CN112977537A - Vehicle speed control method and device and related equipment - Google Patents
Vehicle speed control method and device and related equipment Download PDFInfo
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- CN112977537A CN112977537A CN202110365029.XA CN202110365029A CN112977537A CN 112977537 A CN112977537 A CN 112977537A CN 202110365029 A CN202110365029 A CN 202110365029A CN 112977537 A CN112977537 A CN 112977537A
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- 238000004590 computer program Methods 0.000 claims description 10
- 230000009286 beneficial effect Effects 0.000 abstract description 2
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- 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
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- 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
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- 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
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Abstract
The application discloses a vehicle speed control method, which comprises the steps of obtaining historical actual running speed of a target vehicle and specified running information of a running interval where the target vehicle is located; processing the current running speed and the specified running information by using a preset vehicle speed control model to obtain a target speed; controlling the target vehicle to run according to the target speed; the vehicle speed control method can realize more accurate vehicle speed control and improve the punctuality rate of traffic operation. The application also discloses a vehicle speed control device, equipment and a computer readable storage medium, which have the beneficial effects.
Description
Technical Field
The application relates to the technical field of traffic operation control, in particular to a vehicle speed control method, a vehicle speed control device, vehicle speed control equipment and a computer readable storage medium.
Background
The operation chart is compiled in advance according to operation requirements when urban road traffic, high-speed rail lines and the like run, the interval running speed, the platform stop time and the like of the vehicle are closely related to the operation chart, and the time when the vehicle departs from the station A, arrives at the station B, departs from the station B, arrives at the station C and the like are clearly specified in the operation chart. However, in actual operation, the vehicle operation and the platform operation are affected by various interference factors (such as platform operation timeout, zone equipment failure, etc.) during the vehicle operation process, so that the actual arrival/stop time of the vehicle is different from the planned arrival/stop time of the operation diagram (late or early).
Conventional vehicle speed class adjustment mainly includes: firstly, a control center device (ATS) estimates the arrival time of a vehicle according to the current time, the distance between the vehicle and the next station and the current speed grade of the vehicle; further, if the arrival time of the vehicle estimated by the ATS is earlier than the arrival time planned by the operation diagram, issuing a speed grade lower than the current running speed grade of the vehicle to the vehicle as a reference speed; if the arrival time of the vehicle estimated by the ATS is later than the arrival time planned by the operation diagram, issuing a speed grade higher than the current running speed grade of the vehicle to the vehicle as a reference speed; finally, the vehicle adjusts the vehicle speed based on the changed reference speed.
However, since the adjusted vehicle speed level is a fixed discrete value, and generally only 5 speed levels are provided, the effect on the arrival point of the vehicle section is limited; in addition, the vehicle operation control system only takes the allowed operation speed grade issued by the ATS as a reference speed, and fails to dynamically calculate the reference speed for ensuring that the vehicle is on-line and arrives at the station in real time according to the operation time and the distance from the station, so that the actual operation condition of the vehicle has a larger deviation from the operation diagram.
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.
Disclosure of Invention
The application aims to provide a vehicle speed control method, which can realize more accurate vehicle speed control and improve the punctuality rate of traffic operation; another object of the present application is to provide a vehicle speed control device, apparatus, and computer-readable storage medium, which also have the above-mentioned advantageous effects.
In a first aspect, the present application provides a vehicle speed control method comprising:
acquiring historical actual running speed of a target vehicle and specified running information of a running section where the target vehicle is located;
processing the current running speed and the specified running information by using a preset vehicle speed control model to obtain a target speed;
and controlling the target vehicle to run according to the target speed.
Preferably, the predetermined operation information includes a predetermined speed level V of the operation sectionllAn interval running distance s and an interval running time t; the preset vehicle speed control model is as follows:
VRef＝Vllmax-ΔV；
wherein, VllmaxIs the maximum speed class, V, of the target vehiclerealFor said historical actual operating speed, VRefIs the target speed.
Preferably, the acquiring of the predetermined operation information of the operation section in which the target vehicle is located includes:
receiving operation diagram information issued by a control center;
and determining the specified operation information of the operation interval according to the operation diagram information.
Preferably, the vehicle speed control method further includes:
and when the target speed exceeds the maximum speed grade, controlling the target vehicle to run according to the maximum speed grade.
In a second aspect, the present application also discloses a vehicle speed control apparatus, comprising:
the system comprises an information acquisition module, a storage module and a control module, wherein the information acquisition module is used for acquiring historical actual running speed of a target vehicle and specified running information of a running section where the target vehicle is located;
the model processing module is used for processing the current running speed and the specified running information by utilizing a preset vehicle speed control model to obtain a target speed;
and the vehicle speed control module is used for controlling the target vehicle to operate according to the target speed.
Preferably, the information acquisition module is specifically configured to receive the operation diagram information issued by the control center; and determining the specified operation information of the operation interval according to the operation diagram information.
Preferably, the vehicle speed control device further includes:
and the maximum speed control module is used for controlling the target vehicle to run according to the maximum speed grade when the target speed exceeds the maximum speed grade.
In a third aspect, the present application also discloses a vehicle speed control apparatus comprising:
a memory for storing a computer program;
a processor for executing the computer program to implement the steps of any of the vehicle speed control methods described above.
In a fourth aspect, the present application further discloses a vehicle including the vehicle speed control apparatus as described above.
In a fifth aspect, the present application also discloses a computer readable storage medium having a computer program stored therein, which when executed by a processor, is adapted to carry out the steps of any of the vehicle speed control methods as described above.
The vehicle speed control method comprises the steps of obtaining historical actual running speed of a target vehicle and specified running information of a running interval where the target vehicle is located; processing the current running speed and the specified running information by using a preset vehicle speed control model to obtain a target speed; and controlling the target vehicle to run according to the target speed.
Therefore, the vehicle speed control method provided by the application can realize real-time planning of the vehicle running speed by utilizing the pre-established vehicle speed control model according to the specified running information of the running interval where the target vehicle is located, and compared with the traditional mode of simply dividing the running speed grade, the implementation mode is equivalent to generating a continuous reference speed cluster according to the running time condition, so that more accurate inter-station running time adjustment can be realized, the vehicle can arrive at the station on time, the punctual rate of traffic running is effectively improved, and the traffic service quality is further improved.
The vehicle speed control device, the vehicle speed control equipment and the computer readable storage medium have the beneficial effects, and are not repeated herein.
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In order to more clearly illustrate the technical solutions in the prior art and the embodiments of the present application, the drawings that are needed to be used in the description of the prior art and the embodiments of the present application will be briefly described below. Of course, the following description of the drawings related to the embodiments of the present application is only a part of the embodiments of the present application, and it will be obvious to those skilled in the art that other drawings can be obtained from the provided drawings without any creative effort, and the obtained other drawings also belong to the protection scope of the present application.
FIG. 1 is a schematic flow chart of a method for controlling vehicle speed provided herein;
FIG. 2 is a diagram illustrating operation of a vehicle in the AB zone;
FIG. 3 is a schematic representation of another vehicle operating in the AB zone provided by the present application;
FIG. 4 is a schematic diagram of a vehicle speed control system according to the present application;
FIG. 5 is a schematic structural diagram of a vehicle speed control device provided in the present application;
fig. 6 is a schematic structural diagram of a vehicle speed control apparatus provided by the present application.
Detailed Description
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 present application is to provide a vehicle speed control device, a device, and a computer-readable storage medium, which also have the above-mentioned advantageous effects.
In order to more clearly and completely describe the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, fig. 1 is a schematic flow chart of a vehicle speed control method provided in the present application, where the vehicle speed control method may include:
s101: acquiring historical actual running speed of a target vehicle and specified running information of a running section where the target vehicle is located;
this step is intended to achieve the acquisition of vehicle-related information, which may specifically include the historical actual operating speed of the target vehicle and the prescribed operating information of the operating section in which the target vehicle is located. The target vehicle is a vehicle needing vehicle speed control, the historical actual running speed is obtained based on historical running data of the target vehicle, the running section refers to a running section where the target vehicle is located at present, such as a running section between a station a and a station B, and the specified running information of the running section is various kinds of running information which is specified in advance for various vehicles in the running section, including but not limited to a section running distance (distance between two stations), a section running time (specified running time of the vehicle in the running section), various speed grades (safe speed grade, maximum speed grade and the like).
It can be understood that, in the running process of the target vehicle, the various types of information are obtained in real time, so that the real-time control of the vehicle speed is realized, and the target vehicle can arrive at the target station on time. Of course, the implementation of the technical scheme is not affected by the method for acquiring various types of information, and the method is not limited in the present application.
As a preferred embodiment, the acquiring of the specified operation information of the operation section in which the target vehicle is located may include: receiving operation diagram information issued by a control center; and determining specified operation information of the operation section according to the operation diagram information.
The preferred embodiment provides a specific method for acquiring the specified operation information, which is realized based on an operation diagram of a control center. Specifically, an operation map is compiled in advance according to operation requirements when urban rail transit, high-speed rail lines and the like run, the section running speed, platform stop time and the like of the train are closely related to the operation map, in other words, the operation map comprises specified operation information of various operation sections, and therefore the specified 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 a control center, namely a traffic control center.
S102: processing the current running speed and the specified running information by using a preset vehicle speed control model to obtain a target speed;
the step aims to achieve the acquisition of the target speed and is achieved based on a preset vehicle speed control model. The preset vehicle speed control model is a pre-established model for realizing vehicle speed control, and can obtain a target speed which can enable a target vehicle to arrive at a station on time by calculating the current running speed of the target vehicle and specified running information of the target vehicle in the current running interval, so that the target vehicle is controlled to run according to the target speed, and the on-time arrival of the target vehicle can be realized.
As a preferred embodiment, the predetermined operation information may include a predetermined speed level V of the operation sectionllAn interval running distance s and an interval running time t; the preset vehicle speed control model may be:
VRef＝Vllmax-ΔV；
wherein, VllmaxIs the maximum speed class, V, of the target vehiclerealFor historical actual operating speeds, VRefIs the target speed.
This preferred embodiment provides a specific preset vehicle speed control model, and thus, by inputting various types of data information obtained based on S101 to this preset vehicle speed control model, acquisition of a target speed can be achieved.
S103: and controlling the target vehicle to run according to the target speed.
The method comprises the steps of calculating a target speed based on a preset speed control model, issuing the target speed to a vehicle traction system, and controlling the vehicle to run according to the target speed by the vehicle traction system, so that the speed control of the target vehicle is realized.
As a preferred embodiment, the vehicle speed control method may further include: and controlling the target vehicle to operate at the maximum speed level when the target speed exceeds the maximum speed level.
In order to effectively ensure the safe operation of the vehicle, the target speed can be monitored in real time so as to prevent the actual operation speed from exceeding the maximum speed grade of the target vehicle, therefore, when the calculated target speed exceeds the maximum speed grade of the target vehicle, the target vehicle can be controlled to operate according to the maximum speed grade, so that the occurrence of safety accidents is effectively avoided, and the running safety of the vehicle is ensured.
Therefore, the vehicle speed control method provided by the application can realize real-time planning of the vehicle running speed by utilizing the pre-established vehicle speed control model according to the specified running information of the running interval where the target vehicle is located, and compared with the traditional mode of simply dividing the running speed grade, the implementation mode is equivalent to generating a continuous reference speed cluster according to the running time condition, so that more accurate inter-station running time adjustment can be realized, the vehicle can arrive at the station on time, the punctual rate of traffic running is effectively improved, and the traffic service quality is further improved.
The embodiment of the application provides another vehicle speed control method.
Specifically, during the running process of the vehicle, according to the requirements of an operation chart, the running time of the vehicle from a station A to a station B is defined as t, the distance between the station A and the station B is defined as s, and the allowable speed grade of a line between the station A and the station B is defined as VllThen, to meet the operating map requirements, the average speed V at which the vehicle arrives on timereqComprises the following steps:
further, due to the vehicle speed control characteristic and the line characteristic, if the on-time arrival is to be satisfied, the reference running speed of the vehicle is VRef(target speed), VRefTo relate to VreqAs a function of (c).
On the basis of the above, when the vehicle running speed needs to be adjusted, the running time t of the vehicle in the interval is essentially adjusted, because the change of the running time t of the vehicle in the interval can cause the average speed VreqThus, when the train running speed needs to be adjustedOnly the changed interval running time t needs to be obtained and the average speed V is recalculatedreqObtaining the corresponding reference running speed VRef。
If the vehicle can follow the average speed V strictly in real time in the running regionreqIn operation, the vehicle speed is only required to meet the average speed V regardless of the change in treqThe speed can be adjusted in real time to arrive at the station on time. In the actual vehicle running control system, the relationship between the reference running speed and the actual running speed of the vehicle is as V in fig. 2 due to the presence of the closed-loop control characteristic, the vehicle characteristic, the line characteristic based on the feedback, which is adoptedRefAnd VrealFig. 2 is a running diagram of a vehicle in an AB interval provided by the present application.
Actual running speed V of vehicle in whole intervalrealAnd allowable speed class VllK is with respect to Vreal、VllS, expressed as k (V)real,Vll,s)：
When the operation chart specifies that the vehicle section operation time is t, in order to enable the vehicle to arrive at the station on time, the reference operation speed V meeting the requirement that the vehicle arrives at the station on time can be calculatedRefTherefore, the vehicle can obtain the interval average speed V meeting the operation time requirement by taking the speed as the reference speedreq. Due to VRefAnd Vreq、Vllmax(maximum allowed speed class), k, s are correlated, and V is taken into accountRefMust not be greater than the maximum allowed speed level, then there are:
VRef＝Vllmax-ΔV
where Δ V is shown in fig. 3, and fig. 3 is an operation diagram of another vehicle provided by the present application in the AB interval.
Based on the above vehicle speed control method, please refer to fig. 4, and fig. 4 is a schematic structural diagram of a vehicle speed control system provided by the present application, where the vehicle speed control system includes a control center and a vehicle, where the vehicle is provided with a vehicle-mounted ATC system, a traction/braking system, and a running speed adjustment responding device (vehicle speed control apparatus) for implementing real-time vehicle speed control. In the specific implementation process, the control center sends the map adjusting information to the response device and the vehicle-mounted ATC system, the vehicle-mounted ATC system applies for the reference running speed to the response device, the response device sends the reference running speed obtained through calculation according to the method to the vehicle-mounted ATC system, and the vehicle-mounted ATC system generates a traction/braking command according to closed-loop control to control the vehicle to run according to the reference running speed.
The operation speed adjustment responding device comprises a calculating unit, a communication unit and a storage unit, wherein the communication unit is provided with a wireless communication interface and a serial communication interface, the calculating unit is provided with complex processing capacity, and the storage unit can store the operation data, log information and the like of response.
Therefore, the vehicle speed control method provided by the embodiment of the application can realize real-time planning of the vehicle running speed by utilizing the pre-established vehicle speed control model according to the specified running information of the running interval where the target vehicle is located, and compared with the traditional mode of simply dividing the running speed grade, the implementation mode is equivalent to generating a continuous reference speed cluster according to the running time condition, so that more accurate inter-station running time adjustment can be realized, the vehicles can arrive at the station on time, the punctual rate of traffic running is effectively improved, and the traffic service quality is further improved.
In order to solve the above technical problem, the present application further provides a vehicle speed control device, please refer to fig. 5, where fig. 5 is a schematic structural diagram of a vehicle speed control device provided in the present application, and the vehicle speed control device may include:
the information acquisition module 1 is used for acquiring historical actual running speed of a target vehicle and specified running information of a running section where the target vehicle is located;
the model processing module 2 is used for processing the current running speed and the specified running information by using a preset vehicle speed control model to obtain a target speed;
and the vehicle speed control module 3 is used for controlling the target vehicle to run according to the target speed.
Therefore, the vehicle speed control device provided by the embodiment of the application can realize real-time planning of the vehicle running speed by utilizing the pre-established vehicle speed control model according to the specified running information of the running interval of the target vehicle, and compared with the traditional mode of simply dividing the running speed grade, the implementation mode is equivalent to generating a continuous reference speed cluster according to the running time condition, so that more accurate inter-station running time adjustment can be realized, the vehicle can arrive at the station on time, the punctual rate of traffic running is effectively improved, and the traffic service quality is further improved.
As a preferred embodiment, the information obtaining module 1 may be specifically configured to receive the operation diagram information issued by the control center; and determining specified operation information of the operation section according to the operation diagram information.
As a preferred embodiment, the vehicle speed control apparatus may further include a maximum vehicle speed control module for controlling the target vehicle to operate at a maximum speed level when the target speed exceeds the maximum speed level.
For the introduction of the apparatus provided in the present application, please refer to the above method embodiments, which are not described herein again.
In order to solve the above technical problem, the present application further provides a vehicle speed control device, please refer to fig. 6, where fig. 6 is a schematic structural diagram of a vehicle speed control device provided in the present application, and the vehicle speed control device may include:
a memory 10 for storing a computer program;
the processor 20, when executing the computer program, may implement the steps of any of the vehicle speed control methods described above.
For the introduction of the system provided by the present application, please refer to the above method embodiment, which is not described herein again.
In order to solve the above problem, the present application also provides a vehicle including the vehicle speed control apparatus as described above.
For the vehicle introduction provided by the present application, please refer to the above method embodiments, which are not described herein again.
To solve the above problem, the present application further provides a computer-readable storage medium having a computer program stored thereon, where the computer program, when executed by a processor, can implement any of the steps of the vehicle speed control method described above.
The computer-readable storage medium may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
For the introduction of the computer-readable storage medium provided in the present application, please refer to the above method embodiments, which are not described herein again.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The technical solutions provided by the present application are described in detail above. The principles and embodiments of the present application are explained herein using specific examples, which are provided only to help understand the method and the core idea of the present application. It should be noted that, for those skilled in the art, without departing from the principle of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall into the protection scope of the present application.
Claims (10)
1. A vehicle speed control method characterized by comprising:
acquiring historical actual running speed of a target vehicle and specified running information of a running section where the target vehicle is located;
processing the current running speed and the specified running information by using a preset vehicle speed control model to obtain a target speed;
and controlling the target vehicle to run according to the target speed.
2. The vehicle speed control method according to claim 1, characterized in that the prescribed operation information includes a prescribed speed rank V of the operation sectionllAn interval running distance s and an interval running time t; the preset vehicle speed control model is as follows:
VRef＝Vllmax-ΔV；
wherein, VllmaxIs the maximum speed class, V, of the target vehiclerealFor said historical actual operating speed, VRefIs the target speed.
3. The vehicle speed control method according to claim 1, wherein acquiring prescribed operation information of an operation section in which the target vehicle is located includes:
receiving operation diagram information issued by a control center;
and determining the specified operation information of the operation interval according to the operation diagram information.
4. The vehicle speed control method according to claim 1, characterized by further comprising:
and when the target speed exceeds the maximum speed grade, controlling the target vehicle to run according to the maximum speed grade.
5. A vehicle speed control device characterized by comprising:
the system comprises an information acquisition module, a storage module and a control module, wherein the information acquisition module is used for acquiring historical actual running speed of a target vehicle and specified running information of a running section where the target vehicle is located;
the model processing module is used for processing the current running speed and the specified running information by utilizing a preset vehicle speed control model to obtain a target speed;
and the vehicle speed control module is used for controlling the target vehicle to operate according to the target speed.
6. The vehicle speed control device according to claim 5, wherein the information acquisition module is specifically configured to receive operation diagram information issued by a control center; and determining the specified operation information of the operation interval according to the operation diagram information.
7. The vehicle speed control device according to claim 5, characterized by further comprising:
and the maximum speed control module is used for controlling the target vehicle to run according to the maximum speed grade when the target speed exceeds the maximum speed grade.
8. A vehicle speed control apparatus characterized by comprising:
a memory for storing a computer program;
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. A vehicle characterized by comprising the vehicle speed control apparatus according to claim 8.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, is adapted to carry out the steps of the vehicle speed control method according to any one of claims 1 to 4.
Priority Applications (2)
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| CN202110365029.XA CN112977537A (en) | 2021-04-02 | 2021-04-02 | Vehicle speed control method and device and related equipment |
| PCT/CN2021/125204 WO2022205847A1 (en) | 2021-04-02 | 2021-10-21 | Vehicle speed control method and apparatus, and related device |
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| CN202110365029.XA CN112977537A (en) | 2021-04-02 | 2021-04-02 | Vehicle speed control method and device and related equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2022205847A1 (en) * | 2021-04-02 | 2022-10-06 | 湖南中车时代通信信号有限公司 | Vehicle speed control method and apparatus, and related device |
| CN115257865A (en) * | 2022-07-25 | 2022-11-01 | 青岛海信微联信号有限公司 | Train control method, equipment and device |
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| WO2022205847A1 (en) * | 2021-04-02 | 2022-10-06 | 湖南中车时代通信信号有限公司 | Vehicle speed control method and apparatus, and related device |
| CN115257865A (en) * | 2022-07-25 | 2022-11-01 | 青岛海信微联信号有限公司 | Train control method, equipment and device |
| 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 |
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| WO2022205847A1 (en) | 2022-10-06 |
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Application publication date: 20210618 |