invention, the energy consumption index function is determined in the following manner: determining the speed of the rail vehicle, and the traction and / or braking force of the rail vehicle; and determining the passenger comfort index function based on the speed of the rail vehicle, and the traction and / or braking force of the rail vehicle.

[0011] According to a speed curve planning method for a rail vehicle provided by the present invention, the punctuality index function is determined in the following manner: determining the arrival time information of the rail vehicle in the road sub-section; and determining the punctuality index function based on the arrival time information.

[0012] According to a speed curve planning method for a rail vehicle provided by the present invention, the road reference speed curve for the vehicle road is constructed based on each sub-interval reference speed curve of each road sub-interval, specifically comprising: for any sub-interval reference speed curve of the road sub-interval, obtaining a previous sub-interval reference speed curve of a previous road sub-interval that is an adjacent interval to the road sub-interval; optimizing the sub-interval reference speed curve based on the Bellman equation and the previous sub-interval reference speed curve to obtain an optimized sub-interval reference speed curve of the road sub-interval, so as to minimize the state transition cost between the previous sub-interval reference speed curve and the optimized sub-interval reference speed curve; and constructing a road reference speed curve for the vehicle road based on each optimized sub-interval reference speed curve of each road sub-interval.

[0013] According to a speed curve planning method for a rail vehicle provided by the present invention, after constructing a road reference speed curve about the vehicle road, the method further includes: when it is detected that the current operation scenario of the rail vehicle is a first operation scenario, controlling the rail vehicle to operate according to the road reference speed curve, wherein the first operation scenario is an operation scenario in which no other traffic participating vehicles exist in front of the rail vehicle; when it is detected that the current operation scenario of the rail vehicle is a second operation scenario, controlling the rail vehicle to stop operating according to the road reference speed curve, and adjusting the operation acceleration of the rail vehicle based on the operation speed of the other traffic participating vehicles, and controlling the rail vehicle to operate according to the operation acceleration, wherein the second operation scenario is an operation scenario in which other traffic participating vehicles exist in front of the rail vehicle; when it is detected that the current operation scenario of the rail vehicle is a third operation scenario, controlling the rail vehicle to stop operating according to the road reference speed curve, and controlling the rail vehicle to stop at a position matching the site location information based on the site location information, wherein the third operation scenario is an operation scenario in which the rail vehicle is about to enter a station.

[0014] The present invention also provides a speed curve planning device for a rail vehicle, the device is applied to a rail vehicle, the rail vehicle travels on a vehicle road, the vehicle road includes a traffic light intersection and / or a speed limit section, the device includes: a division module, used to divide the vehicle road into multiple road sub-intervals based on the traffic light intersection and / or the speed limit section in the vehicle road; a determination module, used to determine the arrival operation time information of the rail vehicle in the road sub-interval, and the speed limit information of the rail vehicle in the road sub-interval, wherein the speed limit information is the speed limit information about the traffic light intersection and / or the speed limit section; a generation module, used to construct an operation constraint based on the arrival operation time information and the speed limit information; a processing module, used to determine the sub-interval reference speed curve of the rail vehicle in the road sub-interval based on the operation constraint; and a construction module, used to construct a road reference speed curve about the vehicle road based on each sub-interval reference speed curve of each road sub-interval.

[0015] The present invention also provides a rail vehicle, comprising: a rail vehicle body, and a processor, wherein the processor is used to execute any one of the speed curve planning methods for the rail vehicle.

[0016] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, a speed curve planning method for a rail vehicle as described in any one of the above is implemented.

[0017] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the speed curve planning method for a rail vehicle as described in any one of the above is implemented.

[0018] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the speed curve planning method for a rail vehicle as described in any one of the above is implemented.

[0019] The speed curve planning method, device and rail vehicle provided by the present invention are applied to rail vehicles, wherein the rail vehicles travel on vehicle roads, and the vehicle roads include traffic light intersections and / or speed-limited sections. The method includes: based on the traffic light intersections and / or speed-limited sections in the vehicle roads, the vehicle roads are divided into a plurality of road sub-sections; the arrival operation time information of the rail vehicles in the road sub-sections and the speed limit information of the rail vehicles in the road sub-sections are determined, wherein the speed limit information is the speed limit information about the traffic light intersections and / or speed-limited sections; based on the arrival operation time information and the speed limit information, operation constraints are constructed; based on the operation constraints, a sub-section reference speed curve of the rail vehicles in the road sub-sections is determined; based on the sub-section reference speed curves of each road sub-section, a road reference speed curve about the vehicle road is constructed. Accurate and efficient speed curve planning is achieved for rail vehicles, so that the rail vehicles can operate according to the road reference speed curve, and frequent starting and stopping of rail vehicles can be avoided, so as to achieve comfortable and energy-saving operation of rail vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 This is one of the flow charts of the speed curve planning method for a rail vehicle provided by the present invention.

[0022] Figure 2 It is a schematic diagram of a flow chart of determining a sub-interval reference speed curve of the rail vehicle in the road sub-interval based on the operation constraints provided by the present invention.

[0023] Figure 3 It is a schematic diagram of a process of constructing a road reference speed curve about the vehicle road based on each sub-interval reference speed curve of each road sub-interval provided by the present invention.

[0024] Figure 4 This is the second flow chart of the speed curve planning method for a rail vehicle provided by the present invention.

[0025] Figure 5 It is a structural schematic diagram of a speed curve planning device for a rail vehicle provided by the present invention.

[0026] Figure 6 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] The speed curve planning method for rail vehicles provided by the present invention takes traffic lights (corresponding to traffic light intersections and / or speed limit sections) as constraints of the optimization model. The obtained reference speed curve can ensure that the train arrives at the intersection when the light is green, avoid frequent starting and stopping of the train, and achieve comfortable and energy-saving operation.

[0029] Figure 1 This is one of the flow charts of the speed curve planning method for a rail vehicle provided by the present invention.

[0030] The following will be combined Figure 1 The process of the speed curve planning method for a rail vehicle provided by the present invention is described.

[0031] In an exemplary embodiment of the present invention, the speed curve planning method of a rail vehicle can be applied to a rail vehicle. In one example, the rail vehicle can be a smart rail train. For the sake of convenience, the present invention will take the smart rail train as an example. The rail vehicle travels on a vehicle road, which may include a traffic light intersection and / or a speed limit section. Figure 1 It can be seen that the speed curve planning method for a rail vehicle may include steps 110 to 150, and each step will be introduced below.

[0032] In step 110 , the vehicle road is divided into a plurality of road sub-sections based on traffic light intersections and / or speed limit sections in the vehicle road.

[0033] In one embodiment, the vehicle road can be divided into a plurality of road sub-intervals by using the traffic light intersection and / or speed limit section in the vehicle road as the division nodes. Since the train operation route is fixed, the positions of the traffic lights and speed limit sections in the route rarely change. By dividing the sub-stages based on the intersection / speed limit section positions, the number of sub-stages (corresponding to the road sub-intervals) obtained is only related to the number of traffic lights / speed limit sections between stations, thereby improving the flexibility of the obtained speed curve to cope with complex constraints.

[0034] In step 120, the arrival time information of the rail vehicle in the road subsection and the speed limit information of the rail vehicle in the road subsection are determined, wherein the speed limit information is the speed limit information about the traffic light intersection and / or the speed limit section.

[0035] In step 130, operation constraints are constructed based on the arrival operation time information and the speed limit information.

[0036] In another embodiment, the arrival time information of the rail vehicle in the road subsection and the speed limit information of the rail vehicle in the road subsection can be determined, wherein the speed limit information is the speed limit information of the rail vehicle when it arrives at the traffic light intersection and / or the speed limit section. The arrival time information can be considered as the operation schedule of the rail vehicle. It is understood that the rail vehicle can ensure the punctuality of the operation by operating according to the operation schedule.

[0037] Furthermore, based on the arrival time information and speed limit information, the operation constraints of the rail vehicle can be constructed, thereby laying a foundation for planning the sub-interval reference speed curve of the rail vehicle in the road sub-interval.

[0038] In step 140 , a sub-interval reference speed curve of the rail vehicle in the road sub-interval is determined based on the operation constraints.

[0039] In step 150 , a road reference speed profile for the vehicle road is constructed based on each sub-interval reference speed profile of each road sub-interval.

[0040] In another embodiment, the sub-interval reference speed curve of the rail vehicle in each road sub-interval can be determined based on the operation constraints and the dynamic programming algorithm; further, based on each sub-interval reference speed curve of each road sub-interval, a road reference speed curve for the vehicle road can be constructed. In this embodiment, the traffic light phase information is used as the constraint condition of the optimization model, so that the train can be guaranteed to arrive at the intersection when the light is green, avoiding frequent starting and stopping of the train, and realizing comfortable and energy-saving operation of the train.

[0041] The speed curve planning method for a rail vehicle provided by the present invention is applied to a rail vehicle, wherein the rail vehicle travels on a vehicle road, and the vehicle road includes a traffic light intersection and / or a speed-limited section. The method includes: based on the traffic light intersection and / or the speed-limited section in the vehicle road, the vehicle road is divided into a plurality of road sub-intervals; the arrival operation time information of the rail vehicle in the road sub-interval and the speed limit information of the rail vehicle in the road sub-interval are determined, wherein the speed limit information is the speed limit information about the traffic light intersection and / or the speed-limited section; based on the arrival operation time information and the speed limit information, an operation constraint is constructed; based on the operation constraint, a sub-interval reference speed curve of the rail vehicle in the road sub-interval is determined; based on each sub-interval reference speed curve of each road sub-interval, a road reference speed curve about the vehicle road is constructed. Accurate and efficient speed curve planning is achieved for the rail vehicle, so that the rail vehicle runs according to the road reference speed curve, frequent starting and stopping of the rail vehicle can be avoided, and comfortable and energy-saving operation of the rail vehicle can be achieved.

[0042] Figure 2 It is a schematic diagram of a flow chart of determining a sub-interval reference speed curve of the rail vehicle in the road sub-interval based on the operation constraints provided by the present invention.

[0043] The following will be combined Figure 2 The process of determining a sub-interval reference speed curve of a rail vehicle in a road sub-interval based on operation constraints is described.

[0044] In an exemplary embodiment of the present invention, Figure 2 It can be seen that, based on the operation constraints, determining the sub-interval reference speed curve of the rail vehicle in the road sub-interval may include step 210 and step 220, and each step will be introduced below.

[0045] In step 210, for the road sub-interval, the passenger comfort index function, the energy consumption index function, and the punctuality index function are determined respectively, and based on the passenger comfort index function, the energy consumption index function, and the punctuality index function, the target optimization function under the road sub-interval is constructed.

[0046] In one embodiment, for any road sub-interval, the passenger comfort index function, energy consumption index function, and punctuality index function can be determined respectively, and based on the passenger comfort index function, energy consumption index function, and punctuality index function, a target optimization function under the road sub-interval is constructed.

[0047] In another exemplary embodiment of the present invention, the above-mentioned embodiment is continued to be used as an example for explanation, wherein, based on the passenger comfort index function, the energy consumption index function, and the punctuality index function, the target optimization function under the road sub-interval is constructed, which can be implemented in the following manner: Respectively obtaining a first weight coefficient of a passenger comfort index function, a second weight coefficient of an energy consumption index function, and a third weight coefficient of a punctuality index function that are preset; Based on the passenger comfort index function, the first weight coefficient, the energy consumption index function, the second weight coefficient, the punctuality index function, and the third weight coefficient, a target optimization function is constructed under the road sub-interval.

[0048] In another exemplary embodiment of the present invention, the passenger comfort index function may be determined in the following manner, continuing to use the above-mentioned embodiment as an example for explanation: Determining the acceleration of rail vehicles; A passenger comfort index function is determined based on the acceleration of the rail vehicle.

[0049] In another exemplary embodiment of the present invention, the energy consumption index function may be determined in the following manner: Determining the speed of a rail vehicle, and the traction and / or braking force of a rail vehicle; A passenger comfort index function is determined based on the speed of the rail vehicle, and the traction and / or braking force of the rail vehicle.

[0050] In another exemplary embodiment of the present invention, the punctuality index function may be determined in the following manner, continuing to use the above-mentioned embodiment as an example for explanation: Determine the arrival time information of rail vehicles in road subsections; Based on the arrival time information, determine the punctuality index function.

[0051] In another embodiment, passenger comfort, energy consumption and punctuality may be used as optimization targets to calculate a reference speed curve in a sub-interval, that is, to determine a sub-interval reference speed curve of a rail vehicle in a road sub-interval, wherein the optimization target (corresponding to the target optimization function in the road sub-interval) may be expressed by the following formula (1): (1) in, represents the target optimization function; are the weight coefficients of comfort, energy consumption, and punctuality indicators (corresponding to the first weight coefficient, the second weight coefficient, and the third weight coefficient, respectively); are the acceleration and speed of the train respectively; It is the traction / braking force of the train; is the arrival time specified in the timetable (corresponding to the arrival time information of the rail vehicle in the road sub-section); k represents the node number at both ends of the road sub-section; if the node of the road sub-section corresponding to k is a station, then is 1, otherwise it is 0; t j Can represent the current moment; t i It can represent the time of the previous cycle based on the current operation cycle, wherein the duration of the operation cycle can be determined according to actual conditions; i k and j k+1 It represents the two end nodes constituting the road sub-interval. It can be understood that v(t) can be considered as the sub-interval reference speed curve of the rail vehicle in the road sub-interval to be solved.

[0052] It should be noted that It can represent the passenger comfort index function; It can represent the energy consumption index function; It can represent the punctuality index function.

[0053] In step 220, based on the target optimization function and the operation constraints, a sub-interval reference speed curve of the rail vehicle in the road sub-interval is determined so as to maximize the function value of the target optimization function under the sub-interval reference speed curve.

[0054] In one embodiment, a sub-interval reference speed curve of a rail vehicle in a road sub-interval can be calculated based on the target optimization function and the operation constraints, so as to maximize the function value of the target optimization function under the sub-interval reference speed curve. This ensures that the obtained sub-interval reference speed curve can avoid frequent starting and stopping of the rail vehicle and achieve comfortable and energy-saving operation of the rail vehicle.

[0055] In another embodiment, through the above-mentioned processing, that is, the rail vehicle runs according to the sub-section reference speed curve, the operation process of the rail vehicle in a road sub-section may include the following stages: Train v i The speed of t i Arrive at the kth intersection / speed limit section at any time and maintain the speed v i Pass at a constant speed; With acceleration a 1 Accelerate / decelerate to speed v m ; Keep v m Drive at a constant speed for a period of time; With acceleration a 2 in t j Accelerate / decelerate to v j , arrive at the next intersection / speed limit zone.

[0056] in, v i , v j The speed limit requirements of the corresponding intersection / speed limit section should be met.

[0057] Figure 3 It is a schematic diagram of a process of constructing a road reference speed curve about the vehicle road based on each sub-interval reference speed curve of each road sub-interval provided by the present invention.

[0058] The following will be combined Figure 3 A process of constructing a road reference speed curve for a vehicle road based on each sub-interval reference speed curve of each road sub-interval is described.

[0059] In an exemplary embodiment of the present invention, Figure 3 It can be seen that constructing a road reference speed curve for a vehicle road based on each sub-interval reference speed curve of each road sub-interval may include steps 310 to 330, and each step will be described below.

[0060] In step 310, for a sub-interval reference speed curve of any road sub-interval, a previous sub-interval reference speed curve of a previous road sub-interval that is an adjacent interval to the road sub-interval is obtained.

[0061] In step 320, based on the Bellman equation and the previous sub-interval reference speed curve, the sub-interval reference speed curve is optimized to obtain an optimized sub-interval reference speed curve of the road sub-interval, so as to minimize the state transition cost between the previous sub-interval reference speed curve and the optimized sub-interval reference speed curve.

[0062] In step 330 , a road reference speed curve for the vehicle road is constructed based on each optimized sub-interval reference speed curve of each road sub-interval.

[0063] In one embodiment, for the sub-interval reference speed curve of any road sub-interval, for the convenience of explanation, the sub-interval reference speed curve of the road sub-interval may be referred to as the current sub-interval reference speed curve. Further, a previous sub-interval reference speed curve of a previous road sub-interval that is an adjacent interval to the road sub-interval may be obtained. Then, based on the Bellman equation and the previous sub-interval reference speed curve, the sub-interval reference speed curve (also referred to as the current sub-interval reference speed curve) is optimized to obtain an optimized sub-interval reference speed curve of the road sub-interval, so as to minimize the state transition cost between the previous sub-interval reference speed curve and the optimized sub-interval reference speed curve.

[0064] It is understandable that the current sub-interval reference speed curve has been optimized to an optimized sub-interval reference speed curve. In the application process, the sub-interval reference speed curve of each road sub-interval can be optimized in the aforementioned manner to obtain the corresponding optimized sub-interval reference speed curve. Further, a road reference speed curve for a vehicle road can be constructed based on each optimized sub-interval reference speed curve of each road sub-interval. It is understandable that the obtained road reference speed curve for a vehicle road is a road reference speed curve with the minimum state transition cost between adjacent road sub-intervals.

[0065] Among them, the Bellman equation can be expressed as formula (2): (2) in, Represents the minimum cost from the starting point to the kth intersection / speed limit interval. express The minimum cost of the subsequent adjacent road sub-interval of the corresponding road sub-interval.

[0066] Figure 4 This is the second flow chart of the speed curve planning method for a rail vehicle provided by the present invention.

[0067] The following will be combined Figure 4 The process of another speed curve planning method for rail vehicles is described.

[0068] In an exemplary embodiment of the present invention, Figure 4 It can be seen that after constructing the road reference speed curve about the vehicle road, the speed curve planning method of the rail vehicle can also include steps 410 to 430, and each step will be introduced below: In step 410, when it is detected that the current operating scenario of the rail vehicle is the first operating scenario, the rail vehicle is controlled to operate according to the road reference speed curve, wherein the first operating scenario is an operating scenario in which there are no other traffic participating vehicles in front of the rail vehicle.

[0069] In one embodiment, the current scene can be detected based on the state machine. When it is detected that the current operation scene of the rail vehicle is the first operation scene, that is, the operation scene in which there are no other traffic participating vehicles in front of the rail vehicle, the rail vehicle can be controlled to operate according to the road reference speed curve.

[0070] In another embodiment, the state machine can also perform real-time detection. If the deviation between the current state of the train and the reference state (the operating state corresponding to the road reference speed curve) is calculated in real time, when the deviation exceeds a certain threshold, dynamic planning can be triggered to regenerate the road reference speed curve.

[0071] In step 420, when it is detected that the current operating scenario of the rail vehicle is the second operating scenario, the rail vehicle is controlled to stop operating according to the road reference speed curve, and based on the operating speeds of other traffic participating vehicles, the operating acceleration of the rail vehicle is adjusted, and the rail vehicle is controlled to operate according to the operating acceleration, wherein the second operating scenario is an operating scenario in which there are other traffic participating vehicles in front of the rail vehicle.

[0072] In another embodiment, when the current operation scenario of the rail vehicle is detected as the second operation scenario based on the state machine, that is, when the operation scenario of other traffic participating vehicles is detected in front of the rail vehicle, the rail vehicle can be controlled to stop running according to the road reference speed curve, and the operation acceleration of the rail vehicle can be adjusted based on the operation speed of other traffic participating vehicles, and the rail vehicle can be controlled to run according to the operation acceleration. That is, when it is sensed that other traffic participants enter the virtual track, the required acceleration of the train is calculated in real time according to the current state of the vehicle and the traffic participant to achieve following the vehicle, and after it leaves the virtual track, it switches back to the main line operation state.

[0073] In another embodiment, the running acceleration of the rail vehicle can be determined using the following formula (3): (3) in, is the maximum acceleration of the train (corresponding to the rail vehicle), v represents the current speed of the train, represents the reference speed of the train, represents the speed difference between the train and the preceding vehicle, s represents the distance between the train and the preceding vehicle, is the expected distance between the train and the preceding vehicle, δ represents a coefficient, which can be determined based on actual conditions and is used to describe the degree of reduction in the acceleration of the vehicle when it approaches the expected speed. The larger this value is, the slower the acceleration of the vehicle decreases when it approaches the expected speed, which helps to simulate a smoother acceleration process.

[0074] In step 430, when it is detected that the current operating scenario of the rail vehicle is the third operating scenario, the rail vehicle is controlled to stop operating according to the road reference speed curve, and based on the station location information of the station, the rail vehicle is controlled to stop at a position matching the station location information, wherein the third operating scenario is an operating scenario in which the rail vehicle is about to enter the station.

[0075] In another embodiment, when the state machine detects that the current operating scenario of the rail vehicle is the third operating scenario, that is, when the operating scenario in which the rail vehicle is about to enter the station is detected, the rail vehicle can be controlled to stop running according to the road reference speed curve, and based on the station location information of the station, the rail vehicle is controlled to stop at a position matching the station location information, that is, when the distance between the smart rail train and the next station is less than a threshold, the train enters the station stop state to achieve precise parking at the platform.

[0076] According to the foregoing description, the speed curve planning method for a rail vehicle provided by the present invention is applied to a rail vehicle, wherein the rail vehicle travels on a vehicle road, and the vehicle road includes a traffic light intersection and / or a speed-limited section. The method includes: based on the traffic light intersection and / or the speed-limited section in the vehicle road, the vehicle road is divided into a plurality of road sub-intervals; the arrival operation time information of the rail vehicle in the road sub-interval is determined, and the speed limit information of the rail vehicle in the road sub-interval is determined, wherein the speed limit information is the speed limit information about the traffic light intersection and / or the speed-limited section; based on the arrival operation time information and the speed limit information, an operation constraint is constructed; based on the operation constraint, a sub-interval reference speed curve of the rail vehicle in the road sub-interval is determined; based on each sub-interval reference speed curve of each road sub-interval, a road reference speed curve about the vehicle road is constructed. Accurate and efficient speed curve planning is achieved for the rail vehicle, so that the rail vehicle runs according to the road reference speed curve, frequent starting and stopping of the rail vehicle can be avoided, and comfortable and energy-saving operation of the rail vehicle can be achieved.

[0077] The speed curve planning device for a rail vehicle provided by the present invention is described below. The speed curve planning device for a rail vehicle described below and the speed curve planning method for a rail vehicle described above can be referred to each other.

[0078] Figure 5 It is a structural schematic diagram of a speed curve planning device for a rail vehicle provided by the present invention.

[0079] The following will be combined Figure 5 The structure of the speed curve planning device for a rail vehicle provided by the present invention is described.

[0080] In an exemplary embodiment of the present invention, the speed curve planning device for a rail vehicle may be applied to a rail vehicle, wherein the rail vehicle travels on a vehicle road, wherein the vehicle road includes a traffic light intersection and / or a speed-limited section. Figure 5 It can be seen that the speed curve planning device for a rail vehicle may include a division module 510, a determination module 520, a generation module 530, a processing module 540, and a construction module 550, and each module will be introduced below.

[0081] The division module 510 may be configured to divide the vehicle road into a plurality of road sub-sections based on the traffic light intersection and / or the speed limit section in the vehicle road; The determination module 520 may be configured to determine the arrival time information of the rail vehicle in the road subsection and the speed limit information of the rail vehicle in the road subsection, wherein the speed limit information is the speed limit information about the traffic light intersection and / or the speed limit section; The generating module 530 may be configured to construct an operation constraint based on the arrival operation time information and the speed limit information; The processing module 540 may be configured to determine a sub-interval reference speed curve of the rail vehicle in the road sub-interval based on the operation constraint; The construction module 550 may be configured to construct a road reference speed curve for the vehicle road based on the sub-interval reference speed curves of the road sub-intervals.

[0082] In an exemplary embodiment of the present invention, the processing module 540 may also be configured to: For the road sub-interval, respectively determine a passenger comfort index function, an energy consumption index function, and a punctuality index function, and construct a target optimization function under the road sub-interval based on the passenger comfort index function, the energy consumption index function, and the punctuality index function; The processing module 540 may determine the sub-interval reference speed curve of the rail vehicle in the road sub-interval based on the operation constraint in the following manner: Based on the objective optimization function and the operation constraints, a sub-interval reference speed curve of the rail vehicle in the road sub-interval is determined so that the function value of the objective optimization function under the sub-interval reference speed curve is maximized.

[0083] In an exemplary embodiment of the present invention, the processing module 540 may implement the target optimization function under the road sub-interval based on the passenger comfort index function, the energy consumption index function, and the punctuality index function in the following manner: Respectively obtaining a preset first weight coefficient of the passenger comfort index function, a second weight coefficient of the energy consumption index function, and a third weight coefficient of the punctuality index function; Based on the passenger comfort index function, the first weight coefficient, the energy consumption index function, the second weight coefficient, the punctuality index function, and the third weight coefficient, a target optimization function under the road sub-interval is constructed.

[0084] In an exemplary embodiment of the present invention, the processing module 540 may determine the passenger comfort index function in the following manner: determining an acceleration of the rail vehicle; The passenger comfort index function is determined based on the acceleration of the rail vehicle.

[0085] In an exemplary embodiment of the present invention, the processing module 540 may determine the energy consumption index function in the following manner: Determining the speed of the rail vehicle, and the traction and / or braking force of the rail vehicle; The passenger comfort index function is determined based on the speed of the rail vehicle, and the traction and / or braking force of the rail vehicle.

[0086] In an exemplary embodiment of the present invention, the processing module 540 may determine the punctuality index function in the following manner: Determine the arrival time information of the rail vehicle in the road subsection; Based on the arrival time information, the punctuality index function is determined.

[0087] In an exemplary embodiment of the present invention, the construction module 550 may construct the road reference speed curve for the vehicle road based on the sub-interval reference speed curves of the road sub-intervals in the following manner: For any sub-interval reference speed curve of the road sub-interval, obtaining a previous sub-interval reference speed curve of a previous road sub-interval that is an adjacent interval to the road sub-interval; Based on the Bellman equation and the previous sub-interval reference speed curve, the sub-interval reference speed curve is optimized to obtain an optimized sub-interval reference speed curve of the road sub-interval, so as to minimize the state transition cost between the previous sub-interval reference speed curve and the optimized sub-interval reference speed curve; A road reference speed curve for the vehicle road is constructed based on each optimized sub-interval reference speed curve of each road sub-interval.

[0088] In an exemplary embodiment of the present invention, the construction module 550 may also be configured to: When it is detected that the current operation scenario of the rail vehicle is a first operation scenario, controlling the rail vehicle to operate according to the road reference speed curve, wherein the first operation scenario is an operation scenario in which no other traffic participating vehicles exist in front of the rail vehicle; In the case where it is detected that the current operation scenario of the rail vehicle is the second operation scenario, the rail vehicle is controlled to stop operating according to the road reference speed curve, and based on the operation speeds of the other traffic participating vehicles, the operation acceleration of the rail vehicle is adjusted, and the rail vehicle is controlled to operate according to the operation acceleration, wherein the second operation scenario is an operation scenario in which there are other traffic participating vehicles in front of the rail vehicle; When it is detected that the current operating scenario of the rail vehicle is the third operating scenario, the rail vehicle is controlled to stop operating according to the road reference speed curve, and based on the station location information of the station, the rail vehicle is controlled to stop at a position matching the station location information, wherein the third operating scenario is the operating scenario in which the rail vehicle is about to enter the station.

[0089] Based on the same inventive concept, the present application also provides a rail vehicle, and the structure of the rail vehicle will be described below in conjunction with the following embodiments.

[0090] In an exemplary embodiment of the present invention, a rail vehicle may include: a rail vehicle body, and a processor, wherein the processor is used to execute the speed curve planning method for the rail vehicle described in any of the above embodiments. Accurate and efficient speed curve planning for the rail vehicle is achieved, so that the rail vehicle runs according to the road reference speed curve, which can avoid frequent starting and stopping of the rail vehicle and achieve comfortable and energy-saving operation of the rail vehicle.

[0091] Figure 6 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 6As shown, the electronic device may include: a processor (processor) 610 , a communication interface (Communications Interface) 620 , a memory (memory) 630 and a communication bus 640 , wherein the processor 610 , the communication interface 620 , and the memory 630 communicate with each other through the communication bus 640 . The processor 610 can call the logic instructions in the memory 630 to execute a speed curve planning method for a rail vehicle, the method being applied to a rail vehicle, the rail vehicle traveling on a vehicle road, the vehicle road including a traffic light intersection and / or a speed limit section, the method comprising: dividing the vehicle road into a plurality of road sub-intervals based on the traffic light intersection and / or the speed limit section in the vehicle road; determining the arrival operation time information of the rail vehicle in the road sub-interval, and the speed limit information of the rail vehicle in the road sub-interval, wherein the speed limit information is the speed limit information about the traffic light intersection and / or the speed limit section; constructing an operation constraint based on the arrival operation time information and the speed limit information; determining a sub-interval reference speed curve of the rail vehicle in the road sub-interval based on the operation constraint; and constructing a road reference speed curve about the vehicle road based on each sub-interval reference speed curve of each road sub-interval.

[0092] In addition, the logic instructions in the above-mentioned memory 630 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0093] On the other hand, the present invention also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the speed curve planning method for a rail vehicle provided by the above-mentioned methods. The method is applied to a rail vehicle, and the rail vehicle travels on a vehicle road, and the vehicle road includes a traffic light intersection and / or a speed limit section. The method includes: based on the traffic light intersection and / or the speed limit section in the vehicle road, dividing the vehicle road into multiple road sub-intervals; determining the arrival operation time information of the rail vehicle in the road sub-interval, and the speed limit information of the rail vehicle in the road sub-interval, wherein the speed limit information is the speed limit information about the traffic light intersection and / or the speed limit section; constructing an operation constraint based on the arrival operation time information and the speed limit information; determining a sub-interval reference speed curve of the rail vehicle in the road sub-interval based on the operation constraint; and constructing a road reference speed curve about the vehicle road based on each sub-interval reference speed curve of each road sub-interval.

[0094] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the processor executes the speed curve planning method for a rail vehicle provided by the above-mentioned methods, the method being applied to a rail vehicle, the rail vehicle traveling on a vehicle road, the vehicle road including a traffic light intersection and / or a speed-limited section, the method comprising: dividing the vehicle road into a plurality of road sub-intervals based on the traffic light intersection and / or the speed-limited section in the vehicle road; determining the arrival operation time information of the rail vehicle in the road sub-interval, and the speed limit information of the rail vehicle in the road sub-interval, wherein the speed limit information is the speed limit information about the traffic light intersection and / or the speed-limited section; constructing an operation constraint based on the arrival operation time information and the speed limit information; determining a sub-interval reference speed curve of the rail vehicle in the road sub-interval based on the operation constraint; and constructing a road reference speed curve about the vehicle road based on each sub-interval reference speed curve of each of the road sub-intervals.

[0095] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0096] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A speed curve planning method for a rail vehicle, characterized in that: The method is applied to a rail vehicle, the rail vehicle travels on a vehicle road, the vehicle road includes a traffic light intersection and / or a speed limit section, and the method includes: Dividing the vehicle road into a plurality of road sub-sections based on the traffic light intersection and / or the speed limit section in the vehicle road; Determine the arrival time information of the rail vehicle in the road subsection, and the speed limit information of the rail vehicle in the road subsection, wherein the speed limit information is the speed limit information about the traffic light intersection and / or the speed limit section; constructing operation constraints based on the arrival operation time information and the speed limit information; Based on the operation constraints, determining a sub-interval reference speed curve of the rail vehicle in the road sub-interval; A road reference speed curve for the vehicle road is constructed based on the sub-interval reference speed curves of the road sub-intervals.

2. The speed curve planning method for a rail vehicle according to claim 1, characterized in that: Before determining the sub-interval reference speed curve of the rail vehicle in the road sub-interval based on the operation constraint, the method further includes: For the road sub-interval, respectively determine a passenger comfort index function, an energy consumption index function, and a punctuality index function, and construct a target optimization function under the road sub-interval based on the passenger comfort index function, the energy consumption index function, and the punctuality index function; The determining, based on the operation constraint, a sub-interval reference speed curve of the rail vehicle in the road sub-interval specifically includes: Based on the objective optimization function and the operation constraints, a sub-interval reference speed curve of the rail vehicle in the road sub-interval is determined so that the function value of the objective optimization function under the sub-interval reference speed curve is maximized.

3. The speed curve planning method for a rail vehicle according to claim 2, characterized in that: The target optimization function constructed in the road sub-interval based on the passenger comfort index function, the energy consumption index function, and the punctuality index function specifically includes: Respectively obtaining a preset first weight coefficient of the passenger comfort index function, a second weight coefficient of the energy consumption index function, and a third weight coefficient of the punctuality index function; Based on the passenger comfort index function, the first weight coefficient, the energy consumption index function, the second weight coefficient, the punctuality index function, and the third weight coefficient, a target optimization function under the road sub-interval is constructed.

4. The speed curve planning method for a rail vehicle according to claim 3, characterized in that: The passenger comfort index function is determined in the following manner: determining an acceleration of the rail vehicle; The passenger comfort index function is determined based on the acceleration of the rail vehicle.

5. The speed curve planning method for a rail vehicle according to claim 3, characterized in that: The energy consumption index function is determined in the following manner: Determining the speed of the rail vehicle, and the traction and / or braking force of the rail vehicle; The passenger comfort index function is determined based on the speed of the rail vehicle, and the traction and / or braking force of the rail vehicle.

6. The speed curve planning method for a rail vehicle according to claim 3, characterized in that: The punctuality index function is determined in the following manner: Determine the arrival time information of the rail vehicle in the road subsection; Based on the arrival time information, the punctuality index function is determined.

7. The speed curve planning method for a rail vehicle according to any one of claims 1 to 6, characterized in that: The constructing of a road reference speed curve for the vehicle road based on each sub-interval reference speed curve of each road sub-interval specifically includes: For any sub-interval reference speed curve of the road sub-interval, obtaining a previous sub-interval reference speed curve of a previous road sub-interval that is an adjacent interval to the road sub-interval; Based on the Bellman equation and the previous sub-interval reference speed curve, the sub-interval reference speed curve is optimized to obtain an optimized sub-interval reference speed curve of the road sub-interval, so as to minimize the state transition cost between the previous sub-interval reference speed curve and the optimized sub-interval reference speed curve; A road reference speed curve for the vehicle road is constructed based on each optimized sub-interval reference speed curve of each road sub-interval.

8. The speed curve planning method for a rail vehicle according to claim 7, characterized in that: After constructing the road reference speed curve about the vehicle road, the method further includes: When it is detected that the current operation scenario of the rail vehicle is a first operation scenario, controlling the rail vehicle to operate according to the road reference speed curve, wherein the first operation scenario is an operation scenario in which no other traffic participating vehicles exist in front of the rail vehicle; In the case where it is detected that the current operation scenario of the rail vehicle is the second operation scenario, the rail vehicle is controlled to stop operating according to the road reference speed curve, and based on the operation speeds of the other traffic participating vehicles, the operation acceleration of the rail vehicle is adjusted, and the rail vehicle is controlled to operate according to the operation acceleration, wherein the second operation scenario is an operation scenario in which there are other traffic participating vehicles in front of the rail vehicle; When it is detected that the current operating scenario of the rail vehicle is the third operating scenario, the rail vehicle is controlled to stop operating according to the road reference speed curve, and based on the station location information of the station, the rail vehicle is controlled to stop at a position matching the station location information, wherein the third operating scenario is the operating scenario in which the rail vehicle is about to enter the station.

9. A speed curve planning device for a rail vehicle, characterized in that: The device is applied to a rail vehicle, the rail vehicle travels on a vehicle road, the vehicle road includes a traffic light intersection and / or a speed limit section, and the device includes: A division module, used for dividing the vehicle road into a plurality of road sub-sections based on the traffic light intersection and / or the speed limit section in the vehicle road; A determination module, used to determine the arrival time information of the rail vehicle in the road subsection, and the speed limit information of the rail vehicle in the road subsection, wherein the speed limit information is the speed limit information about the traffic light intersection and\or the speed limit section; A generating module, configured to construct an operation constraint based on the arrival operation time information and the speed limit information; A processing module, based on the operation constraint, determines a sub-interval reference speed curve of the rail vehicle in the road sub-interval; A construction module is used to construct a road reference speed curve about the vehicle road based on each sub-interval reference speed curve of each road sub-interval.

10. A rail vehicle, characterized in that: The rail vehicle comprises: The rail vehicle body, and A processor, wherein the processor is used to execute the speed curve planning method for a rail vehicle as described in any one of claims 1 to 8.

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