Train automatic driving speed planning method and device

Abstract

The invention discloses a train automatic driving speed planning method and device. The method comprises the following steps: receiving an operation plan, a planned arrival time and an inter-station distance corresponding to a target train sent by ground equipment, and obtaining operation information corresponding to the target train in a configuration file; determining a plurality of target adjustment point positions according to the inter-station distance and the position information of the plurality of preset adjustment points; when any target adjustment point position is reached, determining a residual operation distance corresponding to the residual interval according to the target adjustment point position, and determining a residual operation duration corresponding to the residual interval according to the current moment and the planned arrival moment; according to the operation plan, the residual operation distance, the residual operation duration and the current operation speed of the train, the residual interval is divided into a plurality of sub-intervals, the planning speed of the residual interval and the operation distance corresponding to each sub-interval are determined, and the target train is controlled to operate according to the planning speed of the residual interval and the operation distance corresponding to each sub-interval.

Description

Technical Field

[0001] This application relates to the field of rail transit technology, and in particular to a method and apparatus for speed planning of automatic train operation. Background Technology

[0002] To improve transportation efficiency, rail transit systems have introduced automatic driving technology. Automatic Train Operation (ATO) systems can realize automatic operation of rail transit trains and automatic start, acceleration, braking, precise stopping, and automatic turnaround during automatic operation of rail transit trains.

[0003] Currently, after a rail transit train leaves the station, the onboard automated driving system, based on information such as the train's operating plan, the distance between the departing station and the next station, and the planned arrival time, divides the section between the departing station and the next station into multiple sub-sections, determines the planned speed for each sub-section, and controls the train's operation according to the planned speed for each sub-section. However, due to factors such as weather and track maintenance, the automated driving system may not be able to control the train's operation exactly according to the planned speed for each sub-section, leading to train delays. Therefore, the accuracy of the planned speed determined by the existing automated train speed planning method is relatively low. Summary of the Invention

[0004] This application provides a method and apparatus for automatic train speed planning, the main purpose of which is to accurately determine the planned speed of rail transit trains, thereby ensuring that rail transit trains can arrive at the station ahead on time.

[0005] To address the aforementioned technical problems, this application provides the following technical solutions: In a first aspect, this application provides a speed planning method for automatic train operation, the method comprising: After the target train leaves the station, the system receives the operation plan, planned arrival time and inter-station distance of the target train sent by the ground equipment, and obtains the operation information of the target train in the configuration file. The operation information includes multiple preset adjustment point location information and the maximum allowable speed of the train. Control the target train to run at a constant speed at the train's maximum permissible speed; Based on the inter-station distance and the location information of multiple preset adjustment points, the locations of multiple target adjustment points are determined; When the target train reaches any target adjustment point, the remaining running distance corresponding to the remaining section is determined according to the target adjustment point position, and the remaining running time corresponding to the remaining section is determined according to the current time and the planned arrival time. Based on the operation plan, the remaining operating distance, the remaining operating time, and the current operating speed of the train, the remaining section is divided into multiple sub-sections, and the planned speed of the remaining section and the operating distance corresponding to each sub-section are determined. The operation of the target train is controlled according to the planned speed of the remaining section and the operating distance corresponding to each sub-section.

[0006] Secondly, this application also provides a train automatic driving speed planning device, the device comprising: The acquisition unit is used to receive the operation plan, planned arrival time and inter-station distance of the target train sent by the ground equipment after the target train leaves the station, and to obtain the operation information of the target train in the configuration file. The operation information includes multiple preset adjustment point location information and the maximum allowable speed of the train. The control unit is used to control the target train to run at a constant speed at the maximum permissible speed of the train. The first determining unit is used to determine the positions of multiple target adjustment points based on the inter-station distance and the multiple preset adjustment point position information; The second determining unit is used to determine the remaining running distance corresponding to the remaining section based on the target adjustment point position when the target train reaches any target adjustment point position, and to determine the remaining running time corresponding to the remaining section based on the current time and the planned arrival time. The third determining unit is used to divide the remaining interval into multiple sub-intervals according to the operation plan, the remaining running distance, the remaining running time and the current running speed of the train, and to determine the planned speed of the remaining interval and the running distance corresponding to each sub-interval, and to control the operation of the target train according to the planned speed of the remaining interval and the running distance corresponding to each sub-interval.

[0007] Thirdly, embodiments of this application provide a computer device including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method described in the first aspect.

[0008] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in the first aspect.

[0009] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the steps of the method described in the first aspect.

[0010] By employing the above-described technical solution, the technical solution provided in this application has at least the following advantages: This application provides a method and apparatus for speed planning of automatic train operation. After a target train departs from a station, the automatic train onboard equipment receives the corresponding operation plan, planned arrival time, and inter-station distance from ground equipment, and obtains the corresponding operation information of the target train from the configuration file. After obtaining the corresponding operation plan, planned arrival time, inter-station distance, and operation information of the target train, the automatic train onboard equipment controls the target train to run at a constant speed at the maximum permissible speed. Based on the inter-station distance between the departing station and the next station and multiple preset adjustment point positions, it determines multiple target adjustment point positions. When the target train reaches any target adjustment point position, the automatic train onboard equipment first determines the remaining running distance corresponding to the remaining section based on the target adjustment point position, then determines the remaining running time corresponding to the remaining section based on the current time and planned arrival time. Then, based on the corresponding operation plan of the target train, the remaining section is divided into multiple sub-sections, and based on the current running speed of the target train and the remaining running distance and remaining running time of the remaining section, the planned speed of the remaining section and the running distance corresponding to each sub-section are determined. Finally, the target train is controlled to run based on the planned speed of the remaining section and the running distance corresponding to each sub-section. In this application, during the operation of the target train from the station to the next station, the automatic driving onboard equipment re-determines the remaining planned speed of the target train at multiple target adjustment points based on the actual operating conditions. This avoids the impact of factors such as weather and track fault maintenance on the operation of the target train, thereby ensuring that the target train can arrive at the next station on time.

[0011] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0012] The above and other objects, features, and advantages of exemplary embodiments of this application will become readily understood by reading the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of this application are illustrated by way of example and not limitation, with the same or corresponding reference numerals denoteing the same or corresponding parts, wherein: Figure 1A flowchart of a train automatic driving speed planning method provided in an embodiment of this application is shown; Figure 2 This paper illustrates a flowchart of another train automatic driving speed planning method provided in an embodiment of this application; Figure 3 This paper shows a block diagram of a train automatic driving speed planning device according to an embodiment of the present application; Figure 4 A block diagram of another train automatic driving speed planning device provided in an embodiment of this application is shown. Detailed Implementation

[0013] Exemplary embodiments of this application will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of this application and to fully convey the scope of this application to those skilled in the art.

[0014] Furthermore, the terms “first,” “second,” and similar terms used in this application do not indicate any order, quantity, or importance, but are merely used to distinguish different parts.

[0015] It should be noted that, unless otherwise stated, the technical or scientific terms used in this application shall have the ordinary meaning as understood by one of ordinary skill in the art to which this application pertains.

[0016] Currently, after a rail transit train leaves the station, the onboard automated driving system, based on information such as the train's operating plan, the distance between the departing station and the next station, and the planned arrival time, divides the section between the departing station and the next station into multiple sub-sections, determines the planned speed for each sub-section, and controls the train's operation according to the planned speed for each sub-section. However, due to factors such as weather and track maintenance failures, the onboard automated driving system may not be able to control the train's operation according to the planned speed for each sub-section, which can lead to train delays.

[0017] Therefore, in order to accurately determine the planned speed of rail transit trains and thus ensure that the trains arrive at the next station on time, embodiments of this application provide a method for automatic train speed planning, such as... Figure 1 As shown.

[0018] 101. After the target train leaves the station, receive the corresponding operation plan, planned arrival time and inter-station distance of the target train sent by the ground equipment, and obtain the corresponding operation information of the target train from the configuration file.

[0019] In this embodiment of the application, the executing entity in each step is the automatic driving on-board equipment in the target train, which is equipped with an automatic driving system; wherein, the target train can be any type of rail transit train, such as high-speed rail train, subway train, urban rail train, light rail train, etc., and this embodiment of the application does not specifically limit which type of rail transit train the target train is.

[0020] The target train's scheduled operation is either arrival / departure or through. When the target train's scheduled operation is arrival / departure, the target train needs to stop at the station ahead. When the target train's scheduled operation is through, the target train does not need to stop at the station ahead. The target train's scheduled arrival time indicates the expected time of arrival at the station ahead. The target train's inter-station distance is the distance between the station it departs from and the station ahead.

[0021] The target train's operational information may include, but is not limited to, multiple preset adjustment point location information, the target train's maximum permissible speed, the target train's minimum operating speed, the target train's interval acceleration, and the target train's station acceleration. The preset adjustment point location information is used to indicate the percentage of the remaining interval length to the total length of the inter-station interval when the train passes its corresponding target adjustment point location.

[0022] After the target train departs from the station, the autonomous driving onboard equipment can receive the target train's corresponding operation plan, planned arrival time, and inter-station distance from the ground equipment, and obtain the target train's corresponding operation information from the configuration file, so as to determine the target train's corresponding planned speed based on the target train's corresponding operation plan, planned arrival time, inter-station distance, and operation information.

[0023] 102. Control the target train to run at a constant speed at the maximum permissible speed.

[0024] After obtaining the target train's corresponding operation plan, planned arrival time, distance between stations, and operation information, the autonomous driving onboard equipment can first control the target train to run at a constant speed at the train's maximum permissible speed.

[0025] 103. Based on the distance between stations and the location information of multiple preset adjustment points, determine the locations of multiple target adjustment points.

[0026] During the process of controlling the target train to run at a constant speed at the maximum permissible speed, the automatic driving onboard equipment also needs to determine the positions of multiple target adjustment points based on the distance between the station where it departs and the station ahead, as well as multiple preset adjustment point position information. For example, if the operation information corresponding to the target train specifically includes three preset adjustment point position information, namely 60%, 40%, and 20%, and the distance between the station where it departs and the station ahead is 10km, then the first target adjustment point position is 6km away from the station ahead, the second target adjustment point position is 4km away from the station ahead, and the third target adjustment point position is 2km away from the station ahead.

[0027] 104. When the target train reaches any target adjustment point, determine the remaining running distance corresponding to the remaining section based on the target adjustment point position, and determine the remaining running time corresponding to the remaining section based on the current time and the planned arrival time.

[0028] To avoid the impact of weather, track malfunctions, and maintenance on the operation of the target train, the planned speed of the target train needs to be re-determined at each target adjustment point based on the actual operating conditions during the journey from the station to the next station, so as to ensure that the target train can arrive at the next station on time.

[0029] Therefore, when the target train reaches any target adjustment point, the automated driving onboard equipment needs to first determine the remaining running distance corresponding to the remaining section based on the target adjustment point, that is, the distance between the target adjustment point and the station ahead is determined as the remaining running distance corresponding to the remaining section; then, it needs to determine the remaining running time corresponding to the remaining section based on the current time and the planned arrival time, that is, the planned arrival time is subtracted from the current time, and the calculation result is determined as the remaining running time corresponding to the remaining section; where the remaining section refers to the section that the target train has not yet traveled.

[0030] 105. Based on the operation plan, remaining running distance, remaining running time and current train speed, divide the remaining section into multiple sub-sections, determine the planned speed of the remaining section and the running distance corresponding to each sub-section, and control the operation of the target train according to the planned speed of the remaining section and the running distance corresponding to each sub-section.

[0031] After determining the remaining running distance and remaining running time of the remaining section, the autonomous driving onboard equipment can divide the remaining section into multiple sub-sections according to the operation plan of the target train. Based on the current running speed of the target train and the remaining running distance and remaining running time of the remaining section, it can determine the planned speed of the remaining section and the running distance of each sub-section, and control the operation of the target train according to the planned speed of the remaining section and the running distance of each sub-section.

[0032] This application provides a method for speed planning in automatic train operation. After a target train departs from a station, the onboard automatic train system receives the target train's operating plan, planned arrival time, and inter-station distance from ground equipment, and retrieves the target train's operating information from a configuration file. After obtaining the target train's operating plan, planned arrival time, inter-station distance, and operating information, the onboard automatic train system controls the target train to run at its maximum permissible speed. Based on the inter-station distance between the departing station and the next station, and multiple preset adjustment point positions, it determines multiple target adjustment point positions. When the target train reaches any target adjustment point, the onboard automatic train system first determines the remaining running distance of the remaining section based on that target adjustment point position, then determines the remaining running time of the remaining section based on the current time and planned arrival time. Next, based on the target train's operating plan, the remaining section is divided into multiple sub-sections. Based on the target train's current running speed, the remaining running distance, and the remaining running time of the remaining section, the system determines the planned speed for the remaining section and the running distance for each sub-section. Finally, the system controls the target train's operation based on the planned speed for the remaining section and the running distance for each sub-section. In this embodiment of the application, during the operation of the target train from the station to the next station, the automatic driving onboard equipment re-determines the remaining interval planning speed of the target train at multiple target adjustment points based on the actual operating conditions. This avoids the impact of factors such as weather and track fault maintenance on the operation of the target train, thereby ensuring that the target train can arrive at the next station on time.

[0033] To provide a more detailed explanation, this application provides another method for train automatic driving speed planning, as detailed below. Figure 2 As shown.

[0034] 201. After the target train leaves the station, receive the corresponding operation plan, planned arrival time and inter-station distance of the target train sent by the ground equipment, and obtain the corresponding operation information of the target train from the configuration file.

[0035] Regarding step 201, after the target train leaves the station, receiving the operation plan, planned arrival time and inter-station distance of the target train sent by the ground equipment, and obtaining the operation information of the target train in the configuration file, please refer to the relevant description of step 101 above. This embodiment of the application will not repeat it here.

[0036] 202. Control the target train to run at a constant speed at the maximum permissible speed.

[0037] Regarding step 202, controlling the target train to run at a constant speed at the maximum permissible speed, please refer to the relevant description of step 102 above. This embodiment of the application will not repeat it here.

[0038] 203. Based on the distance between stations and the location information of multiple preset adjustment points, determine the locations of multiple target adjustment points.

[0039] Regarding step 203, determining the locations of multiple target adjustment points based on the distance between stations and the location information of multiple preset adjustment points, please refer to the relevant description of step 103 above. This embodiment of the application will not repeat it here.

[0040] 204. When the target train reaches any target adjustment point, determine the remaining running distance corresponding to the remaining section based on the target adjustment point position, and determine the remaining running time corresponding to the remaining section based on the current time and the planned arrival time.

[0041] Regarding step 204, when the target train reaches any target adjustment point, the remaining running distance corresponding to the remaining section is determined according to the target adjustment point position, and the remaining running time corresponding to the remaining section is determined according to the current time and the planned arrival time. Please refer to the relevant description of step 104 above. This embodiment of the application will not repeat it here.

[0042] 205a. When the operation plan is arrival and departure, the remaining section is divided into the first sub-section, the second sub-section and the third sub-section. Based on the remaining running distance, the remaining running time and the current running speed of the train, the planned speed of the remaining section and the running distance corresponding to each sub-section are determined. The target train is controlled to run according to the first preset rule, the planned speed of the remaining section and the running distance corresponding to each sub-section.

[0043] After determining the remaining running distance and remaining running time of the remaining section, the autonomous driving onboard equipment can divide the remaining section into multiple sub-sections according to the operation plan of the target train. Based on the current running speed of the target train and the remaining running distance and remaining running time of the remaining section, it can determine the planned speed of the remaining section and the running distance of each sub-section, and control the operation of the target train according to the planned speed of the remaining section and the running distance of each sub-section.

[0044] When the target train's operating plan is arrival or departure, since it needs to stop at the station ahead, the remaining section needs to be divided into three sub-sections: the first sub-section, the second sub-section, and the third sub-section. After dividing the remaining section into the first, second, and third sub-sections, the autonomous driving onboard equipment can determine the planned speed of the remaining section and the running distance of each sub-section based on the current operating speed of the target train, the remaining running distance of the remaining section, and the remaining running time. It can also control the operation of the target train according to the first preset rule, the planned speed of the remaining section, and the running distance of each sub-section.

[0045] Specifically, in this step, the autonomous driving onboard equipment determines the planned speed for the remaining section and the running distance for each sub-section based on the current operating speed of the target train, the remaining running distance, and the remaining running time of the remaining section. First, the interval acceleration, station acceleration, current train speed, remaining running distance, and remaining running time corresponding to the remaining intervals are substituted into the first preset formula to calculate the planned speed of the first interval.

[0046] Then, determine whether the planned speed of the first interval is greater than the current operating speed of the target train; If the planned speed of the first section is greater than the current operating speed of the target train, then it is determined whether the planned speed of the first section is less than the maximum permissible speed of the target train. If the planned speed of the first section is greater than or equal to the maximum permissible speed of the target train, then the maximum permissible speed of the target train is determined as the planned speed of the remaining section. If the planned speed of the first section is less than the maximum permissible speed of the target train, then it is determined whether the planned speed of the first section is greater than the minimum operating speed of the target train. If the planned speed of the first section is greater than the minimum operating speed of the target train, then the planned speed of the first section is determined as the planned speed of the remaining section. If the planned speed of the first section is less than or equal to the minimum operating speed of the target train, then the minimum operating speed of the target train is determined as the planned speed of the remaining section. If the planned speed of the first interval is less than or equal to the current operating speed of the target train, then the interval acceleration, station acceleration, and current operating speed of the target train, as well as the remaining operating distance and remaining running time of the remaining interval, are substituted into the second preset formula to calculate the planned speed of the second interval; it is then determined whether the planned speed of the second interval is less than or equal to the current operating speed of the target train; if the planned speed of the second interval is less than or equal to the current operating speed of the target train, then it is determined whether the planned speed of the second interval is less than the maximum permissible speed of the target train; if the planned speed of the second interval is greater than or equal to the maximum permissible speed of the target train, then the maximum permissible speed of the target train is determined as the planned speed of the remaining interval; if the planned speed of the second interval is less than the maximum permissible speed of the target train, then it is determined whether the planned speed of the second interval is greater than the minimum operating speed of the target train; if the planned speed of the second interval is greater than the minimum operating speed of the target train, then the planned speed of the second interval is determined as the planned speed of the remaining interval; if the planned speed of the second interval is less than or equal to the minimum operating speed of the target train, then the minimum operating speed of the target train is determined as the planned speed of the remaining interval.

[0047] It should be noted that when it is determined that the planned speed of the second section is greater than the current operating speed of the target train, no further steps are required. Instead, the target train should continue to be controlled based on the remaining planned speed of the section determined at the previous target adjustment point.

[0048] Finally, the remaining planned speed of the target train, the current running speed of the train, the acceleration of the section, the acceleration within the station, and the remaining running time of the remaining section are substituted into the third preset formula to calculate the running distance corresponding to each sub-section.

[0049] The first preset formula is as follows: V eval 2 * (1 / 2|a1|+1 / 2|a2|)-V eval *(T) eval +V0 / |a1|)+(V0 2 / 2|a1|+D eval ) = 0 Among them, V eval Let a1 be the velocity for the first interval, a2 be the acceleration within the station, and D be the acceleration within the interval. eval T represents the remaining running distance. eval V0 represents the remaining running time and the current train speed.

[0050] The second preset formula is as follows: V eval2 * (-1 / 2|a1|+1 / 2|a2|)-V eval *(T) eval -V0 / |a1|)+(-V0 2 / 2|a1|+D eval ) = 0 Among them, V eval Let a1 be the acceleration within the second interval, a2 be the acceleration within the station, and D be the acceleration within the second interval. eval T represents the remaining running distance. eval V0 represents the remaining running time and the current train speed.

[0051] The third preset formula is as follows: D1=(V eval 2 -V0 2 ) / 2|a1| D2= V eval *T2D3= V eval 2 / 2|a2| T1=(V eval -V0) / |a1| T3= V eval / |a2| T1 + T2 + T3 = T eval Where D1 is the running distance corresponding to the first sub-interval, D2 is the running distance corresponding to the second sub-interval, D3 is the running distance corresponding to the third sub-interval, T1 is the running time corresponding to the first sub-interval, T2 is the running time corresponding to the second sub-interval, T3 is the running time corresponding to the third sub-interval, and T... eval V represents the remaining runtime. eval The remaining interval is the planned speed, a1 is the interval acceleration, a2 is the station acceleration, and V0 is the current train speed.

[0052] Specifically, in this step, the autonomous driving onboard equipment controls the target train's operation according to the first preset rule, the remaining interval planned speed, and the corresponding running distance for each sub-interval as follows: When the target train is determined to have reached the first sub-section based on the running distances corresponding to multiple sub-sections, the target train is controlled to uniformly change speed from its current running speed to the planned speed for the remaining sub-sections based on the interval acceleration. When the target train is determined to have reached the second sub-section based on the running distances corresponding to multiple sub-sections, the target train is controlled to run at a constant speed at the planned speed for the remaining section. When the target train is determined to be running to the third sub-section based on the running distances corresponding to multiple sub-sections, the target train is controlled to decelerate uniformly to a stop based on the acceleration within the station.

[0053] 205b. When the operation plan is to pass, the remaining section is divided into the first sub-section and the second sub-section. Based on the remaining running distance, the remaining running time and the current running speed of the train, the planned speed of the remaining section and the running distance corresponding to each sub-section are determined. The target train is controlled to run according to the second preset rule, the planned speed of the remaining section and the running distance corresponding to each sub-section.

[0054] After determining the remaining running distance and remaining running time of the remaining section, the autonomous driving onboard equipment can divide the remaining section into multiple sub-sections according to the operation plan of the target train. Based on the current running speed of the target train and the remaining running distance and remaining running time of the remaining section, it can determine the planned speed of the remaining section and the running distance of each sub-section, and control the operation of the target train according to the planned speed of the remaining section and the running distance of each sub-section.

[0055] When the target train's operating plan is to pass through, since there is no need to stop at the station ahead, the remaining section needs to be divided into two sub-sections, namely the first sub-section and the second sub-section. After dividing the remaining section into the first sub-section and the second sub-section, the autonomous driving onboard equipment can determine the planned speed of the remaining section and the running distance of each sub-section based on the current operating speed of the target train and the remaining running distance and running time of the remaining section. It can also control the operation of the target train according to the second preset rule, the planned speed of the remaining section, and the running distance of each sub-section.

[0056] Specifically, in this step, the autonomous driving onboard equipment determines the planned speed for the remaining section and the running distance for each sub-section based on the current operating speed of the target train, the remaining running distance, and the remaining running time of the remaining section. First, the interval acceleration corresponding to the target train, the current running speed of the train, the remaining running distance and the remaining running time corresponding to the remaining interval are substituted into the fourth preset formula to calculate the planned speed of the third interval.

[0057] Then, determine whether the planned speed of the third section is greater than the current operating speed of the target train; If the planned speed of the third section is greater than the current operating speed of the target train, then it is determined whether the planned speed of the third section is less than the maximum permissible speed of the target train. If the planned speed of the third section is greater than or equal to the maximum permissible speed of the target train, then the maximum permissible speed of the target train is determined as the planned speed of the remaining section. If the planned speed of the third section is less than the maximum permissible speed of the target train, then it is determined whether the planned speed of the third section is greater than the minimum operating speed of the target train. If the planned speed of the third section is greater than the minimum operating speed of the target train, then the planned speed of the third section is determined as the planned speed of the remaining section. If the planned speed of the third section is less than or equal to the minimum operating speed of the target train, then the minimum operating speed of the target train is determined as the planned speed of the remaining section. If the planned speed of the third section is less than or equal to the current operating speed of the target train, then the section acceleration and current operating speed of the target train, as well as the remaining operating distance and remaining running time of the remaining section, are substituted into the fifth preset formula to calculate the planned speed of the fourth section; it is then determined whether the planned speed of the fourth section is less than or equal to the current operating speed of the target train; if the planned speed of the fourth section is less than or equal to the current operating speed of the target train, then it is determined whether the planned speed of the fourth section is less than the maximum permissible speed of the target train; if the planned speed of the fourth section is greater than or equal to the maximum permissible speed of the target train, then the maximum permissible speed of the target train is determined as the planned speed of the remaining section; if the planned speed of the fourth section is less than the maximum permissible speed of the target train, then it is determined whether the planned speed of the fourth section is greater than the minimum operating speed of the target train; if the planned speed of the fourth section is greater than the minimum operating speed of the target train, then the planned speed of the fourth section is determined as the planned speed of the remaining section; if the planned speed of the fourth section is less than or equal to the minimum operating speed of the target train, then the minimum operating speed of the target train is determined as the planned speed of the remaining section.

[0058] It should be noted that when it is determined that the planned speed of the fourth section is greater than the current operating speed of the target train, no further steps are required. Instead, the target train should continue to be controlled based on the remaining planned speed of the section determined at the previous target adjustment point.

[0059] Finally, the remaining planned speed of the target train, the current running speed of the train, the acceleration of the section, and the remaining running time of the remaining section are substituted into the sixth preset formula to calculate the running distance corresponding to each sub-section.

[0060] The fourth preset formula is as follows: V eval 2*(1 / 2|a1|)-V eval *(T) eval +V0 / |a1|)+(V0 2 / 2|a1|+D eval ) = 0 Among them, V eval Let a1 be the velocity for the third interval, and D be the interval acceleration. eval T represents the remaining running distance. eval V0 represents the remaining running time and the current train speed.

[0061] The fifth preset formula is as follows: V eval 2 *(-1 / 2|a1|)-V eval *(T) eval -V0 / |a1|)+(-V0) 2 / 2|a1|+D eval ) = 0 Among them, V eval Let a1 be the velocity for the fourth interval, and D be the interval acceleration. eval T represents the remaining running distance. eval V0 represents the remaining running time and the current train speed.

[0062] The sixth preset formula is as follows: D1=(V eval 2 -V0 2 ) / 2|a1| D2= V eval *T2 T1=(V eval -V0) / |a1| T1 + T2 = T eval Where D1 is the running distance corresponding to the first sub-interval, D2 is the running distance corresponding to the second sub-interval, T1 is the running time corresponding to the first sub-interval, T2 is the running time corresponding to the second sub-interval, and T... eval V represents the remaining runtime. eval Let a1 be the speed planned for the remaining interval, a1 be the interval acceleration, and V0 be the current speed of the train.

[0063] Specifically, in this step, the autonomous driving onboard equipment controls the target train's operation according to the second preset rule, the remaining interval planned speed, and the corresponding running distance for each sub-interval as follows: When the target train is determined to have reached the first sub-section based on the running distances corresponding to multiple sub-sections, the target train is controlled to uniformly change speed from its current running speed to the planned speed for the remaining sub-sections based on the interval acceleration. When the target train is determined to have reached the second sub-section based on the running distances corresponding to multiple sub-sections, the target train is controlled to run at a constant speed at the planned speed for the remaining section.

[0064] Furthermore, as a response to the above Figure 1 and Figure 2 In addition to the implementation of the method shown, another embodiment of this application also provides a train automatic driving speed planning device. This device embodiment corresponds to the foregoing method embodiment. For ease of reading, this device embodiment will not repeat the details of the foregoing method embodiment, but it should be clear that the device in this embodiment can implement all the contents of the foregoing method embodiment. This device is used to accurately determine the planned speed of a rail transit train, thereby ensuring that the rail transit train can arrive at the next station on time, specifically as follows... Figure 3 As shown, the device includes: The acquisition unit 31 is used to receive the operation plan, planned arrival time and inter-station distance of the target train sent by the ground equipment after the target train leaves the station, and to obtain the operation information of the target train in the configuration file. The operation information includes multiple preset adjustment point location information and the maximum allowable speed of the train. Control unit 32 is used to control the target train to run at a constant speed at the maximum permissible speed of the train; The first determining unit 33 is used to determine the positions of multiple target adjustment points based on the inter-station distance and the multiple preset adjustment point position information; The second determining unit 34 is used to determine the remaining running distance corresponding to the remaining section based on the target adjustment point position when the target train reaches any target adjustment point position, and to determine the remaining running time corresponding to the remaining section based on the current time and the planned arrival time. The third determining unit 35 is used to divide the remaining interval into multiple sub-intervals according to the operation plan, the remaining running distance, the remaining running time and the current running speed of the train, and to determine the planned speed of the remaining interval and the running distance corresponding to each sub-interval, and to control the operation of the target train according to the planned speed of the remaining interval and the running distance corresponding to each sub-interval.

[0065] Furthermore, such as Figure 4 As shown, the third determining unit 35 includes: The first determining module 351 is used to divide the remaining interval into a first sub-interval, a second sub-interval, and a third sub-interval when the operation plan is arrival and departure, and to determine the planned speed of the remaining interval and the running distance corresponding to each sub-interval based on the remaining running distance, the remaining running time, and the current running speed of the train, and to control the operation of the target train according to a first preset rule, the planned speed of the remaining interval, and the running distance corresponding to each sub-interval; The second determining module 352 is used to divide the remaining interval into a first sub-interval and a second sub-interval when the operation plan is passed, and to determine the planned speed of the remaining interval and the running distance corresponding to each sub-interval based on the remaining running distance, the remaining running time and the current running speed of the train, and to control the operation of the target train according to the second preset rule, the planned speed of the remaining interval and the running distance corresponding to each sub-interval.

[0066] Furthermore, such as Figure 4 As shown, the operational information also includes the minimum operating speed, section acceleration, and station acceleration corresponding to the target train; The first determining module 351 is specifically used to: substitute the interval acceleration, the station acceleration, the remaining running distance, the remaining running time and the current running speed of the train into the first preset formula to calculate the first interval planned speed; Determine whether the planned speed of the first section is greater than the current operating speed of the train; If the planned speed for the first interval is greater than the current operating speed of the train, then it is determined whether the planned speed for the first interval is less than the maximum permissible speed of the train; if the planned speed for the first interval is greater than or equal to the maximum permissible speed of the train, then the maximum permissible speed of the train is determined as the remaining planned speed for the interval; if the planned speed for the first interval is less than the maximum permissible speed of the train, then it is determined whether the planned speed for the first interval is greater than the minimum operating speed of the train; if the planned speed for the first interval is greater than the minimum operating speed of the train, then the planned speed for the first interval is determined as the remaining planned speed for the interval; if the planned speed for the first interval is less than or equal to the minimum operating speed of the train, then the minimum operating speed of the train is determined as the remaining planned speed for the interval. If the planned speed of the first interval is less than or equal to the current operating speed of the train, then the interval acceleration, the station acceleration, the remaining running distance, the remaining running time, and the current operating speed of the train are substituted into the second preset formula to calculate the planned speed of the second interval; it is then determined whether the planned speed of the second interval is less than or equal to the current operating speed of the train; if the planned speed of the second interval is less than or equal to the current operating speed of the train, then it is determined whether the planned speed of the second interval is less than the maximum permissible speed of the train; if the planned speed of the second interval is greater than or equal to the maximum permissible speed of the train, then the maximum permissible speed of the train is determined as the remaining planned speed of the interval; if the planned speed of the second interval is less than or equal to the maximum permissible speed of the train, then it is determined whether the planned speed of the second interval is greater than the minimum operating speed of the train; if the planned speed of the second interval is greater than the minimum operating speed of the train, then the planned speed of the second interval is determined as the remaining planned speed of the interval; if the planned speed of the second interval is less than or equal to the minimum operating speed of the train, then the minimum operating speed of the train is determined as the remaining planned speed of the interval. The remaining planned speed of the interval, the current running speed of the train, the interval acceleration, the station acceleration, and the remaining running time are substituted into the third preset formula to calculate the running distance corresponding to each sub-interval.

[0067] Furthermore, such as Figure 4 As shown, the operational information also includes the minimum operating speed and section acceleration corresponding to the target train; The second determining module 352 is specifically used to: substitute the interval acceleration, the remaining running distance, the remaining running time and the current running speed of the train into the fourth preset formula to calculate the third interval planning speed; Determine whether the planned speed of the third section is greater than the current operating speed of the train; If the planned speed for the third section is greater than the current operating speed of the train, then it is determined whether the planned speed for the third section is less than the maximum permissible speed of the train; if the planned speed for the third section is greater than or equal to the maximum permissible speed of the train, then the maximum permissible speed of the train is determined as the planned speed for the remaining section; if the planned speed for the third section is less than the maximum permissible speed of the train, then it is determined whether the planned speed for the third section is greater than the minimum operating speed of the train; if the planned speed for the third section is greater than the minimum operating speed of the train, then the planned speed for the third section is determined as the planned speed for the remaining section; if the planned speed for the third section is less than or equal to the minimum operating speed of the train, then the minimum operating speed of the train is determined as the planned speed for the remaining section. If the planned speed for the third interval is less than or equal to the current operating speed of the train, then the interval acceleration, the remaining operating distance, the remaining operating time, and the current operating speed of the train are substituted into the fifth preset formula to calculate the planned speed for the fourth interval; it is then determined whether the planned speed for the fourth interval is less than or equal to the current operating speed of the train; if the planned speed for the fourth interval is less than or equal to the current operating speed of the train, then it is determined whether the planned speed for the fourth interval is less than the maximum permissible speed of the train; if the planned speed for the fourth interval is greater than or equal to the maximum permissible speed of the train, then the maximum permissible speed of the train is determined as the remaining planned speed for the interval; if the planned speed for the fourth interval is less than or equal to the maximum permissible speed of the train, then it is determined whether the planned speed for the fourth interval is greater than the minimum operating speed of the train; if the planned speed for the fourth interval is greater than the minimum operating speed of the train, then the planned speed for the fourth interval is determined as the remaining planned speed for the interval; if the planned speed for the fourth interval is less than or equal to the minimum operating speed of the train, then the minimum operating speed of the train is determined as the remaining planned speed for the interval. The remaining interval planned speed, the current train speed, the interval acceleration, and the remaining running time are substituted into the sixth preset formula to calculate the running distance corresponding to each sub-interval.

[0068] Furthermore, such as Figure 4 As shown, the first determining module 351 is specifically used for: when the target train is determined to have reached the first sub-section based on the running distances corresponding to the multiple sub-sections, controlling the target train to uniformly change speed from the current running speed to the planned speed of the remaining section based on the section acceleration; When it is determined that the target train has reached the second sub-section based on the running distances corresponding to the multiple sub-sections, the target train is controlled to run at a constant speed at the planned speed for the remaining section. When the target train is determined to have reached the third sub-section based on the running distances corresponding to the multiple sub-sections, the target train is controlled to decelerate uniformly to a stop based on the station acceleration.

[0069] Furthermore, such as Figure 4 As shown, the second determining module 352 is specifically used for: when the target train is determined to have reached the first sub-section based on the running distances corresponding to the multiple sub-sections, controlling the target train to uniformly change speed from the current running speed to the planned speed of the remaining section based on the section acceleration; When the target train is determined to have reached the second sub-section based on the running distances corresponding to the multiple sub-sections, the target train is controlled to run at a constant speed according to the planned speed of the remaining section.

[0070] This application provides a method and apparatus for speed planning of automatic train operation. After a target train departs from a station, the onboard automatic train system receives the corresponding operation plan, planned arrival time, and inter-station distance from ground equipment, and obtains the corresponding operation information of the target train from a configuration file. After obtaining the operation plan, planned arrival time, inter-station distance, and operation information of the target train, the onboard automatic train system controls the target train to run at a constant speed at the maximum permissible speed. Based on the inter-station distance between the departing station and the next station and multiple preset adjustment point positions, it determines multiple target adjustment point positions. When the target train reaches any target adjustment point position, the onboard automatic train system first determines the remaining running distance corresponding to the remaining section based on the target adjustment point position, then determines the remaining running time corresponding to the remaining section based on the current time and planned arrival time. Then, based on the operation plan corresponding to the target train, the remaining section is divided into multiple sub-sections. Based on the current running speed of the target train and the remaining running distance and remaining running time corresponding to the remaining section, the planned speed of the remaining section and the running distance corresponding to each sub-section are determined. Finally, the target train is controlled to run based on the planned speed of the remaining section and the running distance corresponding to each sub-section. In this embodiment, during the journey of the target train from its departure station to the next station, the automated driving onboard equipment re-determines the remaining planned speed of the target train at multiple target adjustment points based on the actual operating conditions. This avoids the impact of weather, track faults, and maintenance on the target train's operation, thereby ensuring that the target train arrives at the next station on time. This embodiment also provides a computer device, including a memory, a processor, and a computer program stored in the memory. The processor executes the computer program to implement the aforementioned automated train speed planning method. This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described train automatic driving speed planning method.

[0071] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described train automatic driving speed planning method.

[0072] This 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, it performs the following steps: After the target train leaves the station, the system receives the operation plan, planned arrival time and inter-station distance of the target train sent by the ground equipment, and obtains the operation information of the target train in the configuration file. The operation information includes multiple preset adjustment point location information and the maximum allowable speed of the train. Control the target train to run at a constant speed at the train's maximum permissible speed; Based on the inter-station distance and the location information of multiple preset adjustment points, the locations of multiple target adjustment points are determined; When the target train reaches any target adjustment point, the remaining running distance corresponding to the remaining section is determined according to the target adjustment point position, and the remaining running time corresponding to the remaining section is determined according to the current time and the planned arrival time. Based on the operation plan, the remaining operating distance, the remaining operating time, and the current operating speed of the train, the remaining section is divided into multiple sub-sections, and the planned speed of the remaining section and the operating distance corresponding to each sub-section are determined. The operation of the target train is controlled according to the planned speed of the remaining section and the operating distance corresponding to each sub-section.

[0073] Furthermore, the step of dividing the remaining interval into multiple sub-intervals based on the operation plan, the remaining operating distance, the remaining operating time, and the current operating speed of the train, and determining the planned speed for the remaining intervals and the operating distance corresponding to each sub-interval, and controlling the operation of the target train based on the planned speed for the remaining intervals and the operating distance corresponding to each sub-interval, includes: When the operation plan is arrival and departure, the remaining interval is divided into a first sub-interval, a second sub-interval, and a third sub-interval. Based on the remaining running distance, the remaining running time, and the current running speed of the train, the planned speed of the remaining interval and the running distance corresponding to each sub-interval are determined. The target train is controlled to run according to a first preset rule, the planned speed of the remaining interval, and the running distance corresponding to each sub-interval. When the operation plan is approved, the remaining interval is divided into a first sub-interval and a second sub-interval. Based on the remaining running distance, the remaining running time, and the current running speed of the train, the planned speed of the remaining interval and the running distance corresponding to each sub-interval are determined. The target train is then controlled to run according to the second preset rule, the planned speed of the remaining interval, and the running distance corresponding to each sub-interval.

[0074] Furthermore, the operational information also includes the minimum operating speed, section acceleration, and station acceleration corresponding to the target train; the step of dividing the remaining section into a first sub-section, a second sub-section, and a third sub-section, and determining the planned speed for the remaining section and the operating distance corresponding to each sub-section based on the remaining operating distance, the remaining operating time, and the current operating speed of the train, includes: The interval acceleration, the station acceleration, the remaining running distance, the remaining running time, and the current train speed are substituted into the first preset formula to calculate the planned speed of the first interval. Determine whether the planned speed of the first section is greater than the current operating speed of the train; If the planned speed for the first interval is greater than the current operating speed of the train, then it is determined whether the planned speed for the first interval is less than the maximum permissible speed of the train; if the planned speed for the first interval is greater than or equal to the maximum permissible speed of the train, then the maximum permissible speed of the train is determined as the remaining planned speed for the interval; if the planned speed for the first interval is less than the maximum permissible speed of the train, then it is determined whether the planned speed for the first interval is greater than the minimum operating speed of the train; if the planned speed for the first interval is greater than the minimum operating speed of the train, then the planned speed for the first interval is determined as the remaining planned speed for the interval; if the planned speed for the first interval is less than or equal to the minimum operating speed of the train, then the minimum operating speed of the train is determined as the remaining planned speed for the interval. If the planned speed of the first interval is less than or equal to the current operating speed of the train, then the interval acceleration, the station acceleration, the remaining running distance, the remaining running time, and the current operating speed of the train are substituted into the second preset formula to calculate the planned speed of the second interval; it is then determined whether the planned speed of the second interval is less than or equal to the current operating speed of the train; if the planned speed of the second interval is less than or equal to the current operating speed of the train, then it is determined whether the planned speed of the second interval is less than the maximum permissible speed of the train; if the planned speed of the second interval is greater than or equal to the maximum permissible speed of the train, then the maximum permissible speed of the train is determined as the remaining planned speed of the interval; if the planned speed of the second interval is less than or equal to the maximum permissible speed of the train, then it is determined whether the planned speed of the second interval is greater than the minimum operating speed of the train; if the planned speed of the second interval is greater than the minimum operating speed of the train, then the planned speed of the second interval is determined as the remaining planned speed of the interval; if the planned speed of the second interval is less than or equal to the minimum operating speed of the train, then the minimum operating speed of the train is determined as the remaining planned speed of the interval. The remaining planned speed of the interval, the current running speed of the train, the interval acceleration, the station acceleration, and the remaining running time are substituted into the third preset formula to calculate the running distance corresponding to each sub-interval.

[0075] Furthermore, the operational information also includes the minimum operating speed and section acceleration corresponding to the target train; the step of dividing the remaining section into a first sub-section and a second sub-section, and determining the planned speed for the remaining section and the operating distance corresponding to each sub-section based on the remaining operating distance, the remaining operating time, and the current operating speed of the train, includes: Substitute the interval acceleration, the remaining running distance, the remaining running time, and the current train speed into the fourth preset formula to calculate the planned speed for the third interval; Determine whether the planned speed of the third section is greater than the current operating speed of the train; If the planned speed for the third section is greater than the current operating speed of the train, then it is determined whether the planned speed for the third section is less than the maximum permissible speed of the train; if the planned speed for the third section is greater than or equal to the maximum permissible speed of the train, then the maximum permissible speed of the train is determined as the planned speed for the remaining section; if the planned speed for the third section is less than the maximum permissible speed of the train, then it is determined whether the planned speed for the third section is greater than the minimum operating speed of the train; if the planned speed for the third section is greater than the minimum operating speed of the train, then the planned speed for the third section is determined as the planned speed for the remaining section; if the planned speed for the third section is less than or equal to the minimum operating speed of the train, then the minimum operating speed of the train is determined as the planned speed for the remaining section. If the planned speed for the third interval is less than or equal to the current operating speed of the train, then the interval acceleration, the remaining operating distance, the remaining operating time, and the current operating speed of the train are substituted into the fifth preset formula to calculate the planned speed for the fourth interval; it is then determined whether the planned speed for the fourth interval is less than or equal to the current operating speed of the train; if the planned speed for the fourth interval is less than or equal to the current operating speed of the train, then it is determined whether the planned speed for the fourth interval is less than the maximum permissible speed of the train; if the planned speed for the fourth interval is greater than or equal to the maximum permissible speed of the train, then the maximum permissible speed of the train is determined as the remaining planned speed for the interval; if the planned speed for the fourth interval is less than or equal to the maximum permissible speed of the train, then it is determined whether the planned speed for the fourth interval is greater than the minimum operating speed of the train; if the planned speed for the fourth interval is greater than the minimum operating speed of the train, then the planned speed for the fourth interval is determined as the remaining planned speed for the interval; if the planned speed for the fourth interval is less than or equal to the minimum operating speed of the train, then the minimum operating speed of the train is determined as the remaining planned speed for the interval. The remaining interval planned speed, the current train speed, the interval acceleration, and the remaining running time are substituted into the sixth preset formula to calculate the running distance corresponding to each sub-interval.

[0076] Furthermore, controlling the target train's operation according to the first preset rule, the remaining interval planned speed, and the running distance corresponding to each sub-interval includes: When the target train is determined to have reached the first sub-section based on the running distances corresponding to the multiple sub-sections, the target train is controlled to uniformly change speed from its current running speed to the planned speed of the remaining section based on the section acceleration. When it is determined that the target train has reached the second sub-section based on the running distances corresponding to the multiple sub-sections, the target train is controlled to run at a constant speed at the planned speed for the remaining section. When the target train is determined to have reached the third sub-section based on the running distances corresponding to the multiple sub-sections, the target train is controlled to decelerate uniformly to a stop based on the station acceleration.

[0077] Furthermore, controlling the target train's operation according to the second preset rule, the remaining interval planned speed, and the running distance corresponding to each sub-interval includes: When the target train is determined to have reached the first sub-section based on the running distances corresponding to the multiple sub-sections, the target train is controlled to uniformly change speed from its current running speed to the planned speed of the remaining section based on the section acceleration. When the target train is determined to have reached the second sub-section based on the running distances corresponding to the multiple sub-sections, the target train is controlled to run at a constant speed according to the planned speed of the remaining section.

[0078] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing program code with the following initialization steps: after the target train departs from the station, receiving the operation plan, planned arrival time, and inter-station distance corresponding to the target train sent by ground equipment, and obtaining the operation information corresponding to the target train from the configuration file, wherein the operation information includes multiple preset adjustment point position information and the maximum allowable speed of the train; controlling the target train to run at a constant speed at the maximum allowable speed of the train; determining multiple target adjustment point positions according to the inter-station distance and the multiple preset adjustment point position information; when the target train reaches any target adjustment point position, determining the remaining running distance corresponding to the remaining interval according to the target adjustment point position, and determining the remaining running time corresponding to the remaining interval according to the current time and the planned arrival time; dividing the remaining interval into multiple sub-intervals according to the operation plan, the remaining running distance, the remaining running time, and the current running speed of the train, and determining the planned speed of the remaining interval and the running distance corresponding to each sub-interval, and controlling the operation of the target train according to the planned speed of the remaining interval and the running distance corresponding to each sub-interval.

[0079] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0080] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0081] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0082] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0083] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0084] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0085] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0086] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0087] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0088] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A speed planning method for automatic train operation, characterized in that, The method includes: After the target train leaves the station, the system receives the operation plan, planned arrival time and inter-station distance of the target train sent by the ground equipment, and obtains the operation information of the target train in the configuration file. The operation information includes multiple preset adjustment point location information and the maximum allowable speed of the train. Control the target train to run at a constant speed at the train's maximum permissible speed; Based on the inter-station distance and the location information of multiple preset adjustment points, the locations of multiple target adjustment points are determined; When the target train reaches any target adjustment point, the remaining running distance corresponding to the remaining section is determined according to the target adjustment point position, and the remaining running time corresponding to the remaining section is determined according to the current time and the planned arrival time. Based on the operation plan, the remaining operating distance, the remaining operating time, and the current operating speed of the train, the remaining section is divided into multiple sub-sections, and the planned speed of the remaining section and the operating distance corresponding to each sub-section are determined. The operation of the target train is controlled according to the planned speed of the remaining section and the operating distance corresponding to each sub-section.

2. The method according to claim 1, characterized in that, The step of dividing the remaining section into multiple sub-sections based on the operation plan, the remaining operating distance, the remaining operating time, and the current operating speed of the train, and determining the planned speed for the remaining section and the operating distance corresponding to each sub-section, and controlling the operation of the target train based on the planned speed for the remaining section and the operating distance corresponding to each sub-section, includes: When the operation plan is arrival and departure, the remaining interval is divided into a first sub-interval, a second sub-interval, and a third sub-interval. Based on the remaining running distance, the remaining running time, and the current running speed of the train, the planned speed of the remaining interval and the running distance corresponding to each sub-interval are determined. The target train is controlled to run according to a first preset rule, the planned speed of the remaining interval, and the running distance corresponding to each sub-interval. When the operation plan is approved, the remaining interval is divided into a first sub-interval and a second sub-interval. Based on the remaining running distance, the remaining running time, and the current running speed of the train, the planned speed of the remaining interval and the running distance corresponding to each sub-interval are determined. The target train is then controlled to run according to the second preset rule, the planned speed of the remaining interval, and the running distance corresponding to each sub-interval.

3. The method according to claim 2, characterized in that, The operational information also includes the minimum operating speed, section acceleration, and station acceleration corresponding to the target train; dividing the remaining section into a first sub-section, a second sub-section, and a third sub-section, and determining the planned speed for the remaining section and the operating distance corresponding to each sub-section based on the remaining operating distance, the remaining operating time, and the current operating speed of the train, includes: The interval acceleration, the station acceleration, the remaining running distance, the remaining running time, and the current train speed are substituted into the first preset formula to calculate the planned speed of the first interval. Determine whether the planned speed of the first section is greater than the current operating speed of the train; If the planned speed for the first interval is greater than the current operating speed of the train, then it is determined whether the planned speed for the first interval is less than the maximum permissible speed of the train; if the planned speed for the first interval is greater than or equal to the maximum permissible speed of the train, then the maximum permissible speed of the train is determined as the remaining planned speed for the interval; if the planned speed for the first interval is less than the maximum permissible speed of the train, then it is determined whether the planned speed for the first interval is greater than the minimum operating speed of the train; if the planned speed for the first interval is greater than the minimum operating speed of the train, then the planned speed for the first interval is determined as the remaining planned speed for the interval; if the planned speed for the first interval is less than or equal to the minimum operating speed of the train, then the minimum operating speed of the train is determined as the remaining planned speed for the interval. If the planned speed of the first interval is less than or equal to the current operating speed of the train, then the interval acceleration, the station acceleration, the remaining running distance, the remaining running time, and the current operating speed of the train are substituted into the second preset formula to calculate the planned speed of the second interval; it is then determined whether the planned speed of the second interval is less than or equal to the current operating speed of the train; if the planned speed of the second interval is less than or equal to the current operating speed of the train, then it is determined whether the planned speed of the second interval is less than the maximum permissible speed of the train; if the planned speed of the second interval is greater than or equal to the maximum permissible speed of the train, then the maximum permissible speed of the train is determined as the remaining planned speed of the interval; if the planned speed of the second interval is less than or equal to the maximum permissible speed of the train, then it is determined whether the planned speed of the second interval is greater than the minimum operating speed of the train; if the planned speed of the second interval is greater than the minimum operating speed of the train, then the planned speed of the second interval is determined as the remaining planned speed of the interval; if the planned speed of the second interval is less than or equal to the minimum operating speed of the train, then the minimum operating speed of the train is determined as the remaining planned speed of the interval. The remaining planned speed of the interval, the current running speed of the train, the interval acceleration, the station acceleration, and the remaining running time are substituted into the third preset formula to calculate the running distance corresponding to each sub-interval.

4. The method according to claim 2, characterized in that, The operational information also includes the minimum operating speed and section acceleration corresponding to the target train; dividing the remaining section into a first sub-section and a second sub-section, and determining the planned speed for the remaining section and the operating distance corresponding to each sub-section based on the remaining operating distance, the remaining operating time, and the current operating speed of the train, includes: Substitute the interval acceleration, the remaining running distance, the remaining running time, and the current train speed into the fourth preset formula to calculate the planned speed for the third interval; Determine whether the planned speed of the third section is greater than the current operating speed of the train; If the planned speed for the third section is greater than the current operating speed of the train, then it is determined whether the planned speed for the third section is less than the maximum permissible speed of the train; if the planned speed for the third section is greater than or equal to the maximum permissible speed of the train, then the maximum permissible speed of the train is determined as the planned speed for the remaining section; if the planned speed for the third section is less than the maximum permissible speed of the train, then it is determined whether the planned speed for the third section is greater than the minimum operating speed of the train; if the planned speed for the third section is greater than the minimum operating speed of the train, then the planned speed for the third section is determined as the planned speed for the remaining section; if the planned speed for the third section is less than or equal to the minimum operating speed of the train, then the minimum operating speed of the train is determined as the planned speed for the remaining section. If the planned speed for the third interval is less than or equal to the current operating speed of the train, then the interval acceleration, the remaining operating distance, the remaining operating time, and the current operating speed of the train are substituted into the fifth preset formula to calculate the planned speed for the fourth interval; it is then determined whether the planned speed for the fourth interval is less than or equal to the current operating speed of the train; if the planned speed for the fourth interval is less than or equal to the current operating speed of the train, then it is determined whether the planned speed for the fourth interval is less than the maximum permissible speed of the train; if the planned speed for the fourth interval is greater than or equal to the maximum permissible speed of the train, then the maximum permissible speed of the train is determined as the remaining planned speed for the interval; if the planned speed for the fourth interval is less than or equal to the maximum permissible speed of the train, then it is determined whether the planned speed for the fourth interval is greater than the minimum operating speed of the train; if the planned speed for the fourth interval is greater than the minimum operating speed of the train, then the planned speed for the fourth interval is determined as the remaining planned speed for the interval; if the planned speed for the fourth interval is less than or equal to the minimum operating speed of the train, then the minimum operating speed of the train is determined as the remaining planned speed for the interval. The remaining interval planned speed, the current train speed, the interval acceleration, and the remaining running time are substituted into the sixth preset formula to calculate the running distance corresponding to each sub-interval.

5. The method according to claim 3, characterized in that, The step of controlling the target train's operation according to the first preset rule, the remaining interval planned speed, and the running distance corresponding to each sub-interval includes: When the target train is determined to have reached the first sub-section based on the running distances corresponding to the multiple sub-sections, the target train is controlled to uniformly change speed from its current running speed to the planned speed of the remaining section based on the section acceleration. When it is determined that the target train has reached the second sub-section based on the running distances corresponding to the multiple sub-sections, the target train is controlled to run at a constant speed at the planned speed for the remaining section. When the target train is determined to have reached the third sub-section based on the running distances corresponding to the multiple sub-sections, the target train is controlled to decelerate uniformly to a stop based on the station acceleration.

6. The method according to claim 4, characterized in that, The step of controlling the target train's operation according to the second preset rule, the remaining interval planned speed, and the running distance corresponding to each sub-interval includes: When the target train is determined to have reached the first sub-section based on the running distances corresponding to the multiple sub-sections, the target train is controlled to uniformly change speed from its current running speed to the planned speed of the remaining section based on the section acceleration. When the target train is determined to have reached the second sub-section based on the running distances corresponding to the multiple sub-sections, the target train is controlled to run at a constant speed according to the planned speed of the remaining section.

7. A train automatic driving speed planning device, characterized in that, The device includes: The acquisition unit is used to receive the operation plan, planned arrival time and inter-station distance of the target train sent by the ground equipment after the target train leaves the station, and to obtain the operation information of the target train in the configuration file. The operation information includes multiple preset adjustment point location information and the maximum allowable speed of the train. The control unit is used to control the target train to run at a constant speed at the maximum permissible speed of the train. The first determining unit is used to determine the positions of multiple target adjustment points based on the inter-station distance and the multiple preset adjustment point position information; The second determining unit is used to determine the remaining running distance corresponding to the remaining section based on the target adjustment point position when the target train reaches any target adjustment point position, and to determine the remaining running time corresponding to the remaining section based on the current time and the planned arrival time. The third determining unit is used to divide the remaining interval into multiple sub-intervals according to the operation plan, the remaining running distance, the remaining running time and the current running speed of the train, and to determine the planned speed of the remaining interval and the running distance corresponding to each sub-interval, and to control the operation of the target train according to the planned speed of the remaining interval and the running distance corresponding to each sub-interval.

8. A computer device, comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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