WO2022205847A1 - Vehicle speed control method and apparatus, and related device - Google Patents

Vehicle speed control method and apparatus, and related device Download PDF

Info

Publication number
WO2022205847A1
WO2022205847A1 PCT/CN2021/125204 CN2021125204W WO2022205847A1 WO 2022205847 A1 WO2022205847 A1 WO 2022205847A1 CN 2021125204 W CN2021125204 W CN 2021125204W WO 2022205847 A1 WO2022205847 A1 WO 2022205847A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
speed
target
speed control
vehicle speed
Prior art date
Application number
PCT/CN2021/125204
Other languages
French (fr)
Chinese (zh)
Inventor
刘泽
雷黎明
雷成健
黎邓根
苏辉亮
高雪娟
何敏学
刘建树
Original Assignee
湖南中车时代通信信号有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 湖南中车时代通信信号有限公司 filed Critical 湖南中车时代通信信号有限公司
Publication of WO2022205847A1 publication Critical patent/WO2022205847A1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0062—On-board target speed calculation or supervision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0072—On-board train data handling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/021—Measuring and recording of train speed

Definitions

  • the present application relates to the technical field of traffic operation control, in particular to a vehicle speed control method, and also to a vehicle speed control device, equipment, and computer-readable storage medium.
  • the traditional vehicle speed level adjustment mainly includes: First, the control center equipment (ATS, Automatic Train Supervision) estimates the vehicle arrival time according to the current time, the distance from the vehicle to the next stop, and the current speed level of the vehicle; further, if the ATS estimates If the arrival time of the vehicle is earlier than the arrival time planned in the operation map, a speed level lower than the current running speed level of the vehicle will be issued to the vehicle as the reference speed; if the vehicle arrival time estimated by ATS is later than the arrival time planned in the operation map , then a speed level higher than the current running speed level of the vehicle is issued to the vehicle as a reference speed; finally, the vehicle adjusts the vehicle speed according to the changed reference speed.
  • ATS Automatic Train Supervision
  • the vehicle operation control system only uses the allowable operation speed level issued by the ATS.
  • the reference speed to ensure that the vehicle arrives at the station on time cannot be dynamically calculated in real time according to the running time and the distance from the station, resulting in a large deviation between the actual operation of the vehicle and the operation map.
  • the purpose of this application is to provide a vehicle speed control method, which can realize more accurate vehicle speed control and improve the punctuality rate of traffic operation; another purpose of this application is to provide a vehicle speed control device, equipment and computer
  • the readable storage medium also has the above beneficial effects.
  • the present application provides a vehicle speed control method, including:
  • the target vehicle is controlled to run at the target speed.
  • the prescribed operation information includes a prescribed speed level V 11 of the operation interval, an interval operation distance s and an interval operation time t; then the preset vehicle speed control model is:
  • V Ref V llmax - ⁇ V
  • V 11max is the maximum speed level of the target vehicle
  • V real is the historical actual running speed
  • V Ref is the target speed
  • obtaining the specified operation information of the operation section where the target vehicle is located includes:
  • the predetermined operation information of the operation section is determined based on the operation map information.
  • the vehicle speed control method further includes:
  • the target vehicle is controlled to operate according to the maximum speed level.
  • the present application also discloses a vehicle speed control device, comprising:
  • an information acquisition module used for acquiring the historical actual running speed of the target vehicle and the specified running information of the running section where the target vehicle is located;
  • a model processing module configured to process the current travel speed and the prescribed operation information by using a preset vehicle speed control model to obtain a target speed
  • a vehicle speed control module configured to control the target vehicle to run according to the target speed.
  • the information acquisition module is specifically configured to receive the operation chart information issued by the control center; and determine the prescribed operation information of the operation interval according to the operation chart information.
  • the vehicle speed control device further includes:
  • a maximum vehicle speed control module configured to control the target vehicle to run according to the maximum speed level when the target speed exceeds the maximum speed level.
  • the application also discloses a vehicle speed control device, comprising:
  • the processor is configured to execute the computer program to implement the steps of any of the above-mentioned vehicle speed control methods.
  • the present application further discloses a vehicle including the above-mentioned vehicle speed control device.
  • the present application also discloses a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by the processor, it is used to realize any of the above-mentioned vehicle speeds The steps of the control method.
  • a vehicle speed control method provided by the present application includes acquiring the historical actual running speed of a target vehicle and the prescribed running information of the running section where the target vehicle is located; using a preset vehicle speed control model to control the current running speed and the prescribed running speed The running information is processed to obtain a target speed; the target vehicle is controlled to run according to the target speed.
  • the vehicle speed control method provided by the present application can realize the real-time planning of the vehicle running speed by using the pre-created vehicle speed control model according to the specified operation information of the operation zone where the target vehicle is located, compared with the traditional method of simply dividing the running speed level.
  • this implementation method is equivalent to generating continuous reference speed clusters according to the conditions of running time, so it can realize more accurate adjustment of running time between stations, ensure that vehicles can arrive at the station on time, effectively improve the punctuality rate of traffic operation, and further Improve the quality of transportation services.
  • the vehicle speed control device, device and computer-readable storage medium provided by the present application all have the above beneficial effects, which will not be repeated here.
  • FIG. 1 is a schematic flowchart of a vehicle speed control method provided by the application
  • Fig. 2 is the operation diagram of a kind of vehicle provided by the application in the AB interval;
  • Fig. 3 is the operation diagram of another vehicle provided by the application in the AB interval
  • FIG. 4 is a schematic structural diagram of a vehicle speed control system provided by the application.
  • FIG. 5 is a schematic structural diagram of a vehicle speed control device provided by the application.
  • FIG. 6 is a schematic structural diagram of a vehicle speed control device provided by the application.
  • the core of the application is to provide a vehicle speed control method, which can realize more accurate vehicle speed control and improve the punctuality rate of traffic operation; another core of the application is to provide a vehicle speed control device, equipment and computer
  • the readable storage medium also has the above beneficial effects.
  • FIG. 1 is a schematic flowchart of a vehicle speed control method provided by the application.
  • the vehicle speed control method may include:
  • the purpose of this step is to obtain vehicle-related information
  • the vehicle-related information may specifically include the historical actual running speed of the target vehicle and the prescribed running information of the running section where the target vehicle is located.
  • the target vehicle is the vehicle that needs speed control
  • the historical actual operating speed is obtained based on the historical operating data of the target vehicle
  • the operating interval refers to the operating interval in which the target vehicle is currently located, such as the operation between station A and station B.
  • the specified operation information of the operation area is the various types of travel information pre-specified for various types of vehicles in the operation area, including but not limited to the interval operation distance (the distance between two stations), the interval operation time (the vehicle is in the operation area) the specified running time), various speed classes (safe speed class, maximum speed class, etc.).
  • acquiring the prescribed operation information of the operation area where the target vehicle is located may include: receiving operation map information issued by the control center; and determining the prescribed operation information of the operation area according to the operation map information.
  • This preferred embodiment provides a specific method for acquiring specified operation information, that is, implementation based on the operation diagram of the control center.
  • operation maps will be prepared in advance according to operational needs.
  • the train's interval running speed and platform stop time are closely related to the operation map.
  • the operation map includes The prescribed operation information of various operation sections, therefore, the prescribed operation information of the operation section where the target vehicle is located can be determined according to the operation map information.
  • the operation diagram can be obtained from the control center, which is the traffic control center.
  • S102 Use a preset vehicle speed control model to process the current driving speed and the specified operation information to obtain a target speed;
  • the purpose of this step is to achieve the acquisition of the target speed, which is realized based on the preset vehicle speed control model.
  • the preset vehicle speed control model is a pre-created model for implementing vehicle speed control, and the model can be obtained by calculating the current running speed of the target vehicle and its specified operation information in the current operating interval to obtain a model that can make the target vehicle
  • the target speed for arriving at the station on time so that the target vehicle can be controlled to arrive at the station on time by controlling the target vehicle to run at the target speed.
  • the above-mentioned prescribed operation information may include the prescribed speed level V 11 of the operation interval, the interval operation distance s and the interval operation time t; then the above-mentioned preset vehicle speed control model may be:
  • V Ref V llmax - ⁇ V
  • V llmax is the maximum speed level of the target vehicle
  • V real is the historical actual running speed
  • V Ref is the target speed
  • This preferred embodiment provides a specific preset vehicle speed control model, whereby the target speed can be obtained by inputting various types of data information obtained based on S101 into the preset vehicle speed control model.
  • the purpose of this step is to realize the speed control of the target vehicle. After the target speed is calculated and obtained based on the preset vehicle speed control model, it can be sent to the vehicle traction system, and the vehicle traction system controls the vehicle to run at the target speed. Speed control of the target vehicle.
  • the vehicle speed control method may further include: when the target speed exceeds the maximum speed level, controlling the target vehicle to run according to the maximum speed level.
  • the target speed can be monitored in real time to avoid its actual running speed exceeding the maximum speed level of the target vehicle. Therefore, when the calculated target speed exceeds the maximum speed level of the target vehicle, it can be The target vehicle is controlled to run according to the maximum speed level, so as to effectively avoid the occurrence of safety accidents and ensure the safety of the vehicle.
  • the vehicle speed control method provided by the present application can realize the real-time planning of the vehicle running speed by using the pre-created vehicle speed control model according to the specified operation information of the operation zone where the target vehicle is located, compared with the traditional method of simply dividing the running speed level.
  • this implementation method is equivalent to generating continuous reference speed clusters according to the conditions of running time, so it can realize more accurate adjustment of running time between stations, ensure that vehicles can arrive at the station on time, effectively improve the punctuality rate of traffic operation, and further Improve the quality of transportation services.
  • the embodiments of the present application provide another vehicle speed control method.
  • the running time of the vehicle from station A to station B is t
  • the distance between station A and station B is s
  • the line between station A and station B is s.
  • the allowable speed level is V ll
  • the average speed V req that makes the vehicle arrive at the station on time is:
  • V Ref target speed
  • V Ref a function of V req .
  • Fig. 2 is a running diagram of a vehicle provided by the application in the AB section.
  • the ratio between the actual running speed V real of the vehicle in the entire interval and the allowable speed level V ll is k, where k is a function of V real , V ll , s, expressed as k(V real , V ll , s):
  • the reference operation speed V Ref that satisfies the vehicle to arrive at the station on time can be calculated.
  • Time-required interval average velocity V req Since V Ref is related to V req , V llmax (maximum allowable speed level), k, s, and considering that V Ref cannot be greater than the maximum allowable speed level, there are:
  • V Ref V llmax - ⁇ V
  • FIG. 3 is a running diagram of another vehicle in the AB section provided by the application.
  • FIG. 4 is a schematic structural diagram of a vehicle speed control system provided by the application.
  • the vehicle speed control system includes a control center and a vehicle, wherein the vehicle is provided with an on-board ATC system, a traction/traction system
  • the braking system and the running speed adjustment response device are used to realize the real-time control of the vehicle speed.
  • the control center sends map adjustment information to the response device and the vehicle-mounted ATC system
  • the vehicle-mounted ATC system applies to the response device for a reference running speed
  • the response device sends the reference running speed calculated according to the above method to the vehicle-mounted ATC system.
  • the ATC system generates traction/brake commands according to the closed-loop control to control the vehicle to run at the reference running speed.
  • the operating speed adjustment response device includes a computing unit, a communication unit, and a storage unit.
  • the communication unit has wireless communication and serial communication interfaces
  • the computing unit has complex processing capabilities
  • the storage unit can store the response operation data, log information, and the like.
  • the vehicle speed control method provided by the embodiment of the present application can use a pre-created vehicle speed control model to realize the real-time planning of the vehicle running speed according to the specified operation information of the operation zone where the target vehicle is located, compared with the traditional simple division of the operation speed level.
  • This implementation method is equivalent to generating continuous reference speed clusters according to the conditions of running time, so it can realize more accurate adjustment of running time between stations, ensure that vehicles can arrive at the station on time, and effectively improve the punctuality rate of traffic operation. , further improving the quality of transportation services.
  • FIG. 5 is a schematic structural diagram of a vehicle speed control device provided by the application, and the vehicle speed control device may include:
  • the information acquisition module 1 is used to acquire the historical actual running speed of the target vehicle and the specified running information of the running section where the target vehicle is located;
  • the model processing module 2 is used for using the preset vehicle speed control model to process the current driving speed and the specified operation information to obtain the target speed;
  • the vehicle speed control module 3 is used to control the target vehicle to run at the target speed.
  • the vehicle speed control device provided by the embodiment of the present application can realize the real-time planning of the vehicle running speed by using the pre-created vehicle speed control model according to the specified running information of the running zone where the target vehicle is located, compared with the traditional simple division of running speed grades.
  • This implementation method is equivalent to generating continuous reference speed clusters according to the conditions of running time, so it can realize more accurate adjustment of running time between stations, ensure that vehicles can arrive at the station on time, and effectively improve the punctuality rate of traffic operation. , further improving the quality of transportation services.
  • the above-mentioned information acquisition module 1 may be specifically configured to receive the operation chart information issued by the control center; and determine the prescribed operation information of the operation interval according to the operation chart information.
  • the vehicle speed control device may further include a maximum vehicle speed control module for controlling the target vehicle to run according to the maximum speed level when the target speed exceeds the maximum speed level.
  • FIG. 6 is a schematic structural diagram of a vehicle speed control device provided by the application, and the vehicle speed control device may include:
  • processor 20 When the processor 20 is configured to execute the computer program, the steps of any one of the above-mentioned vehicle speed control methods can be implemented.
  • the present application also provides a vehicle including the above-mentioned vehicle speed control device.
  • the present application also provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of any of the above-mentioned vehicle speed control methods can be implemented.
  • the computer-readable storage medium may include: a USB flash drive, a removable hard disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a magnetic disk or an optical disk, etc. that can store program codes medium.
  • RAM random access memory
  • ROM read only memory
  • EEPROM electrically programmable ROM
  • EEPly erasable programmable ROM registers
  • hard disk removable disk
  • CD-ROM compact disc-read only memory

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Traffic Control Systems (AREA)

Abstract

A vehicle speed control method and apparatus, a device, a vehicle, and a computer-readable storage medium. The method comprises: obtaining a historical actual running speed of a target vehicle, and specified running information of a running section of the target vehicle (S101); processing the historical actual running speed and the specified running information by using a preset vehicle speed control model to obtain a target speed (S102); and controlling the target vehicle to run according to the target speed (S103). The present invention can implement accurate vehicle speed control and improve the traffic running on-time rate.

Description

一种车速控制方法、装置及相关设备A vehicle speed control method, device and related equipment
本申请要求于2021年4月2日提交中国专利局、申请号为202110365029.X、发明名称为“一种车速控制方法、装置及相关设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application filed on April 2, 2021 with the application number 202110365029.X and the invention titled "A vehicle speed control method, device and related equipment", the entire contents of which are by reference Incorporated in this application.
技术领域technical field
本申请涉及交通运行控制技术领域，特别涉及一种车速控制方法，还涉及一种车速控制装置、设备以及计算机可读存储介质。The present application relates to the technical field of traffic operation control, in particular to a vehicle speed control method, and also to a vehicle speed control device, equipment, and computer-readable storage medium.
背景技术Background technique
城市道路交通、高铁线路等运行时都会根据运营需求提前编制运营图，车辆的区间运行速度、站台停站时间等都跟运营图密切相关，运营图中会明确规定车辆从A站出发的时刻，到达B站的时刻，从B站出发的时刻，到达C站的时刻等。然而，实际运营时，在车辆运行过程中由于各种干扰因素(如站台作业超时、区间设备故障等)的存在会影响车辆在区间运行及站台作业，导致车辆实际到/停站时刻与运行图规划的到/停站时刻有差异(晚点或早点)。Urban road traffic, high-speed rail lines, etc. will be prepared in advance according to the operational needs of the operation map. The interval running speed of the vehicle and the station stop time are closely related to the operation map. The operation map will clearly stipulate the time when the vehicle departs from station A. The time of arrival at station B, the time of departure from station B, the time of arrival at station C, etc. However, in actual operation, due to the existence of various interfering factors (such as platform operation time-out, interval equipment failure, etc.) during the vehicle operation, the vehicle operation in the interval and the platform operation will be affected, resulting in the actual arrival/stop time of the vehicle and the operation diagram. Planned arrival/stop times vary (later or earlier).
传统的车辆速度等级调整主要包括：首先，控制中心设备(ATS，Automatic Train Supervision)根据当前时刻、车辆距离下一站的距离、车辆当前速度等级，估算车辆到站时刻；进一步，若ATS估算的车辆到站时刻早于运营图规划的到站时刻，则下发低于车辆当前运行速度等级的速度等级给车辆作为参考速度；若ATS估算的车辆到站时刻晚于运营图规划的到站时刻，则下发高于车辆当前运行速度等级的速度等级给车辆作为参考速度；最后，车辆根据变化的参考速度调整车辆速度。The traditional vehicle speed level adjustment mainly includes: First, the control center equipment (ATS, Automatic Train Supervision) estimates the vehicle arrival time according to the current time, the distance from the vehicle to the next stop, and the current speed level of the vehicle; further, if the ATS estimates If the arrival time of the vehicle is earlier than the arrival time planned in the operation map, a speed level lower than the current running speed level of the vehicle will be issued to the vehicle as the reference speed; if the vehicle arrival time estimated by ATS is later than the arrival time planned in the operation map , then a speed level higher than the current running speed level of the vehicle is issued to the vehicle as a reference speed; finally, the vehicle adjusts the vehicle speed according to the changed reference speed.
但是，由于调整的车辆速度等级为固定的离散值，一般只设有5个速度等级，因此，对于车辆区间赶点的效果有限；并且，车辆运行控制***仅以ATS下发的允许运行速度等级为参考速度，未能根据运行时间、离站距离实时动态地计算用以保证车辆准点到站的参考速度，导致车辆的实际运行情况与运营图具有较大偏差。However, since the adjusted vehicle speed level is a fixed discrete value, there are generally only 5 speed levels, so the effect on rushing points in the vehicle interval is limited; and the vehicle operation control system only uses the allowable operation speed level issued by the ATS. For the reference speed, the reference speed to ensure that the vehicle arrives at the station on time cannot be dynamically calculated in real time according to the running time and the distance from the station, resulting in a large deviation between the actual operation of the vehicle and the operation map.
因此，如何实现更为准确的车辆速度控制，提高交通运行的准点率是本领域技术人员亟待解决的问题。Therefore, how to realize more accurate vehicle speed control and improve the punctuality rate of traffic operation is an urgent problem to be solved by those skilled in the art.
发明内容SUMMARY OF THE INVENTION
本申请的目的是提供一种车速控制方法，该车速控制方法可以实现更为准确的车辆速度控制，提高交通运行的准点率；本申请的另一目的是提供一种车速控制装置、设备以及计算机可读存储介质，也具有上述有益效果。The purpose of this application is to provide a vehicle speed control method, which can realize more accurate vehicle speed control and improve the punctuality rate of traffic operation; another purpose of this application is to provide a vehicle speed control device, equipment and computer The readable storage medium also has the above beneficial effects.
第一方面，本申请提供了一种车速控制方法，包括：In a first aspect, the present application provides a vehicle speed control method, including:
获取目标车辆的历史实际运行速度，以及所述目标车辆所在运行区间的规定运行信息；Acquiring the historical actual running speed of the target vehicle and the specified running information of the running section where the target vehicle is located;
利用预设车速控制模型对所述当前行驶速度和所述规定运行信息进行处理，获得目标速度；Using a preset vehicle speed control model to process the current travel speed and the prescribed operation information to obtain a target speed;
控制所述目标车辆按照所述目标速度运行。The target vehicle is controlled to run at the target speed.
优选的，所述规定运行信息包括所述运行区间的规定速度等级V ll、区间运行距离s以及区间运行时间t；则所述预设车速控制模型为： Preferably, the prescribed operation information includes a prescribed speed level V 11 of the operation interval, an interval operation distance s and an interval operation time t; then the preset vehicle speed control model is:
V Ref＝V llmax-ΔV V Ref =V llmax -ΔV
Figure PCTCN2021125204-appb-000001
Figure PCTCN2021125204-appb-000001
Figure PCTCN2021125204-appb-000002
Figure PCTCN2021125204-appb-000002
其中，V llmax为所述目标车辆的最大速度等级，V real为所述历史实际运行速度，V Ref为所述目标速度。 Wherein, V 11max is the maximum speed level of the target vehicle, V real is the historical actual running speed, and V Ref is the target speed.
优选的，获取所述目标车辆所在运行区间的规定运行信息，包括：Preferably, obtaining the specified operation information of the operation section where the target vehicle is located includes:
接收控制中心下发的运行图信息；Receive the operation chart information issued by the control center;
根据所述运行图信息确定所述运行区间的规定运行信息。The predetermined operation information of the operation section is determined based on the operation map information.
优选的，所述车速控制方法还包括：Preferably, the vehicle speed control method further includes:
当所述目标速度超出所述最大速度等级时，控制所述目标车辆按照所述最大速度等级运行。When the target speed exceeds the maximum speed level, the target vehicle is controlled to operate according to the maximum speed level.
第二方面，本申请还公开了一种车速控制装置，包括：In a second aspect, the present application also discloses a vehicle speed control device, comprising:
信息获取模块，用于获取目标车辆的历史实际运行速度，以及所述目标车辆所在运行区间的规定运行信息；an information acquisition module, used for acquiring the historical actual running speed of the target vehicle and the specified running information of the running section where the target vehicle is located;
模型处理模块，用于利用预设车速控制模型对所述当前行驶速度和所述规定运行信息进行处理，获得目标速度；a model processing module, configured to process the current travel speed and the prescribed operation information by using a preset vehicle speed control model to obtain a target speed;
车速控制模块，用于控制所述目标车辆按照所述目标速度运行。A vehicle speed control module, configured to control the target vehicle to run according to the target speed.
优选的，所述信息获取模块具体用于接收控制中心下发的运行图信息；根据所述运行图信息确定所述运行区间的规定运行信息。Preferably, the information acquisition module is specifically configured to receive the operation chart information issued by the control center; and determine the prescribed operation information of the operation interval according to the operation chart information.
优选的，所述车速控制装置还包括：Preferably, the vehicle speed control device further includes:
最大车速控制模块，用于当所述目标速度超出所述最大速度等级时，控制所述目标车辆按照所述最大速度等级运行。A maximum vehicle speed control module, configured to control the target vehicle to run according to the maximum speed level when the target speed exceeds the maximum speed level.
第三方面，本申请还公开了一种车速控制设备，包括：In a third aspect, the application also discloses a vehicle speed control device, comprising:
存储器，用于存储计算机程序；memory for storing computer programs;
处理器，用于执行所述计算机程序以实现如上所述的任一种车速控制方法的步骤。The processor is configured to execute the computer program to implement the steps of any of the above-mentioned vehicle speed control methods.
第四方面，本申请还公开了一种车辆，包括如上所述的车速控制设备。In a fourth aspect, the present application further discloses a vehicle including the above-mentioned vehicle speed control device.
第五方面，本申请还公开了一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机程序，所述计算机程序被处理器执行时用以实现如上所述的任一种车速控制方法的步骤。In a fifth aspect, the present application also discloses a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by the processor, it is used to realize any of the above-mentioned vehicle speeds The steps of the control method.
本申请所提供的一种车速控制方法，包括获取目标车辆的历史实际运行速度，以及所述目标车辆所在运行区间的规定运行信息；利用预设车速控制模型对所述当前行驶速度和所述规定运行信息进行处理，获得目标速度；控制所述目标车辆按照所述目标速度运行。A vehicle speed control method provided by the present application includes acquiring the historical actual running speed of a target vehicle and the prescribed running information of the running section where the target vehicle is located; using a preset vehicle speed control model to control the current running speed and the prescribed running speed The running information is processed to obtain a target speed; the target vehicle is controlled to run according to the target speed.
可见，本申请所提供的车速控制方法，可以根据目标车辆所在运行区间的规定运行信息，利用预先创建的车速控制模型实现车辆运行速度的实时规划，相较于传统的简单划分运行速度等级的方式，该实现方式相当于可以根据运行时间的条件产生连续的参考速度簇，因而可以实现更为精确的站间运行时间调整，保证车辆可以准时到站，有效的提高了交通运行的准点率，进一步提升了交通服务质量。It can be seen that the vehicle speed control method provided by the present application can realize the real-time planning of the vehicle running speed by using the pre-created vehicle speed control model according to the specified operation information of the operation zone where the target vehicle is located, compared with the traditional method of simply dividing the running speed level. , this implementation method is equivalent to generating continuous reference speed clusters according to the conditions of running time, so it can realize more accurate adjustment of running time between stations, ensure that vehicles can arrive at the station on time, effectively improve the punctuality rate of traffic operation, and further Improve the quality of transportation services.
本申请所提供的一种车速控制装置、设备以及计算机可读存储介质，均具有上述有益效果，在此不再赘述。The vehicle speed control device, device and computer-readable storage medium provided by the present application all have the above beneficial effects, which will not be repeated here.
附图说明Description of drawings
为了更清楚地说明现有技术和本申请实施例中的技术方案，下面将对现有技术和本申请实施例描述中需要使用的附图作简要的介绍。当然，下面有关本申请实施例的附图描述的仅仅是本申请中的一部分实施例，对于本领域普通技术人员来说，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图，所获得的其他附图也属于本申请的保护范围。In order to more clearly illustrate the prior art and the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings to be used in the description of the prior art and the embodiments of the present application. Of course, the following drawings related to the embodiments of the present application describe only a part of the embodiments of the present application. For those of ordinary skill in the art, without any creative effort, they can also obtain other embodiments according to the provided drawings. The accompanying drawings and other drawings obtained also belong to the protection scope of the present application.
图1为本申请所提供的一种车速控制方法的流程示意图；1 is a schematic flowchart of a vehicle speed control method provided by the application;
图2为本申请所提供的一种车辆在AB区间内的运行图；Fig. 2 is the operation diagram of a kind of vehicle provided by the application in the AB interval;
图3为本申请所提供的另一种车辆在AB区间内的运行图；Fig. 3 is the operation diagram of another vehicle provided by the application in the AB interval;
图4为本申请所提供的一种车速控制***的结构示意图；4 is a schematic structural diagram of a vehicle speed control system provided by the application;
图5为本申请所提供的一种车速控制装置的结构示意图；5 is a schematic structural diagram of a vehicle speed control device provided by the application;
图6为本申请所提供的一种车速控制设备的结构示意图。FIG. 6 is a schematic structural diagram of a vehicle speed control device provided by the application.
具体实施方式Detailed ways
本申请的核心是提供一种车速控制方法，该车速控制方法可以实现更为准确的车辆速度控制，提高交通运行的准点率；本申请的另一核心是提供一种车速控制装置、设备以及计算机可读存储介质，也具有上述有益效果。The core of the application is to provide a vehicle speed control method, which can realize more accurate vehicle speed control and improve the punctuality rate of traffic operation; another core of the application is to provide a vehicle speed control device, equipment and computer The readable storage medium also has the above beneficial effects.
为了对本申请实施例中的技术方案进行更加清楚、完整地描述，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行介绍。显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。In order to describe the technical solutions in the embodiments of the present application more clearly and completely, the technical solutions in the embodiments of the present application will be introduced below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.
请参考图1，图1为本申请所提供的一种车速控制方法的流程示意图， 该车速控制方法可包括：Please refer to FIG. 1. FIG. 1 is a schematic flowchart of a vehicle speed control method provided by the application. The vehicle speed control method may include:
S101：获取目标车辆的历史实际运行速度，以及目标车辆所在运行区间的规定运行信息；S101: Obtain the historical actual running speed of the target vehicle and the prescribed running information of the running section where the target vehicle is located;
本步骤旨在实现车辆相关信息的获取，该车辆相关信息具体可以包括目标车辆的历史实际运行速度，以及该目标车辆所在运行区间的规定运行信息。其中，目标车辆即为需要进行车速控制的车辆，历史实际运行速度基于目标车辆的历史运行数据获得，运行区间则是指目标车辆目前所处的运行区间，如车站A与车站B之间的运行区间，运行区间的规定运行信息则为该运行区间内为各类车辆预先规定的各类行驶信息，包括但不限于区间运行距离(两站点之间的距离)、区间运行时间(车辆在运行区间内的规定运行时间)、各类速度等级(安全速度等级、最大速度等级等)。The purpose of this step is to obtain vehicle-related information, and the vehicle-related information may specifically include the historical actual running speed of the target vehicle and the prescribed running information of the running section where the target vehicle is located. Among them, the target vehicle is the vehicle that needs speed control, the historical actual operating speed is obtained based on the historical operating data of the target vehicle, and the operating interval refers to the operating interval in which the target vehicle is currently located, such as the operation between station A and station B. The specified operation information of the operation area is the various types of travel information pre-specified for various types of vehicles in the operation area, including but not limited to the interval operation distance (the distance between two stations), the interval operation time (the vehicle is in the operation area) the specified running time), various speed classes (safe speed class, maximum speed class, etc.).
可以理解的是，在目标车辆的行驶过程中，上述各类信息的获取为实时获取，以便实现车辆速度的实时控制，进而保证目标车辆可以准时到达目标站点。当然，各类信息的获取方法并不影响本技术方案的实施，本申请对此不做限定。It can be understood that during the driving process of the target vehicle, the above-mentioned various types of information are obtained in real time, so as to realize the real-time control of the vehicle speed, thereby ensuring that the target vehicle can arrive at the target site on time. Of course, the methods for obtaining various types of information do not affect the implementation of the technical solution, which is not limited in this application.
作为一种优选实施例，获取目标车辆所在运行区间的规定运行信息，可以包括：接收控制中心下发的运行图信息；根据运行图信息确定运行区间的规定运行信息。As a preferred embodiment, acquiring the prescribed operation information of the operation area where the target vehicle is located may include: receiving operation map information issued by the control center; and determining the prescribed operation information of the operation area according to the operation map information.
本优选实施例提供了一种具体的规定运行信息的获取方法，即基于控制中心的运行图实现。具体而言，城市轨道交通、高铁线路等运行时都会根据运营需求提前编制运营图，列车的区间运行速度、站台停站时间等都跟运营图密切相关，换而言之，运行图中包括有各类运行区间的规定运行信息，因此，可以根据运行图信息确定目标车辆所在运行区间的规定运行信息。其中，运行图可以从控制中心获取，该控制中心即为交通控制中心。This preferred embodiment provides a specific method for acquiring specified operation information, that is, implementation based on the operation diagram of the control center. Specifically, when urban rail transit and high-speed rail lines are running, operation maps will be prepared in advance according to operational needs. The train's interval running speed and platform stop time are closely related to the operation map. In other words, the operation map includes The prescribed operation information of various operation sections, therefore, the prescribed operation information of the operation section where the target vehicle is located can be determined according to the operation map information. Among them, the operation diagram can be obtained from the control center, which is the traffic control center.
S102：利用预设车速控制模型对当前行驶速度和规定运行信息进行处理，获得目标速度；S102: Use a preset vehicle speed control model to process the current driving speed and the specified operation information to obtain a target speed;
本步骤旨在实现目标速度的获取，基于预设车速控制模型实现。其中，预设车速控制模型为预先创建的用于实现车辆速度控制的模型，该模型可以通过对目标车辆的当前行驶速度以及其在当前运行区间内的规定运行信 息进行计算，获得可以使得目标车辆准时到站的目标速度，由此，控制目标车辆按照该目标速度运行即可实现目标车辆的准时到站。The purpose of this step is to achieve the acquisition of the target speed, which is realized based on the preset vehicle speed control model. The preset vehicle speed control model is a pre-created model for implementing vehicle speed control, and the model can be obtained by calculating the current running speed of the target vehicle and its specified operation information in the current operating interval to obtain a model that can make the target vehicle The target speed for arriving at the station on time, so that the target vehicle can be controlled to arrive at the station on time by controlling the target vehicle to run at the target speed.
作为一种优选实施例，上述规定运行信息可以包括运行区间的规定速度等级V ll、区间运行距离s以及区间运行时间t；则上述预设车速控制模型可以为： As a preferred embodiment, the above-mentioned prescribed operation information may include the prescribed speed level V 11 of the operation interval, the interval operation distance s and the interval operation time t; then the above-mentioned preset vehicle speed control model may be:
V Ref＝V llmax-ΔV； V Ref =V llmax -ΔV;
Figure PCTCN2021125204-appb-000003
Figure PCTCN2021125204-appb-000003
Figure PCTCN2021125204-appb-000004
Figure PCTCN2021125204-appb-000004
其中，V llmax为目标车辆的最大速度等级，V real为历史实际运行速度，V Ref为目标速度。 Among them, V llmax is the maximum speed level of the target vehicle, V real is the historical actual running speed, and V Ref is the target speed.
本优选实施例提供了一种具体的预设车速控制模型，由此，通过将基于S101所获得的各类数据信息输入至该预设车速控制模型，即可实现目标速度的获取。This preferred embodiment provides a specific preset vehicle speed control model, whereby the target speed can be obtained by inputting various types of data information obtained based on S101 into the preset vehicle speed control model.
S103：控制目标车辆按照目标速度运行。S103: Control the target vehicle to run at the target speed.
本步骤旨在实现目标车辆的车速控制，在基于预设车速控制模型计算获得目标速度后，即可将其下发至车辆牵引***，由车辆牵引***控制车辆按照目标速度运行，由此，实现目标车辆的车速控制。The purpose of this step is to realize the speed control of the target vehicle. After the target speed is calculated and obtained based on the preset vehicle speed control model, it can be sent to the vehicle traction system, and the vehicle traction system controls the vehicle to run at the target speed. Speed control of the target vehicle.
作为一种优选实施例，该车速控制方法还可以包括：当目标速度超出最大速度等级时，控制目标车辆按照最大速度等级运行。As a preferred embodiment, the vehicle speed control method may further include: when the target speed exceeds the maximum speed level, controlling the target vehicle to run according to the maximum speed level.
为有效保证车辆的安全运行，可以对目标速度进行实时监控，以避免其实际运行速度超出目标车辆的最大速度等级，因此，当计算获得的目标速度超出该目标车辆的最大速度等级时，即可控制目标车辆按照该最大速度等级运行，以有效避免安全事故的发生，保证车辆行驶安全。In order to effectively ensure the safe operation of the vehicle, the target speed can be monitored in real time to avoid its actual running speed exceeding the maximum speed level of the target vehicle. Therefore, when the calculated target speed exceeds the maximum speed level of the target vehicle, it can be The target vehicle is controlled to run according to the maximum speed level, so as to effectively avoid the occurrence of safety accidents and ensure the safety of the vehicle.
可见，本申请所提供的车速控制方法，可以根据目标车辆所在运行区间的规定运行信息，利用预先创建的车速控制模型实现车辆运行速度的实时规划，相较于传统的简单划分运行速度等级的方式，该实现方式相当于 可以根据运行时间的条件产生连续的参考速度簇，因而可以实现更为精确的站间运行时间调整，保证车辆可以准时到站，有效的提高了交通运行的准点率，进一步提升了交通服务质量。It can be seen that the vehicle speed control method provided by the present application can realize the real-time planning of the vehicle running speed by using the pre-created vehicle speed control model according to the specified operation information of the operation zone where the target vehicle is located, compared with the traditional method of simply dividing the running speed level. , this implementation method is equivalent to generating continuous reference speed clusters according to the conditions of running time, so it can realize more accurate adjustment of running time between stations, ensure that vehicles can arrive at the station on time, effectively improve the punctuality rate of traffic operation, and further Improve the quality of transportation services.
本申请实施例提供了另一种车速控制方法。The embodiments of the present application provide another vehicle speed control method.
具体而言，在车辆运行过程中，根据运营图的要求，规定车辆从A站到B站的运行时间为t，A站与B站间的距离为s，A站到B站之间的线路允许速度等级为V ll，那么，为满足运营图要求使得车辆准时到站的平均速度V req为： Specifically, in the process of vehicle operation, according to the requirements of the operation map, the running time of the vehicle from station A to station B is t, the distance between station A and station B is s, and the line between station A and station B is s. The allowable speed level is V ll , then, in order to meet the requirements of the operation map, the average speed V req that makes the vehicle arrive at the station on time is:
Figure PCTCN2021125204-appb-000005
Figure PCTCN2021125204-appb-000005
进一步，由于车辆速度控制特性以及线路特性，如要满足准时到站，则车辆的参考运行速度为V Ref(目标速度)，V Ref为关于V req的函数。 Further, due to vehicle speed control characteristics and line characteristics, to meet the requirement of arriving on time, the reference running speed of the vehicle is V Ref (target speed), and V Ref is a function of V req .
在此基础上，当需要调节车辆运行速度时，实质上就是调节车辆在区间内的运行时间t，因为车辆区间运行时间t的改变会导致平均速度V req的改变，因此，当需要调整列车运行速度时，只需要得到改变后的区间运行时间t，并重新计算平均速度V req，即可得到相应的参考运行速度V Ref。 On this basis, when it is necessary to adjust the running speed of the vehicle, it is essentially to adjust the running time t of the vehicle in the interval, because the change of the running time t of the vehicle in the interval will lead to the change of the average speed V req . Therefore, when it is necessary to adjust the running time of the train When the speed is changed, it is only necessary to obtain the changed interval running time t and recalculate the average speed V req to obtain the corresponding reference running speed V Ref .
如果车辆在运行区间内能够实时严格按照平均速度V req运行，则无论t如何变化，车速只要贴合平均速度V req都能实时调整速度准时到站。在实际的车辆运行控制***中，由于采用基于反馈的闭环控制特性、车辆特性、线路特性的存在，车辆的参考运行速度与实际运行速度之间的关系如图2中的V Ref与V real所示，图2为本申请所提供的一种车辆在AB区间内的运行图。 If the vehicle can run strictly according to the average speed V req in real time in the running interval, no matter how t changes, as long as the vehicle speed matches the average speed V req , the speed can be adjusted in real time to arrive at the station on time. In the actual vehicle operation control system, due to the existence of feedback-based closed-loop control characteristics, vehicle characteristics, and line characteristics, the relationship between the vehicle's reference running speed and actual running speed is shown as V Ref and V real in Figure 2. Fig. 2 is a running diagram of a vehicle provided by the application in the AB section.
车辆在整个区间内的实际运行速度V real与允许速度等级V ll之间的比例为k，k为关于V real、V ll、s的函数，表示为k(V real,V ll,s)： The ratio between the actual running speed V real of the vehicle in the entire interval and the allowable speed level V ll is k, where k is a function of V real , V ll , s, expressed as k(V real , V ll , s):
Figure PCTCN2021125204-appb-000006
Figure PCTCN2021125204-appb-000006
当运营图规定车辆区间运行时间为t时，为使得车辆能准时到站，可以计算满足车辆准时到站的参考运行速度V Ref，由此，车辆以该速度为参考速度运行即可获得满足运营时间要求的区间平均速度V req。由于V Ref与V req、 V llmax(最大允许速度等级)、k、s相关，且考虑到V Ref不能大于最大允许速度等级，则有： When the operation map specifies that the vehicle interval running time is t, in order to enable the vehicle to arrive at the station on time, the reference operation speed V Ref that satisfies the vehicle to arrive at the station on time can be calculated. Time-required interval average velocity V req . Since V Ref is related to V req , V llmax (maximum allowable speed level), k, s, and considering that V Ref cannot be greater than the maximum allowable speed level, there are:
V Ref＝V llmax-ΔV V Ref =V llmax -ΔV
Figure PCTCN2021125204-appb-000007
Figure PCTCN2021125204-appb-000007
其中，ΔV如图3所示，图3为本申请所提供的另一种车辆在AB区间内的运行图。Wherein, ΔV is shown in FIG. 3 , which is a running diagram of another vehicle in the AB section provided by the application.
基于上述车速控制方法，请参考图4，图4为本申请所提供的一种车速控制***的结构示意图，该车速控制***包括控制中心和车辆，其中，车辆中设置有车载ATC***、牵引/制动***以及运行速度调整响应装置(车速控制设备)，运行速度调整响应装置用于实现车速实时控制。在具体实现过程中，控制中心发送调图信息给响应装置及车载ATC***，车载ATC***向响应装置申请参考运行速度，响应装置将根据上述方法计算得到的参考运行速度发送给车载ATC***，车载ATC***根据闭环控制产生牵引/制动命令控制车辆按照参考运行速度运行。Based on the above-mentioned vehicle speed control method, please refer to FIG. 4 , which is a schematic structural diagram of a vehicle speed control system provided by the application. The vehicle speed control system includes a control center and a vehicle, wherein the vehicle is provided with an on-board ATC system, a traction/traction system The braking system and the running speed adjustment response device (vehicle speed control device) are used to realize the real-time control of the vehicle speed. In the specific implementation process, the control center sends map adjustment information to the response device and the vehicle-mounted ATC system, the vehicle-mounted ATC system applies to the response device for a reference running speed, and the response device sends the reference running speed calculated according to the above method to the vehicle-mounted ATC system. The ATC system generates traction/brake commands according to the closed-loop control to control the vehicle to run at the reference running speed.
其中，运行速度调整响应装置包括计算单元、通信单元、存储单元，通信单元具备无线通信与串行通信接口，计算单元具备复杂的处理能力，存储单元能够存储响应的运行数据、日志信息等。The operating speed adjustment response device includes a computing unit, a communication unit, and a storage unit. The communication unit has wireless communication and serial communication interfaces, the computing unit has complex processing capabilities, and the storage unit can store the response operation data, log information, and the like.
可见，本申请实施例所提供的车速控制方法，可以根据目标车辆所在运行区间的规定运行信息，利用预先创建的车速控制模型实现车辆运行速度的实时规划，相较于传统的简单划分运行速度等级的方式，该实现方式相当于可以根据运行时间的条件产生连续的参考速度簇，因而可以实现更为精确的站间运行时间调整，保证车辆可以准时到站，有效的提高了交通运行的准点率，进一步提升了交通服务质量。It can be seen that the vehicle speed control method provided by the embodiment of the present application can use a pre-created vehicle speed control model to realize the real-time planning of the vehicle running speed according to the specified operation information of the operation zone where the target vehicle is located, compared with the traditional simple division of the operation speed level. This implementation method is equivalent to generating continuous reference speed clusters according to the conditions of running time, so it can realize more accurate adjustment of running time between stations, ensure that vehicles can arrive at the station on time, and effectively improve the punctuality rate of traffic operation. , further improving the quality of transportation services.
为解决上述技术问题，本申请还提供了一种车速控制装置，请参考图5，图5为本申请所提供的一种车速控制装置的结构示意图，该车速控制装置可包括：In order to solve the above technical problems, the application also provides a vehicle speed control device, please refer to FIG. 5 , which is a schematic structural diagram of a vehicle speed control device provided by the application, and the vehicle speed control device may include:
信息获取模块1，用于获取目标车辆的历史实际运行速度，以及目标 车辆所在运行区间的规定运行信息；The information acquisition module 1 is used to acquire the historical actual running speed of the target vehicle and the specified running information of the running section where the target vehicle is located;
模型处理模块2，用于利用预设车速控制模型对当前行驶速度和规定运行信息进行处理，获得目标速度；The model processing module 2 is used for using the preset vehicle speed control model to process the current driving speed and the specified operation information to obtain the target speed;
车速控制模块3，用于控制目标车辆按照目标速度运行。The vehicle speed control module 3 is used to control the target vehicle to run at the target speed.
可见，本申请实施例所提供的车速控制装置，可以根据目标车辆所在运行区间的规定运行信息，利用预先创建的车速控制模型实现车辆运行速度的实时规划，相较于传统的简单划分运行速度等级的方式，该实现方式相当于可以根据运行时间的条件产生连续的参考速度簇，因而可以实现更为精确的站间运行时间调整，保证车辆可以准时到站，有效的提高了交通运行的准点率，进一步提升了交通服务质量。It can be seen that the vehicle speed control device provided by the embodiment of the present application can realize the real-time planning of the vehicle running speed by using the pre-created vehicle speed control model according to the specified running information of the running zone where the target vehicle is located, compared with the traditional simple division of running speed grades. This implementation method is equivalent to generating continuous reference speed clusters according to the conditions of running time, so it can realize more accurate adjustment of running time between stations, ensure that vehicles can arrive at the station on time, and effectively improve the punctuality rate of traffic operation. , further improving the quality of transportation services.
作为一种优选实施例，上述信息获取模块1可具体用于接收控制中心下发的运行图信息；根据运行图信息确定运行区间的规定运行信息。As a preferred embodiment, the above-mentioned information acquisition module 1 may be specifically configured to receive the operation chart information issued by the control center; and determine the prescribed operation information of the operation interval according to the operation chart information.
作为一种优选实施例，该车速控制装置还可包括最大车速控制模块，用于当目标速度超出最大速度等级时，控制目标车辆按照最大速度等级运行。As a preferred embodiment, the vehicle speed control device may further include a maximum vehicle speed control module for controlling the target vehicle to run according to the maximum speed level when the target speed exceeds the maximum speed level.
对于本申请提供的装置的介绍请参照上述方法实施例，本申请在此不做赘述。For the introduction of the apparatus provided in the present application, please refer to the above method embodiments, which will not be repeated in this application.
为解决上述技术问题，本申请还提供了一种车速控制设备，请参考图6，图6为本申请所提供的一种车速控制设备的结构示意图，该车速控制设备可包括：In order to solve the above technical problems, the application also provides a vehicle speed control device, please refer to FIG. 6 , which is a schematic structural diagram of a vehicle speed control device provided by the application, and the vehicle speed control device may include:
存储器10，用于存储计算机程序；a memory 10 for storing computer programs;
处理器20，用于执行计算机程序时可实现如上述任意一种车速控制方法的步骤。When the processor 20 is configured to execute the computer program, the steps of any one of the above-mentioned vehicle speed control methods can be implemented.
对于本申请提供的***的介绍请参照上述方法实施例，本申请在此不做赘述。For the introduction of the system provided in this application, please refer to the foregoing method embodiments, which will not be repeated in this application.
为解决上述问题，本申请还提供了一种车辆，包括如上所述的车速控制设备。In order to solve the above problem, the present application also provides a vehicle including the above-mentioned vehicle speed control device.
对于本申请提供的车辆的介绍请参照上述方法实施例，本申请在此不做赘述。For the introduction of the vehicle provided in this application, please refer to the above method embodiments, which will not be repeated in this application.
为解决上述问题，本申请还提供了一种计算机可读存储介质，该计算机可读存储介质上存储有计算机程序，计算机程序被处理器执行时可实现如上述任意一种车速控制方法的步骤。To solve the above problem, the present application also provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of any of the above-mentioned vehicle speed control methods can be implemented.
该计算机可读存储介质可以包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。The computer-readable storage medium may include: a USB flash drive, a removable hard disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a magnetic disk or an optical disk, etc. that can store program codes medium.
对于本申请提供的计算机可读存储介质的介绍请参照上述方法实施例，本申请在此不做赘述。For the introduction of the computer-readable storage medium provided in the present application, please refer to the above method embodiments, which will not be repeated in this application.
说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。对于实施例公开的装置而言，由于其与实施例公开的方法相对应，所以描述的比较简单，相关之处参见方法部分说明即可。The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the various embodiments can be referred to each other. As for the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant part can be referred to the description of the method.
专业人员还可以进一步意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、计算机软件或者二者的结合来实现，为了清楚地说明硬件和软件的可互换性，在上述说明中已经按照功能一般性地描述了各示例的组成及步骤。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。Professionals may further realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two, in order to clearly illustrate the possibilities of hardware and software. Interchangeability, the above description has generally described the components and steps of each example in terms of functionality. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of this application.
结合本文中所公开的实施例描述的方法或算法的步骤可以直接用硬件、处理器执行的软件模块，或者二者的结合来实施。软件模块可以置于随机存储器(RAM)、内存、只读存储器(ROM)、电可编程ROM、电可擦除可编程ROM、寄存器、硬盘、可移动磁盘、CD-ROM或技术领域内所公知的任意其它形式的存储介质中。The steps of a method or algorithm described in conjunction with the embodiments disclosed herein may be directly implemented in hardware, a software module executed by a processor, or a combination of the two. Software modules may reside in random access memory (RAM), internal memory, read only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or as known in the art any other form of storage medium.
以上对本申请所提供的技术方案进行了详细介绍。本文中应用了具体 个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想。应当指出，对于本技术领域的普通技术人员来说，在不脱离本申请原理的前提下，还可以对本申请进行若干改进和修饰，这些改进和修饰也落入本申请的保护范围内。The technical solutions provided by the present application have been introduced in detail above. The principles and implementations of the present application are described herein using specific examples, and the descriptions of the above embodiments are only used to help understand the methods and core ideas of the present application. It should be pointed out that for those skilled in the art, without departing from the principles of the present application, several improvements and modifications can also be made to the present application, and these improvements and modifications also fall within the protection scope of the present application.

Claims (10)

  1. 一种车速控制方法，其特征在于，包括：A vehicle speed control method, comprising:
    获取目标车辆的历史实际运行速度，以及所述目标车辆所在运行区间的规定运行信息；Acquiring the historical actual running speed of the target vehicle and the specified running information of the running section where the target vehicle is located;
    利用预设车速控制模型对所述当前行驶速度和所述规定运行信息进行处理，获得目标速度；Using a preset vehicle speed control model to process the current travel speed and the prescribed operation information to obtain a target speed;
    控制所述目标车辆按照所述目标速度运行。The target vehicle is controlled to run at the target speed.
  2. 根据权利要求1所述的车速控制方法，其特征在于，所述规定运行信息包括所述运行区间的规定速度等级V ll、区间运行距离s以及区间运行时间t；则所述预设车速控制模型为： The vehicle speed control method according to claim 1, wherein the prescribed operation information includes a prescribed speed level V 11 of the operation interval, an interval operation distance s, and an interval operation time t; then the preset vehicle speed control model for:
    V Ref＝V llmax-ΔV； V Ref =V llmax -ΔV;
    Figure PCTCN2021125204-appb-100001
    Figure PCTCN2021125204-appb-100001
    Figure PCTCN2021125204-appb-100002
    Figure PCTCN2021125204-appb-100002
    其中，V llmax为所述目标车辆的最大速度等级，V real为所述历史实际运行速度，V Ref为所述目标速度。 Wherein, V 11max is the maximum speed level of the target vehicle, V real is the historical actual running speed, and V Ref is the target speed.
  3. 根据权利要求1所述的车速控制方法，其特征在于，获取所述目标车辆所在运行区间的规定运行信息，包括：The vehicle speed control method according to claim 1, wherein obtaining the specified operation information of the operation section where the target vehicle is located comprises:
    接收控制中心下发的运行图信息；Receive the operation chart information issued by the control center;
    根据所述运行图信息确定所述运行区间的规定运行信息。The predetermined operation information of the operation section is determined based on the operation map information.
  4. 根据权利要求1所述的车速控制方法，其特征在于，还包括：The vehicle speed control method according to claim 1, further comprising:
    当所述目标速度超出所述最大速度等级时，控制所述目标车辆按照所述最大速度等级运行。When the target speed exceeds the maximum speed level, the target vehicle is controlled to operate according to the maximum speed level.
  5. 一种车速控制装置，其特征在于，包括：A vehicle speed control device, comprising:
    信息获取模块，用于获取目标车辆的历史实际运行速度，以及所述目标车辆所在运行区间的规定运行信息；an information acquisition module, used for acquiring the historical actual running speed of the target vehicle and the specified running information of the running section where the target vehicle is located;
    模型处理模块，用于利用预设车速控制模型对所述当前行驶速度和所 述规定运行信息进行处理，获得目标速度；a model processing module, configured to process the current travel speed and the prescribed operation information by using a preset vehicle speed control model to obtain a target speed;
    车速控制模块，用于控制所述目标车辆按照所述目标速度运行。A vehicle speed control module, configured to control the target vehicle to run according to the target speed.
  6. 根据权利要求5所述的车速控制装置，其特征在于，所述信息获取模块具体用于接收控制中心下发的运行图信息；根据所述运行图信息确定所述运行区间的规定运行信息。The vehicle speed control device according to claim 5, wherein the information acquisition module is specifically configured to receive the operation map information issued by the control center; and determine the prescribed operation information of the operation section according to the operation map information.
  7. 根据权利要求5所述的车速控制装置，其特征在于，还包括：The vehicle speed control device according to claim 5, further comprising:
    最大车速控制模块，用于当所述目标速度超出所述最大速度等级时，控制所述目标车辆按照所述最大速度等级运行。A maximum vehicle speed control module, configured to control the target vehicle to run according to the maximum speed level when the target speed exceeds the maximum speed level.
  8. 一种车速控制设备，其特征在于，包括：A vehicle speed control device, characterized in that it includes:
    存储器，用于存储计算机程序；memory for storing computer programs;
    处理器，用于执行所述计算机程序以实现如权利要求1至4任一项所述的车速控制方法的步骤。A processor for executing the computer program to implement the steps of the vehicle speed control method according to any one of claims 1 to 4.
  9. 一种车辆，其特征在于，包括如权利要求8所述的车速控制设备。A vehicle characterized by comprising the vehicle speed control device as claimed in claim 8 .
  10. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有计算机程序，所述计算机程序被处理器执行时用以实现如权利要求1至4任一项所述的车速控制方法的步骤。A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the vehicle speed according to any one of claims 1 to 4 is implemented. The steps of the control method.
PCT/CN2021/125204 2021-04-02 2021-10-21 Vehicle speed control method and apparatus, and related device WO2022205847A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110365029.X 2021-04-02
CN202110365029.XA CN112977537A (en) 2021-04-02 2021-04-02 Vehicle speed control method and device and related equipment

Publications (1)

Publication Number Publication Date
WO2022205847A1 true WO2022205847A1 (en) 2022-10-06

Family

ID=76339208

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/125204 WO2022205847A1 (en) 2021-04-02 2021-10-21 Vehicle speed control method and apparatus, and related device

Country Status (2)

Country Link
CN (1) CN112977537A (en)
WO (1) WO2022205847A1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112977537A (en) * 2021-04-02 2021-06-18 湖南中车时代通信信号有限公司 Vehicle speed control method and device and related equipment
CN115257865B (en) * 2022-07-25 2023-09-08 青岛海信微联信号有限公司 Train control method, equipment and device

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3198170B2 (en) * 1991-10-25 2001-08-13 株式会社東芝 Optimal running pattern calculation device and calculation system
CN104015758A (en) * 2014-06-20 2014-09-03 株洲南车时代电气股份有限公司 Speed control method and system
CN104134378A (en) * 2014-06-23 2014-11-05 北京交通大学 Urban rail train intelligent control method based on driving experience and online study
CN106314486A (en) * 2015-07-10 2017-01-11 河南思维自动化设备股份有限公司 Method for drawing locomotive turnover actual diagram and integrating with map diagram
CN106541967A (en) * 2016-10-19 2017-03-29 交控科技股份有限公司 A kind of operation control method for train and system
CN106828540A (en) * 2017-01-22 2017-06-13 北京交通大学 Operation control method for train based on train operation grade
CN107885077A (en) * 2016-12-19 2018-04-06 比亚迪股份有限公司 Operation control method for train and device
CN107878510A (en) * 2016-12-29 2018-04-06 比亚迪股份有限公司 Automatic train control method and device, vehicle-mounted ATO
CN109541943A (en) * 2018-12-07 2019-03-29 西南交通大学 A kind of tramcar on-line optimizing and controlling method
CN109754180A (en) * 2018-12-29 2019-05-14 中南大学 Emergency event terminates the high-speed railway train operation adjustment method under time uncertain condition
CN111361606A (en) * 2018-12-26 2020-07-03 株洲中车时代电气股份有限公司 Punctual arrival control method, device, medium and equipment for locomotive
CN112977537A (en) * 2021-04-02 2021-06-18 湖南中车时代通信信号有限公司 Vehicle speed control method and device and related equipment

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3198170B2 (en) * 1991-10-25 2001-08-13 株式会社東芝 Optimal running pattern calculation device and calculation system
CN104015758A (en) * 2014-06-20 2014-09-03 株洲南车时代电气股份有限公司 Speed control method and system
CN104134378A (en) * 2014-06-23 2014-11-05 北京交通大学 Urban rail train intelligent control method based on driving experience and online study
CN106314486A (en) * 2015-07-10 2017-01-11 河南思维自动化设备股份有限公司 Method for drawing locomotive turnover actual diagram and integrating with map diagram
CN106541967A (en) * 2016-10-19 2017-03-29 交控科技股份有限公司 A kind of operation control method for train and system
CN107885077A (en) * 2016-12-19 2018-04-06 比亚迪股份有限公司 Operation control method for train and device
CN107878510A (en) * 2016-12-29 2018-04-06 比亚迪股份有限公司 Automatic train control method and device, vehicle-mounted ATO
CN106828540A (en) * 2017-01-22 2017-06-13 北京交通大学 Operation control method for train based on train operation grade
CN109541943A (en) * 2018-12-07 2019-03-29 西南交通大学 A kind of tramcar on-line optimizing and controlling method
CN111361606A (en) * 2018-12-26 2020-07-03 株洲中车时代电气股份有限公司 Punctual arrival control method, device, medium and equipment for locomotive
CN109754180A (en) * 2018-12-29 2019-05-14 中南大学 Emergency event terminates the high-speed railway train operation adjustment method under time uncertain condition
CN112977537A (en) * 2021-04-02 2021-06-18 湖南中车时代通信信号有限公司 Vehicle speed control method and device and related equipment

Also Published As

Publication number Publication date
CN112977537A (en) 2021-06-18

Similar Documents

Publication Publication Date Title
CN110682943B (en) Train marshalling method and device
WO2022205847A1 (en) Vehicle speed control method and apparatus, and related device
EP3088240B1 (en) Driving curve creation device, driving assistance device, driving control device, and driving curve creation method
CN103440422B (en) A kind of late restoration methods of public transport of the arrival time prediction based on time window
CN109484427B (en) train braking method and device
CN109895794B (en) Accurate parking method and device of train automatic driving system based on machine learning
CN111882905B (en) Method and system for realizing road traffic appointment passing and electronic equipment
CN112078631B (en) Train speed control method and system
US20210001851A1 (en) Method for vehicle following control based on real-time calculation of dynamic safe following distance
EP3467800B1 (en) Lane scheduling method, lane information acquisition method, vehicle and management device
CN113299081B (en) Green wave cooperative control optimization method for social vehicles and tramcars
CN111376949A (en) Method for calculating adjustment speed of ATO quasi-point curve
CN113401173B (en) Train operation control method and device, electronic equipment and storage medium
WO2020062844A1 (en) Method for calculating vehicle-mounted speed curve for avoiding emergency triggering
CN114802362B (en) Train energy-saving operation method and device controlled by time division
CN112581747A (en) Vehicle-road cooperative cargo vehicle fleet organization method, device and system
CN112918520A (en) Energy-saving operation control method for high-speed railway train
CN116534018A (en) CAV lane change speed regulation and control method for expressway diversion area in networking environment
CN111524372A (en) Bus signal priority implementation method and system based on artificial intelligence bus-road cooperation
CN112537346B (en) Control method for optimal collision avoidance vehicle distance
CN115257760A (en) Vehicle driving optimization control method and device, storage medium and electronic equipment
CN113954923A (en) Marshalling train parking control method and control system
JP3350229B2 (en) Railway load prediction device
CN113611132A (en) Saturated single-intersection bus signal control method based on bus-road cooperative system
Hao et al. Connected Vehicle-based Truck Eco-Driving: A Simulation Study

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21934483

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21934483

Country of ref document: EP

Kind code of ref document: A1