CN114013450A - Vehicle operation control method and system and computer equipment - Google Patents

Vehicle operation control method and system and computer equipment Download PDF

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Publication number
CN114013450A
CN114013450A CN202111356168.2A CN202111356168A CN114013450A CN 114013450 A CN114013450 A CN 114013450A CN 202111356168 A CN202111356168 A CN 202111356168A CN 114013450 A CN114013450 A CN 114013450A
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running
acceleration
vehicle
preset
road section
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CN202111356168.2A
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CN114013450B (en
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王留锋
马建中
任赟军
宋晓悦
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Traffic Control Technology TCT Co Ltd
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Traffic Control Technology TCT Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/076—Slope angle of the road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/107—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The embodiment of the application provides a vehicle operation control method, a vehicle operation control system and computer equipment. According to the scheme of the vehicle operation control method, a preset operation line of vehicle operation is divided into different operation sections according to gradient and highest speed limit, actual operation acceleration and operation duration of the vehicle passing through each operation section are obtained through calculation, working condition switching times of the vehicle in the preset operation line are determined according to the operation accelerations and the operation durations, and finally the vehicle is controlled to operate on the preset line based on the operation acceleration and the operation duration corresponding to the working condition switching times when the obtained working condition switching times are smaller than a preset threshold value. The technical problem that the running stability of the existing vehicle is low in the prior art is solved, and the technical effect of improving the running stability of the vehicle is achieved.

Description

Vehicle operation control method and system and computer equipment
Technical Field
The present application relates to the field of vehicle control technologies, and in particular, to a method, a system, and a computer device for controlling vehicle operation.
Background
With the vigorous development of urban rail transit industry in China, automated driving has become a hot spot of current vehicle research. In automatic driving, the determination of the operation condition mainly adopts a prediction mode: the method comprises the steps of reading map data in a vehicle running line in advance, determining various influence factors of a vehicle in the running line according to the map data, predicting the running working condition of the vehicle in a preset line by combining the various influence factors in an online trial calculation mode, and finally controlling the vehicle to run in the running line based on the running working conditions.
However, the operating condition of the vehicle is frequently adjusted during the operation process, which easily causes the stability of the vehicle operation to be reduced.
Therefore, the running stability of the vehicle is lower at present.
Disclosure of Invention
The embodiment of the application provides a vehicle operation control method, a vehicle operation control system and computer equipment.
In a first aspect of the embodiments of the present application, there is provided a vehicle running control method including:
dividing a preset operation line into a plurality of operation sections according to the gradient and the highest speed limit;
determining the actual running acceleration of the vehicle in each running road section according to the resistance acceleration of the vehicle, the preset driving acceleration and the ramp acceleration of each running road section to obtain a plurality of running accelerations;
determining the duration of each operation acceleration according to the road section distance, the highest speed limit and the operation acceleration of each operation road section to obtain a plurality of operation durations;
determining the working condition switching times of the vehicle in a preset operation line according to the multiple operation accelerations and the multiple operation durations;
and if the working condition switching times are smaller than a preset threshold value, controlling the vehicle to run on a preset route based on the running acceleration and the running duration corresponding to the current working condition times.
In an optional embodiment of the present application, the dividing the preset operation route into a plurality of operation sections according to the gradient and the highest speed limit includes: dividing a preset operation line into different road sections according to the highest speed limit to obtain a plurality of speed limit road sections; dividing each speed-limiting road section into different road sections according to the gradient to obtain a plurality of ramp road sections; combining at least two road sections which are adjacent and have the same gradient into one road section in the plurality of ramp road sections to obtain a plurality of operation road sections.
In an optional embodiment of the present application, determining the duration of each operating acceleration according to the link distance, the highest speed limit, and the operating acceleration of each operating link to obtain a plurality of operating durations includes: and determining the running time of the vehicle on the current running road section under the highest speed limit corresponding to the current running road section according to the road section distance and the running acceleration of the current running road section and the termination speed of the last running road section.
In an optional embodiment of the present application, determining the number of times of switching the operating condition of the vehicle in the preset operating route according to the plurality of operating accelerations and the plurality of operating durations includes: determining locomotive force of the vehicle at each running speed according to the weight of the vehicle and each running acceleration; determining the corresponding working condition type of the vehicle under each locomotive force to obtain a plurality of vehicle working conditions; wherein, the operating mode type includes at least: any one of a braking condition, an idling condition and a traction condition; and determining the working condition switching times of the vehicle in the preset running line according to a plurality of vehicle working conditions.
In an optional embodiment of the present application, determining the number of times of operating condition switching of the vehicle in the preset operating line according to a plurality of operating conditions of the vehicle includes: determining a vehicle working condition which is continuous with each other and has the same working condition type in a plurality of vehicle working conditions as a target vehicle working condition; and determining the number of the target vehicle working conditions to obtain the working condition switching times.
In an optional embodiment of the present application, the vehicle running control method further includes: if the working condition switching times are not less than a preset threshold value, adjusting the magnitude of the preset driving acceleration, and re-determining the current operation acceleration corresponding to each operation road section according to the resistance acceleration, the ramp acceleration and the current preset driving acceleration of the vehicle; determining the duration of each current running acceleration according to the road section distance, the highest speed limit and the current running acceleration of each running road section to obtain a plurality of current running durations; and re-determining the new working condition switching times of the vehicle in the preset operation route according to the current operation accelerations and the current operation durations until the new working condition switching times are smaller than a preset threshold value, and controlling the vehicle to operate on the preset route based on the operation acceleration and the operation duration corresponding to the new working condition switching times.
In an optional embodiment of the present application, determining an actual running acceleration of the vehicle in each running section according to a resistance acceleration of the vehicle, a preset driving acceleration and a ramp acceleration of each running section to obtain a plurality of running accelerations, includes: and aiming at each running road section, respectively determining a first running acceleration of the vehicle in an acceleration stage, a second running acceleration in a constant speed stage and a third running acceleration in a deceleration stage according to the resistance acceleration of the vehicle, the ramp acceleration of the running road section, a preset acceleration driving acceleration, a preset constant speed driving acceleration and a preset deceleration driving acceleration.
In an optional embodiment of the present application, determining the duration of each operating acceleration according to the link distance, the highest speed limit, and the operating acceleration of each operating link to obtain a plurality of operating durations includes: and for each operation section, respectively determining a first operation duration of the first operation acceleration, a second operation duration of the second operation acceleration and a third operation duration of the third operation acceleration according to the section distance, the highest speed limit and the first operation acceleration of the operation section, and the second operation acceleration and the third operation acceleration of the operation section.
In a second aspect of the embodiments of the present application, there is provided a vehicle running control system including:
the dividing module is used for dividing the preset operation line into a plurality of operation road sections according to the gradient and the highest speed limit;
the first determining module is used for determining the actual running acceleration of the vehicle in each running road section according to the resistance acceleration of the vehicle, the preset driving acceleration and the ramp acceleration of each running road section to obtain a plurality of running accelerations;
the second determining module is used for determining the duration of each running acceleration according to the road section distance, the highest speed limit and the running acceleration of each running road section to obtain a plurality of running durations;
the third determining module is used for determining the working condition switching times of the vehicle in a preset running line according to the running accelerations and the running durations;
and the control module is used for controlling the vehicle to run on a preset route based on the running acceleration and the running duration corresponding to the current working condition times if the working condition switching times are smaller than a preset threshold value.
In a third aspect of embodiments of the present application, there is provided a computer device, including: comprising a memory storing a computer program and a processor implementing the steps of the method as claimed in any one of the above when the processor executes the computer program.
The vehicle operation control method comprises the steps of dividing a preset operation line in which a vehicle operates into different operation road sections according to gradient and highest speed limit, calculating according to resistance acceleration, preset driving acceleration and ramp acceleration in each operation road section to obtain actual operation acceleration of the vehicle passing through each operation road section and operation duration in each operation road section, determining working condition switching times of the vehicle in the preset operation line according to a plurality of operation accelerations and a plurality of operation durations, and controlling the vehicle to operate on the preset line based on the operation acceleration and the operation duration corresponding to the working condition switching times when the obtained working condition switching times are smaller than a preset threshold value. On the one hand, the working condition state in the running process is calculated in advance, the actual running of the vehicle is controlled based on the running acceleration and the running duration corresponding to the minimum working condition switching frequency, the switching frequency of the working condition of the vehicle can be reduced to the maximum extent, the running stability of the vehicle is guaranteed, the technical problem that the running stability of the vehicle is low in the prior art is solved, and the technical effect of improving the running stability of the vehicle is achieved. In a second aspect, the ramp acceleration of the vehicle in each operation section is introduced when the actual operation acceleration is calculated, and the vehicle working condition in the actual operation of the vehicle is adjusted through the gradient of the ramp in each operation section, so that the actual operation state is closer to the actual operation state, the finally obtained operation acceleration and the operation duration for controlling the operation of the vehicle are more reliable, and the reliability of the vehicle operation control method provided by the embodiment of the application is further improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic application scenario diagram of a vehicle operation control method according to an embodiment of the present application;
FIG. 2 is a flow chart of a vehicle operation control method provided in an embodiment of the present application;
FIG. 3 is a flow chart of a vehicle operation control method provided in an embodiment of the present application;
FIG. 4 is a diagram of a preset operation route in a vehicle operation control method according to an embodiment of the present application;
FIG. 5 is a diagram of a preset operation route in a vehicle operation control method according to an embodiment of the present application;
FIG. 6 is a diagram of a preset operation route in a vehicle operation control method according to an embodiment of the present application;
FIG. 7 is a flow chart of a vehicle operation control method provided in an embodiment of the present application;
FIG. 8 is a flow chart of a vehicle operation control method provided in an embodiment of the present application;
FIG. 9 is a flow chart of a vehicle operation control method provided in an embodiment of the present application;
FIG. 10 is a schematic diagram of a vehicle operation control system according to an embodiment of the present application;
fig. 11 is a schematic structural diagram of a computer device according to an embodiment of the present application.
Detailed Description
In the process of implementing the application, the inventor finds that the running stability of the vehicle is low at present.
In view of the above problems, an embodiment of the present application provides a vehicle operation control method, in which a preset operation route in which a vehicle operates is divided into different operation sections according to a slope and a highest speed limit, an actual operation acceleration of the vehicle passing through each operation section and an operation duration in each operation section are obtained by calculating according to a resistance acceleration, a preset driving acceleration and a ramp acceleration in each operation section, a number of times of operating condition switching of the vehicle in the preset operation route is determined according to a plurality of operation accelerations and a plurality of operation durations, and finally, when the obtained number of times of operating condition switching is smaller than a preset threshold value, the vehicle is controlled to operate on the preset route based on the operation acceleration and the operation duration corresponding to the number of times of operating condition switching. On the one hand, the working condition state in the running process is calculated in advance, the actual running of the vehicle is controlled based on the running acceleration and the running duration corresponding to the minimum working condition switching frequency, the switching frequency of the working condition of the vehicle can be reduced to the maximum extent, the running stability of the vehicle is guaranteed, the technical problem that the running stability of the vehicle is low in the prior art is solved, and the technical effect of improving the running stability of the vehicle is achieved. In a second aspect, the ramp acceleration of the vehicle in each operation section is introduced when the actual operation acceleration is calculated, and the vehicle working condition in the actual operation of the vehicle is adjusted through the gradient of the ramp in each operation section, so that the actual operation state is closer to the actual operation state, the finally obtained operation acceleration and the operation duration for controlling the operation of the vehicle are more reliable, and the reliability of the vehicle operation control method provided by the embodiment of the application is further improved.
The scheme in the embodiment of the application can be implemented by adopting various computer languages, such as object-oriented programming language Java and transliterated scripting language JavaScript.
In order to make the technical solutions and advantages of the embodiments of the present application more apparent, the following further detailed description of the exemplary embodiments of the present application with reference to the accompanying drawings makes it clear that the described embodiments are only a part of the embodiments of the present application, and are not exhaustive of all embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The following briefly describes an application environment of the vehicle operation control method provided in the embodiment of the present application:
referring to fig. 1, a vehicle operation control method provided in an embodiment of the present application is applied to a vehicle control system 10, where the vehicle control system 10 at least includes: a detection device 101, a communication device 102 and a control device 103. The number of the detection devices 101 is a plurality of sensors of different types, such as: the system comprises a locator, a velocimeter and the like, wherein the locator, the velocimeter and the like are arranged on a vehicle to be controlled and are used for acquiring the current running parameters, such as position, running speed and the like, of the vehicle to be controlled; the communication device 102 is used for data transmission between the vehicle to be controlled and the control device 103, for example, the driving parameters of the vehicle to be controlled are sent to the control device 103 in real time for analysis, and the control data processed by the control device 103 is fed back to the vehicle to be controlled. And the control device 103 is used for receiving the driving parameters sent by the vehicle to be controlled and processing and generating corresponding control parameters so as to realize control of the vehicle to be controlled. The control device 103 may be any other device having a data processing function, such as a server, a computer, a wearable device, etc., and the embodiment is not particularly limited, and may be specifically selected or set according to the actual situation.
Referring to fig. 2, the following embodiment uses the control device 103 as an execution subject, and applies the vehicle operation control method provided by the embodiment of the present application to the control device 103 to specifically describe the operation control of the vehicle to be controlled as an example. The vehicle operation control method provided by the embodiment of the application comprises the following steps 201 to 205:
step 201, the control device divides the preset operation line into a plurality of operation sections according to the gradient and the highest speed limit.
The slope is the ratio of the height of the middle slope and the length of the slope in the road section, generally expressed by thousands, and takes a positive value when ascending and a negative value when descending. For example, it can be calculated by the following formula (1):
Figure BDA0003357672580000071
in formula (1), i represents the slope, BC represents the slope height, and AC represents the ramp length.
The maximum speed limit refers to the actual maximum achievable speed in the running process of the vehicle, and the preset running route refers to a set target running route of the vehicle. The control equipment determines to obtain the gradient of each position in the preset operation line based on the electronic map, acquires the highest speed limit of each position from the traffic supervision system, and divides the preset operation line into different operation road sections according to the gradient and the highest speed limit, wherein the gradient in each operation road section is the same, and the highest speed limit is the same. For example, the first operating section has a gradient of 0.5%, the highest speed limit of 100Km/h, the second operating section has a gradient of 0.5%, the highest speed limit of 90Km/h, the third operating section has a gradient of 0.3%, and the highest speed limit of 90 Km/h.
Step 202, the control device determines the actual running acceleration of the vehicle in each running road section according to the resistance acceleration of the vehicle, the preset driving acceleration and the ramp acceleration of each running road section to obtain a plurality of running accelerations.
The resistance acceleration refers to the acceleration of the vehicle caused by wind, air, ground roughness and the like in the running process; the driving acceleration is the acceleration provided for the vehicle by the motor in the running process of the vehicle, and the corresponding preset acceleration is the preset driving acceleration provided for the vehicle, can be a fixed value or a data set, and provides different values according to a period; the hill acceleration refers to an acceleration given to the vehicle by the gradient when the vehicle passes the hill, and the hill acceleration can be calculated by the following equation (2):
Figure BDA0003357672580000072
in the formula (2), a represents a hill acceleration, γ represents a vehicle revolution mass coefficient, i represents a gradient, g represents a gravity proportional coefficient, and g is 9.8N/kg.
When the vehicle passes through one running road section, the running acceleration of the vehicle on the current running road section can be obtained by adding and calculating according to the current resistance acceleration, the current ramp acceleration and the preset driving acceleration. By analogy, the control device can calculate the running acceleration corresponding to other running road sections in the same way.
And step 203, the control equipment determines the duration of each running acceleration according to the road section distance, the highest speed limit and the running acceleration of each running road section to obtain a plurality of running durations.
The running time refers to the time required for the vehicle to pass through a running section. The control device determines a link distance of each travel link based on a pre-stored electronic map or historical data of a preset travel route. For each operation section, calculating the operation acceleration corresponding to the operation section obtained in the above step 202 within the highest speed limit range of the operation section, and the time length required for the vehicle to pass through the operation section, that is, the duration of the operation acceleration, to obtain the operation time length for the vehicle to pass through the operation section. By analogy, the control device can calculate the operation duration corresponding to other operation sections based on the same manner.
And 204, determining the working condition switching times of the vehicle in a preset running line by the control equipment according to the running accelerations and the running durations.
The working condition refers to the running condition of the vehicle at a certain moment, and generally comprises three states of a braking working condition, an idling working condition and a traction working condition. The braking working condition refers to an operation state that the locomotive force is less than 0, the inertia working condition refers to an operation state that the locomotive force is equal to 0, and the traction working condition refers to a state that the locomotive is greater than 0; the locomotive force is in positive correlation with the vehicle running acceleration, so that the corresponding locomotive force can be determined through the running acceleration of each running road section, and the corresponding working condition can be determined through each locomotive force. The control equipment can determine and obtain the times of the working condition switching of the vehicle in the plurality of running time lengths through the plurality of running time lengths and the running accelerations, and the times of the working condition switching are obtained.
And step 205, if the working condition switching times are smaller than a preset threshold value, the control equipment controls the vehicle to run on a preset route based on the running acceleration and the running duration corresponding to the current working condition times.
The smaller the number of times of switching the operating condition is, the more stable the operating state of the vehicle is, and the present embodiment aims to seek the minimum number of times of switching the operating condition on the premise of ensuring the highest speed limit of each operating section, so that the control device sets a preset threshold in advance, and determines the number of times of switching the operating condition as the target value when the obtained number of times of switching the operating condition is smaller than the preset threshold. As described above in step 204, the target value corresponds to a set of the running acceleration and a plurality of running time periods, and therefore the control apparatus controls the vehicle to run on the preset route based on the running acceleration and the running time period corresponding to the target value.
According to the method and the device, a preset operation line for vehicle operation is divided into different operation road sections according to the gradient and the highest speed limit, then the actual operation acceleration of the vehicle passing through each operation road section and the operation duration in each operation road section are obtained through calculation according to the resistance acceleration, the preset driving acceleration and the ramp acceleration in each operation road section, then the working condition switching times of the vehicle in the preset operation line are determined according to a plurality of operation accelerations and a plurality of operation durations, and finally when the obtained working condition switching times are smaller than a preset threshold value, the vehicle is controlled to operate on the preset line based on the operation acceleration and the operation duration corresponding to the working condition switching times. On the one hand, the working condition state in the running process is calculated in advance, the actual running of the vehicle is controlled based on the running acceleration and the running duration corresponding to the minimum working condition switching frequency, the switching frequency of the working condition of the vehicle can be reduced to the maximum extent, the running stability of the vehicle is guaranteed, the technical problem that the running stability of the vehicle is low in the prior art is solved, and the technical effect of improving the running stability of the vehicle is achieved. In a second aspect, the ramp acceleration of the vehicle in each operation section is introduced when the actual operation acceleration is calculated, and the vehicle working condition in the actual operation of the vehicle is adjusted through the gradient of the ramp in each operation section, so that the actual operation state is closer to the actual operation state, the finally obtained operation acceleration and the operation duration for controlling the operation of the vehicle are more reliable, and the reliability of the vehicle operation control method provided by the embodiment of the application is further improved.
Referring to fig. 3, in an alternative embodiment of the present application, the step 201 includes the following steps 301 to 303, where the control device divides the preset operation route into a plurality of operation sections according to the slope and the highest speed limit:
step 301, the control device divides the preset operation line into different road sections according to the highest speed limit to obtain a plurality of speed limit road sections.
Referring to fig. 4, the preset operation route is platform 0-platform 21-platform 20-platform 18-platform 9-platform 8-platform 7, for example, the vehicle operation direction is from left and right to platform 7 from platform 0, the control device divides the preset operation route into a plurality of speed-limited sections according to the highest speed limit: as shown in FIG. 4, 4 speed-limiting sections are included, the highest speed limit of the speed-limiting section 1 is 50km/h, the highest speed limit of the speed-limiting section 2 is 80km/h, the highest speed limit of the speed-limiting section 3 is 60km/h, and the highest speed limit of the speed-limiting section 4 is 0 km/h.
And step 302, dividing each speed-limiting road section into different road sections according to the gradient by the control equipment to obtain a plurality of ramp road sections.
The slope of each road section is different, and the control device divides each speed-limiting road section into different ramp road sections, for example, a preset running route from a platform 0 to a platform 7 in fig. 4, and divides the preset running route into a plurality of ramp road sections as shown in fig. 5: the speed-limiting road section 1 comprises two slopes, namely a ramp road section 1 and a ramp road section 2; the speed-limiting road section 2 comprises three slopes, namely a ramp road section 3, a ramp road section 4 and a ramp road section 5; the speed-limiting road section 3 comprises three slopes, namely a ramp road section 6, a ramp road section 7 and a ramp road section 8; the speed-restricted section 4 comprises 1 ramp section 9.
And step 303, the control device merges at least two road sections which are adjacent and have the same gradient in the plurality of slope road sections into one road section to obtain a plurality of operation road sections.
With continued reference to fig. 4 and 5, wherein the slope road segments 5 and 6 have the same slope and are adjacent to each other, the slope road segments 5 and 6 are merged into one road segment, and the step 302 described above obtains 9 slope road segments, and after merging, 8 operation road segments as shown in fig. 6 are obtained.
According to the vehicle operation control method, the preset operation line is divided into the multiple speed-limiting road sections according to the highest speed limit, each speed-limiting road section is divided into the multiple ramp road sections according to the gradient, at least two adjacent road sections with the same gradient in the multiple ramp road sections are combined into one road section, and the multiple operation road sections are obtained, so that the gradient in each obtained operation road section is consistent with the highest speed limit, subsequent operation acceleration calculation can be facilitated, the calculated amount is reduced, and the control efficiency of the vehicle operation control method provided by the embodiment of the application is further improved.
In an optional embodiment of the application, the step 203 determining, by the control device, the duration of each operating acceleration according to the link distance, the highest speed limit, and the operating acceleration of each operating link to obtain a plurality of operating durations includes the following steps a:
and step A, the control equipment determines the running time of the vehicle on the current running road section under the highest speed limit corresponding to the current running road section according to the road section distance and the running acceleration of the current running road section and the termination speed of the previous running road section.
For example, for a target travel segment, the corresponding relationship between the segment distance, the travel acceleration, the termination speed of the last travel segment of the target travel segment, and the travel time is as follows:
S＝V0t+1/2at2 (3)
in the formula (3), S represents a link distance of the target travel link, V0The speed of the last operation section of the target operation section is represented, t represents the operation time length, and a represents the operation acceleration corresponding to the target operation section.
In formula (3), S, a is compared with V0All the operation time lengths are known quantities, and the corresponding operation time lengths can be obtained through the formula (3) only if the operation time lengths t are unknown quantities. By analogy, the operation duration of other operation sections can be calculated and obtained on the basis of the same mode. It should be noted that when calculating the operation duration corresponding to the first operation section at the initial operation time, the corresponding V may be set0Note 0 or according to the actual start-up initial velocity of the vehicle, and this embodiment is not particularly limited.
According to the method and the device for controlling the vehicle running, the running time of the vehicle in the current running road section under the highest speed limit corresponding to the current running road section is determined according to the road section distance and the running acceleration of the current running road section and the termination speed of the last running road section, the calculating method is simple and rapid, the calculating efficiency of the running time can be greatly improved, and the control efficiency of the vehicle running control method provided by the embodiment of the application is further improved.
Referring to fig. 7, in an alternative embodiment of the present application, the step 204 control device determines the number of times of switching the operating mode of the vehicle in the preset operating line according to the multiple operating accelerations and the multiple operating durations, including the following steps 701 to 703:
and step 701, determining the locomotive force of the vehicle at each running speed by the control equipment according to the weight of the vehicle and each running acceleration.
Wherein the weight of the vehicle may be pre-stored in the control device by weight measurement or vehicle parameters, and the control device may calculate the corresponding locomotive force based on the following formula (4) for one operation section after obtaining the operation acceleration of the vehicle in each operation section through the above step 203:
f＝ma (4)
in the formula (4), f is locomotive force, m is vehicle weight, and a is running acceleration.
Similarly, the control device may calculate the locomotive force corresponding to the other operation acceleration according to the above formula (4).
Step 702, the control device determines the corresponding working condition type of the vehicle under each locomotive force to obtain a plurality of vehicle working conditions.
Wherein, the operating mode type includes at least: any one of a braking condition, an idle condition, and a traction condition. As above step 201, the braking condition refers to the operation state where the locomotive force is less than 0, the inertia condition refers to the operation state where the locomotive force is equal to 0, and the traction condition refers to the state where the locomotive force is greater than 0; the control device obtains the locomotive force corresponding to each operation acceleration through the above step 701, for example, the method includes: 6km/h2，11km/h2，2km/h2，-10km/h2，-2km/h2，0km/h2，9km/h2And then the corresponding vehicle working conditions are as follows: traction working condition, braking working condition, inertia working condition and traction working condition.
And step 703, the control device determines the working condition switching times of the vehicle in the preset running line according to a plurality of working conditions of the vehicle.
For example, in the above step 702, the working conditions corresponding to the first three operating accelerations are all traction working conditions, and the working conditions remain unchanged; at the running acceleration of-10 km/h2And-2 km/h2The corresponding working conditions are braking working conditions, and the working conditions are kept unchanged; at the running acceleration of 0km/h2The corresponding working condition is an inert working condition; at the running acceleration of 9km/h2The corresponding working condition is a traction working condition. That is, the vehicle operating conditions in this process are: traction condition-brake condition-inertia condition-traction condition, that is, the number of times of switching of the conditions in the process is 4, and the vehicle conditions need to be switched four times.
According to the method and the device, the locomotive force of the vehicle at each running speed is determined according to the weight of the vehicle and each running acceleration, then the vehicle working condition corresponding to the vehicle under each locomotive force is determined, and finally the working condition switching times of the vehicle in the preset running line are determined according to a plurality of vehicle working conditions. Meanwhile, the working condition switching times are determined according to the locomotive force corresponding to each running acceleration, the obtained working condition switching times are more reliable, and the reliability of the vehicle running control method provided by the embodiment of the application can be further improved.
Referring to fig. 8, in an alternative embodiment of the present application, the step 703 of determining, by the control device, the number of times of operating condition switching of the vehicle in the preset operating line according to a plurality of operating conditions of the vehicle includes the following steps 801 to 802:
step 801, the control device determines a vehicle working condition which is continuous with each other and has the same working condition type in a plurality of vehicle working conditions as a target vehicle working condition.
For example, the vehicle operating conditions respectively corresponding to the multiple accelerations in the step 702 are a traction operating condition-a braking operating condition-an inert operating condition-a traction operating condition, wherein the first three vehicle operating conditions are continuous with each other and have the same type, and are all traction operating conditions, the vehicle operating conditions are merged into one target vehicle operating condition, and the middle two braking operating conditions are continuous with each other and have the same type, and are all braking operating conditions, and are merged into one target vehicle operating condition. That is, four target vehicle operating conditions are obtained in this process, which in turn are: traction condition-braking condition-inertia condition-traction condition.
Step 802, the control device determines the number of target working conditions of the vehicle to obtain the working condition switching times.
If the working condition switching is required between different vehicle working conditions, i.e. one working condition switching is calculated, as in step 801, four target vehicle working conditions are obtained, and the corresponding working condition switching times are 4.
According to the method and the device, the vehicle working conditions which are continuous to each other and have the same working condition type in the plurality of vehicle working conditions are determined as the target vehicle working conditions, then the number of the target vehicle working conditions is determined, the working condition switching times can be obtained, the number of the finally obtained target working conditions is greatly reduced compared with the number of the initial vehicle working conditions, the working condition switching times can be conveniently determined, the calculation efficiency is improved, and the control efficiency of the vehicle operation control method provided by the embodiment of the application is further improved.
Referring to fig. 9, in an alternative embodiment of the present application, the vehicle operation control method provided in the foregoing embodiment may further include the following steps 901 to 903:
step 901, if the working condition switching frequency is not less than a preset threshold, the control device adjusts the magnitude of the preset driving acceleration, and re-determines the current running acceleration corresponding to each running road section according to the resistance acceleration, the ramp acceleration and the current preset driving acceleration of the vehicle.
When the working condition switching frequency is not less than the preset threshold value, the fact that the vehicle runs based on the current running acceleration and the corresponding running duration means that the vehicle needs to be switched over more working conditions, frequent working condition switching easily causes the stability of the vehicle running to be reduced, and the riding experience of passengers is affected. The ramp acceleration and the resistance acceleration of the vehicle are influenced by the environment and cannot be further adjusted, so that the control device adjusts the running acceleration by adjusting the magnitude of the preset driving acceleration under the condition that the working condition switching times are not less than the preset threshold value, that is, the current running acceleration is determined again in the same manner as in the step 202, and the current running acceleration can be obtained.
Step 902, the control device determines the duration of each current operation acceleration according to the road section distance, the highest speed limit and the current operation acceleration of each operation road section to obtain a plurality of current operation durations.
After obtaining the current operating acceleration, the control device may recalculate the current operating duration corresponding to the current operating acceleration based on the same manner as in step 203, which is not described herein again.
Step 903, the control device determines a new working condition switching frequency of the vehicle in the preset running route again according to the current running accelerations and the current running durations, and controls the vehicle to run on the preset route based on the running acceleration and the running duration corresponding to the new working condition switching frequency until the new working condition switching frequency is smaller than a preset threshold value.
After obtaining the current operating acceleration and the corresponding current operating duration, the control device recalculates the new operating condition switching times of the vehicle in the preset operating line, then judges whether the new operating condition switching times is smaller than a preset threshold, and if the new operating condition switching times is smaller than the preset threshold, controls the vehicle to operate on the preset route based on the operating acceleration and the operating duration corresponding to the new operating condition switching times in the same manner as in the step 204. Otherwise, continuously adjusting the magnitude of the preset driving acceleration until the new working condition switching frequency is smaller than the preset threshold value.
According to the method and the device, when the obtained working condition switching times are not smaller than the preset threshold value, the size of the preset driving acceleration is adjusted, the new working condition switching times are recalculated until the obtained new working condition switching times are smaller than the preset threshold value, and the vehicle is controlled to run on the preset route based on the running acceleration and the running duration corresponding to the new working condition switching times, so that the working condition switching times can be reduced to the maximum extent, the stability of the working condition of the vehicle is improved, and the reliability of the vehicle running control method provided by the embodiment of the application is further improved.
In an alternative embodiment of the present application, the step 202 determining, by the control device, an actual running acceleration of the vehicle in each running section according to the resistance acceleration of the vehicle, the preset driving acceleration and the slope acceleration of each running section to obtain a plurality of running accelerations includes the following steps B:
and step B, the control device determines a first running acceleration of the vehicle in an acceleration stage, a second running acceleration in a constant speed stage and a third running acceleration in a deceleration stage respectively according to the resistance acceleration of the vehicle, the ramp acceleration of the running road section, a preset acceleration driving acceleration, a preset constant speed driving acceleration and a preset deceleration driving acceleration of the vehicle.
The above-described embodiment maintains a fixed operating acceleration per travel segment, and the present embodiment configures each travel segment to be variable-speed, that is, employs an acceleration-constant-deceleration operation strategy in one travel segment. Correspondingly, by configuring different preset operation accelerations, that is, the preset acceleration driving acceleration, the preset constant speed driving acceleration and the preset deceleration driving acceleration, in the same manner as in step 202, a first operation acceleration of the vehicle in the acceleration stage, a second operation acceleration in the constant speed stage and a third operation acceleration in the deceleration stage can be calculated, where the second operation acceleration in the constant speed stage is 0.
Of course, in this embodiment, each operation section may be further split into a plurality of sub-sections, and then, in the same manner, the same acceleration-constant speed-deceleration operation strategy is applied to each sub-section, and the first sub-operation acceleration of the vehicle in the acceleration stage, the second sub-operation acceleration in the constant speed stage, and the third sub-operation acceleration in the deceleration stage in each sub-section are respectively calculated.
According to the method and the device, the first running acceleration of the vehicle in the acceleration stage, the second running acceleration in the constant speed stage and the third running acceleration in the deceleration stage are respectively determined, each running road section is divided into the acceleration stage, the constant speed stage and the deceleration stage, the obtained running acceleration is closer to the actual running state, the working condition switching times obtained through calculation are better, and the reliability of the vehicle running control method provided by the embodiment of the application is further improved.
In an optional embodiment of the application, the step 203 determining, by the control device, the duration of each operating acceleration according to the link distance, the highest speed limit, and the operating acceleration of each operating link to obtain a plurality of operating durations includes the following step C:
and step C, aiming at each running road section, respectively determining a first running duration of the first running acceleration, a second running duration of the second running acceleration and a third running duration of the third running acceleration according to the road section distance, the highest speed limit and the first running acceleration of the running road section, and the second running acceleration and the third running acceleration of the running road section.
Wherein the second running acceleration at the constant speed stage is 0, and the control device can calculate the highest speed limit v based on the following formula (4)maxNext, the first operation duration, the second operation duration and the third operation duration:
Figure BDA0003357672580000161
in the formula (5), S represents a link distance, t1Denotes a first operating time period, t2Representing a second operating time period, teRepresents a third operating period, aaRepresenting a first running acceleration, adRepresenting third running acceleration, vtRepresenting the operating speed of the constant-speed operating phase, i.e. at a first operating acceleration aaOperating for a first operating time t1Rear running speed, and vt≤vmax. Wherein v istThe table can be calculated by the following formula (6):
vt＝v0+aat1 (6)
in the formula (6), vtRepresenting the speed of the vehicle during the constant speed phase, v0Indicating the end speed of the vehicle on the last section of travel, aaRepresenting a first running acceleration, t1Indicating a first operating time period.
The link distance S, a is as in the above equations (5) and (6)aRepresenting a first running acceleration, adRepresenting a third running acceleration, the end speed v of the vehicle in the last running section0Are all known quantities, only the first operating period t1A second operating time period t2A third operating time period teFor unknown quantity, the corresponding first operation time length t can be calculated based on fuzzy control trial calculation through the above formula (4) and formula (5)1A second operating time period t2And a third operating time period te。
Similarly, the first operation duration t corresponding to other operation sections can be calculated in the same way1A second operating time period t2And a third operating time period te。
According to the embodiment of the application, for each operation road section, the first operation duration of the first operation acceleration, the second operation duration of the second operation acceleration and the third operation duration of the third operation acceleration are respectively determined according to the road section distance, the highest speed limit and the first operation acceleration of the operation road section, and the second operation acceleration and the third operation acceleration of the operation road section, the obtained operation durations are closer to the actual operation state, so that the calculated working condition switching times are better, and the reliability of the vehicle operation control method provided by the embodiment of the application is further improved.
It should be understood that, although the steps in the flowchart are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.
Referring to fig. 10, an embodiment of the present application provides a vehicle operation control system 1000, including a division module 1010, a first determination module 1020, a second determination module 1030, a third determination module 1040, and a control module 1050:
the dividing module 1010 is used for dividing a preset operation line into a plurality of operation sections according to the gradient and the highest speed limit;
the first determining module 1020 is configured to determine an actual running acceleration of the vehicle in each running road section according to the resistance acceleration of the vehicle, a preset driving acceleration, and a ramp acceleration of each running road section, so as to obtain a plurality of running accelerations;
the second determining module 1030 is configured to determine a duration of each operating acceleration according to the road distance of each operating road section, the highest speed limit, and the operating acceleration to obtain a plurality of operating durations;
the third determining module 1040 is configured to determine the number of times of switching the operating conditions of the vehicle in the preset operating line according to the multiple operating accelerations and the multiple operating durations;
the control module 1050 is configured to control the vehicle to run on the preset route based on the running acceleration and the running duration corresponding to the current working condition number if the working condition switching number is smaller than a preset threshold.
In an optional embodiment of the present application, the dividing module 1010 is specifically configured to divide the preset operation route into different road segments according to the highest speed limit to obtain a plurality of speed limit road segments; dividing each speed-limiting road section into different road sections according to the gradient to obtain a plurality of ramp road sections; combining at least two road sections which are adjacent and have the same gradient into one road section in the plurality of ramp road sections to obtain a plurality of operation road sections.
In an optional embodiment of the application, the second determining module 1030 is specifically configured to determine, according to a road distance and an operation acceleration of a current operation road section and a termination speed of a previous operation road section, an operation duration of a vehicle in the current operation road section at a highest speed limit corresponding to the current operation road section.
In an alternative embodiment of the present application, the third determining module 1040 is specifically configured to determine the locomotive force of the vehicle at each operating speed according to the weight of the vehicle and each operating acceleration; determining the corresponding working condition type of the vehicle under each locomotive force to obtain a plurality of vehicle working conditions; wherein, the operating mode type includes at least: any one of a braking condition, an idling condition and a traction condition; and determining the working condition switching times of the vehicle in the preset running line according to a plurality of vehicle working conditions.
In an optional embodiment of the present application, the third determining module 1040 is specifically configured to determine, as a target vehicle operating condition, a vehicle operating condition that is continuous with each other and has a same operating condition type from among a plurality of vehicle operating conditions; and determining the number of the target vehicle working conditions to obtain the working condition switching times.
In an optional embodiment of the present application, the control module 1050 is further configured to, if the number of times of switching the operating condition is not less than the preset threshold, adjust the magnitude of the preset driving acceleration, and re-determine the current operating acceleration corresponding to each operating section according to the resistance acceleration, the ramp acceleration, and the current preset driving acceleration of the vehicle; determining the duration of each current running acceleration according to the road section distance, the highest speed limit and the current running acceleration of each running road section to obtain a plurality of current running durations; and re-determining the new working condition switching times of the vehicle in the preset operation route according to the current operation accelerations and the current operation durations until the new working condition switching times are smaller than a preset threshold value, and controlling the vehicle to operate on the preset route based on the operation acceleration and the operation duration corresponding to the new working condition switching times.
In an optional embodiment of the present application, the first determining module 1020 is further configured to determine, for each operation road segment, a first operation acceleration of the vehicle in an acceleration phase, a second operation acceleration in a constant speed phase, and a third operation acceleration in a deceleration phase according to the resistance acceleration of the vehicle, the slope acceleration and the preset acceleration driving acceleration of the operation road segment, the preset constant speed driving acceleration, and the preset deceleration driving acceleration, respectively.
In an optional embodiment of the present application, the first determining module 1020 is further configured to determine, for each operation segment, a first operation duration of the first operation acceleration, a second operation duration of the second operation acceleration, and a third operation duration of the third operation acceleration according to the segment distance, the highest speed limit, and the first operation acceleration of the operation segment, and the second operation acceleration and the third operation acceleration of the operation segment, respectively.
For specific limitations of the vehicle operation control system 1000, reference may be made to the above limitations of the vehicle operation control method, which are not described herein again. The various modules in the vehicle operation control system 1000 described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, the internal structure of which may be as shown in fig. 11. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a vehicle operation control method as above. The method comprises the following steps: includes a memory storing a computer program and a processor implementing any of the steps in the above vehicle operation control system 1000 when the processor executes the computer program.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which, when being executed by a processor, can carry out any of the steps of the above vehicle running control method.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims (10)

1. A vehicle running control method characterized by comprising:
dividing a preset operation line into a plurality of operation sections according to the gradient and the highest speed limit;
determining the actual running acceleration of the vehicle in each running road section according to the resistance acceleration of the vehicle, the preset driving acceleration and the ramp acceleration of each running road section to obtain a plurality of running accelerations;
determining the duration of each running acceleration according to the road section distance of each running road section, the highest speed limit and the running acceleration to obtain a plurality of running durations;
determining the working condition switching times of the vehicle in the preset running line according to the running accelerations and the running durations;
and if the working condition switching times are smaller than a preset threshold value, controlling the vehicle to run on the preset route based on the running acceleration and the running duration corresponding to the current working condition switching times.
2. The vehicle running control method according to claim 1, wherein the dividing of the preset running route into a plurality of running sections according to the gradient and the highest speed limit comprises:
dividing the preset operation line into different road sections according to the highest speed limit to obtain a plurality of speed limit road sections;
dividing each speed-limiting road section into different road sections according to the gradient to obtain a plurality of ramp road sections;
and combining at least two road sections which are adjacent and have the same gradient in the plurality of slope road sections into one road section to obtain the plurality of operation road sections.
3. The vehicle operation control method according to claim 1, wherein the determining a duration of each of the operating accelerations from the link distance of each of the operating links, the maximum speed limit, and the operating acceleration, resulting in a plurality of operating durations, includes:
and determining the running time of the vehicle on the current running road section under the highest speed limit corresponding to the current running road section according to the road section distance of the current running road section, the running acceleration and the termination speed of the last running road section.
4. The vehicle operation control method according to claim 1, wherein the determining the number of times of operating condition switching of the vehicle in the preset operating line according to the plurality of operating accelerations and the plurality of operating durations includes:
determining the locomotive force of the vehicle at each running speed according to the weight of the vehicle and each running acceleration;
determining the working condition types of the vehicles corresponding to the locomotive forces to obtain a plurality of vehicle working conditions; wherein the operating condition types at least comprise: any one of a braking condition, an idling condition and a traction condition;
and determining the working condition switching times of the vehicle in the preset running line according to the plurality of vehicle working conditions.
5. The vehicle operation control method according to claim 4, wherein the determining the number of times of operating condition switching of the vehicle in the preset operating line according to the plurality of vehicle operating conditions includes:
determining the vehicle working conditions which are continuous with each other and have the same working condition type in the plurality of vehicle working conditions as a target vehicle working condition;
and determining the number of the working conditions of the target vehicle to obtain the working condition switching times.
6. The vehicle running control method according to claim 1, characterized by further comprising:
if the working condition switching times are not smaller than a preset threshold value, adjusting the magnitude of the preset driving acceleration, and re-determining the current running acceleration corresponding to each running road section according to the resistance acceleration, the ramp acceleration and the current preset driving acceleration of the vehicle;
determining the duration of each current operation acceleration according to the road section distance of each operation road section, the highest speed limit and the current operation acceleration to obtain a plurality of current operation durations;
and re-determining a new working condition switching frequency of the vehicle in the preset operation line according to the current operation accelerations and the current operation durations until the new working condition switching frequency is smaller than the preset threshold value, and controlling the vehicle to operate on the preset route based on the operation acceleration and the operation duration corresponding to the new working condition switching frequency.
7. The vehicle running control method according to claim 1, wherein the determining an acceleration at which the vehicle actually runs in each of the running sections from the resistive acceleration of the vehicle, a preset driving acceleration, and a ramp acceleration of each of the running sections, resulting in a plurality of running accelerations, comprises:
and for each running road section, respectively determining a first running acceleration of the vehicle in an acceleration stage, a second running acceleration in a constant speed stage and a third running acceleration in a deceleration stage according to the resistance acceleration of the vehicle, the ramp acceleration and a preset acceleration driving acceleration, a preset constant speed driving acceleration and a preset deceleration driving acceleration of the running road section.
8. The vehicle operation control method according to claim 7, wherein the determining a duration of each of the operating accelerations from the link distance of each of the operating links, the maximum speed limit, and the operating acceleration, resulting in a plurality of operating durations, includes:
and for each running road section, respectively determining a first running duration of the first running acceleration, a second running duration of the second running acceleration and a third running duration of the third running acceleration according to the road section distance of the running road section, the highest speed limit and the first running acceleration, and the second running acceleration and the third running acceleration.
9. A vehicle running control system characterized by comprising:
the dividing module is used for dividing the preset operation line into a plurality of operation road sections according to the gradient and the highest speed limit;
the first determining module is used for determining the actual running acceleration of the vehicle in each running road section according to the resistance acceleration of the vehicle, the preset driving acceleration and the ramp acceleration of each running road section to obtain a plurality of running accelerations;
the second determining module is used for determining the duration of each running acceleration according to the road section distance of each running road section, the highest speed limit and the running acceleration to obtain a plurality of running durations;
the third determining module is used for determining the working condition switching times of the vehicle in the preset running line according to the running accelerations and the running durations;
and the control module is used for controlling the vehicle to run on the preset route based on the running acceleration and the running duration corresponding to the current working condition times if the working condition switching times are smaller than a preset threshold value.
10. A computer device, comprising: comprising a memory and a processor, said memory storing a computer program, characterized in that said processor realizes the steps of the method according to any one of claims 1 to 8 when executing said computer program.
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