WO2022142228A1 - 一种速度分段方法、装置、电子设备及存储介质 - Google Patents

一种速度分段方法、装置、电子设备及存储介质 Download PDF

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WO2022142228A1
WO2022142228A1 PCT/CN2021/104140 CN2021104140W WO2022142228A1 WO 2022142228 A1 WO2022142228 A1 WO 2022142228A1 CN 2021104140 W CN2021104140 W CN 2021104140W WO 2022142228 A1 WO2022142228 A1 WO 2022142228A1
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speed segment
value
curvature
initial
coordinate
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PCT/CN2021/104140
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English (en)
French (fr)
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张友兵
王建敏
张国振
陈志强
夏禹
张振兴
王怀江
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北京全路通信信号研究设计院集团有限公司
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Priority to EP21759002.5A priority Critical patent/EP4044061A4/en
Publication of WO2022142228A1 publication Critical patent/WO2022142228A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0639—Performance analysis of employees; Performance analysis of enterprise or organisation operations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/40—Business processes related to the transportation industry
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/20—Trackside control of safe travel of vehicle or train, e.g. braking curve calculation

Definitions

  • Embodiments of the present invention relate to computer technology, and in particular, to a speed segmentation method, apparatus, electronic device, and storage medium.
  • the braking deceleration of high-speed railway trains changes continuously with the speed, that is, the trains at different speeds have different braking decelerations.
  • a train braking curve can be obtained to determine the speed of the train.
  • Embodiments of the present invention provide a speed segmentation method, apparatus, electronic device, and storage medium, so as to improve the accuracy and efficiency of speed segmentation.
  • an embodiment of the present invention provides a speed segmentation method, which includes:
  • the current speed segment end point value is determined from the initial speed segment end point value to obtain the current speed segment.
  • an embodiment of the present invention also provides a speed segmenting device, which includes:
  • the coordinate point determination module is used to determine the coordinate point in the initial deceleration curve according to the initial speed segment endpoint value and the initial speed segment deceleration;
  • a curvature determination module configured to determine the curvature at the coordinate point in the initial deceleration curve
  • An endpoint value determination module configured to determine the current speed segment endpoint value from the initial speed segment endpoint value according to the curvature at the coordinate point, so as to obtain the current speed segment.
  • an embodiment of the present invention further provides an electronic device, the electronic device comprising:
  • processors one or more processors
  • the one or more programs when executed by the one or more processors, cause the one or more processors to implement the speed segmentation method as described above.
  • an embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements the speed segmentation method as described above.
  • the coordinate points in the initial deceleration curve are determined according to the initial speed segment end point value and the initial speed segment deceleration; the curvature at the coordinate point in the initial deceleration curve is determined; The curvature of the current speed segment is determined from the initial speed segment endpoint value to obtain the current speed segment.
  • Embodiment 1 is a flowchart of a speed segmentation method provided in Embodiment 1 of the present invention.
  • Embodiment 2 is a flowchart of a speed segmentation method provided in Embodiment 2 of the present invention.
  • FIG. 3 is a schematic structural diagram of a speed segmentation device provided in Embodiment 3 of the present invention.
  • FIG. 4 is a schematic structural diagram of an electronic device according to Embodiment 4 of the present invention.
  • FIG. 1 is a flowchart of a speed segmentation method provided in Embodiment 1 of the present invention. This embodiment can be applied to the situation where the current speed segment is determined according to the initial speed segment. Segmentation means can be implemented by means of software and/or hardware. Referring to FIG. 1, the speed segmentation method provided by this embodiment includes:
  • Step 110 Determine the coordinate points in the initial deceleration curve according to the initial speed segment endpoint value and the initial speed segment deceleration.
  • the initial speed segment and the initial speed segment deceleration are provided by the vehicle, and different initial speed segments and corresponding initial speed segment decelerations are determined according to different vehicle models, which are not limited in this embodiment.
  • one speed segment it may correspond to a fixed deceleration of the vehicle, that is, the initial speed segment deceleration.
  • the decelerations corresponding to different speed segments may be the same or different, which is not limited in this embodiment.
  • the overall speed range of the vehicle is 0 to 400km/h
  • the initial speed segment step is 5km/h
  • the (0, 5] segment corresponds to the initial speed segment deceleration a1
  • the (5, 10] segment corresponds to the initial speed segment deceleration a2.
  • the coordinate point in the initial deceleration curve is (initial speed segment endpoint value, initial speed segment deceleration), where the initial speed can be The latter endpoint value in a segment corresponds to the deceleration for that initial speed segment.
  • 5 km/h corresponds to a1
  • 10 km/h corresponds to a2
  • the coordinate points in the initial deceleration curve are (5, a1), (10, a2).
  • Step 120 Determine the curvature at the coordinate point in the initial deceleration curve.
  • the method of acquiring the curvature at the coordinate point may be calculated and acquired through the equation of the initial deceleration curve combined with the curvature formula, which is not limited in this embodiment.
  • the curvature corresponding to each coordinate point in the initial deceleration curve is obtained by calculation.
  • determining the curvature at the coordinate point in the initial deceleration curve includes:
  • the curvature at the coordinate point in the initial deceleration curve is determined according to the first coordinate value, the second coordinate value and the coordinate value of the current coordinate point.
  • the current coordinate point is the coordinate point for which the curvature needs to be calculated.
  • the coordinate points are (5, a1), (10, a2), (15, a3). If the current coordinate point is (10, a2), then The first coordinate value of the previous coordinate point is (5, a1), and the second coordinate value of the latter coordinate point is (15, a3).
  • the curvature of the current coordinate point in the initial deceleration curve is determined, and the curvature radius of the current coordinate point can be obtained by calculating the curvature radius of the current coordinate point, and then Get the curvature of the current coordinate point.
  • the curvature of the coordinate points except the first coordinate point and the last coordinate point is obtained by the above method, avoiding the calculation of the initial deceleration curve equation, reducing the amount of calculation, and improving the efficiency of speed segmentation.
  • Step 130 Determine the current speed segment end point value from the initial speed segment end point value according to the curvature at the coordinate point, so as to obtain the current speed segment.
  • the current speed segment end point value is determined from the initial speed segment end point value, and the initial speed segment end point value corresponding to the coordinate point whose curvature changes abruptly compared with other coordinate points can be used as the current speed segment Endpoint values, where, in the usual case, the curvature is below 0.05, so a sudden change in curvature indicates a change in the deceleration trend.
  • 0km/h to 400km/h can be divided into (0, 20], (20, 70], (70, 120], (120, 300], (300, 400] 5 current speed segments.
  • the number of final speed segments can be greatly reduced by the above method, and the calculation efficiency of the train braking curve can be improved while ensuring the accuracy of the calculation result of the subsequent train braking curve, so as to ensure Real-time monitoring of train safety operation by on-board equipment.
  • the current speed segment endpoint value is determined from the initial speed segment endpoint value, including:
  • a relationship between the curvature at each of the coordinate points and the curvature threshold is determined, and a current speed segment endpoint value is determined from the initial speed segment endpoint value.
  • the curvature threshold can be determined by various methods, for example, the average curvature is used as the curvature threshold, or the curvature is sorted by size, and the curvature threshold is selected according to the desired number of segments.
  • the mean curvature can be obtained by taking the sum of the curvatures at all coordinate points and averaging the total values. Determine the difference between the curvature at each coordinate point and the mean curvature, and filter the coordinate points with the mean curvature less than the curvature threshold, wherein different vehicle models may correspond to different thresholds, which are not limited in this embodiment.
  • all coordinate points whose difference from the mean curvature value is less than 2 are determined as coordinate points that do not undergo sudden change, and are filtered, and the current speed segment is obtained according to the filtered coordinate points.
  • the curvature value of the sixth order is the curvature threshold.
  • the initial speed segment end point value with the curvature greater than the curvature threshold value can be determined as the current speed segment end point value, so as to determine the current speed segment value from the initial speed segment end point value. Segment endpoint value.
  • the current speed segment end point value is determined from the initial speed segment end point value through the curvature threshold, and the speed segment is determined according to the change trend of the deceleration, so as to improve the accuracy of the speed segment.
  • the coordinate points in the initial deceleration curve are determined according to the initial speed segment endpoint value and the initial speed segment deceleration; the curvature at the coordinate point in the initial deceleration curve is determined; according to For the curvature at the coordinate point, the current speed segment end point value is determined from the initial speed segment end point value to obtain the current speed segment.
  • Embodiment 2 is a flowchart of a speed segmentation method provided in Embodiment 2 of the present invention.
  • the technical solution is to determine the current speed segment endpoint value from the initial speed segment endpoint value to obtain the current speed segment.
  • the following process will be supplemented.
  • this scheme is specifically optimized as, after determining the current speed segment end point value from the initial speed segment end point value to obtain the current speed segment, it also includes:
  • the current speed segment is updated based on the current speed segment endpoint value and the new speed segment endpoint value.
  • the flow chart of the speed segmentation method is shown in Figure 2:
  • Step 210 Determine a coordinate point in the initial deceleration curve according to the initial speed segment endpoint value and the initial speed segment deceleration.
  • Step 220 Determine the curvature at the coordinate point in the initial deceleration curve.
  • Step 230 Determine the current speed segment endpoint value from the initial speed segment endpoint value according to the curvature at the coordinate point to obtain the current speed segment.
  • Step 240 Determine a target speed segment from the current speed segment according to a preset speed threshold.
  • the preset speed threshold is used to determine a target speed segment with a higher speed from the current speed segment.
  • Different preset speed thresholds may be set for different vehicle models, which are not limited in this embodiment. Exemplarily, if the preset speed threshold is 120 km/h, the speed segment greater than 120 is the target speed segment, for example, (0, 20], (20, 70], (70, 120], (120, 300 ], (300, 400], (120, 300], (300, 400] are the target speed segments.
  • the calculated train braking curve has high precision, and when the braking initial speed is high, the calculated train braking curve has low precision.
  • Step 250 Obtain a new speed segment end point value according to the end point value of the target speed segment.
  • a new speed segment endpoint value is obtained.
  • the average value of the segment endpoint values can be used as the new speed segment endpoint value, or the new speed segment endpoint value can be obtained in other ways. This embodiment does not limit this.
  • an equally spaced velocity segment endpoint 210 is inserted into the (120, 300] segment, and an equally spaced velocity segment endpoint 350 is inserted into the (300, 400] segment.
  • Step 260 Update the current speed segment according to the current speed segment endpoint value and the new speed segment endpoint value.
  • the original current speed segment endpoint value is updated through the new speed segment endpoint value to obtain the updated current speed segment endpoint value.
  • the new speed segment endpoint values are 210 and 350
  • the updated current speed segment is (0, 20], (20, 70], (70, 120], (120, 210], ( 210, 300], (300, 350] and (350, 400] have a total of 7 speed segments.
  • the current speed segment deceleration is determined according to all the corresponding initial speed segment decelerations in the current speed segment.
  • the current speed segment may be the speed segment updated by the current speed segment endpoint value and the new speed segment endpoint value, or may be the speed segment before updating, which is not limited in this embodiment.
  • the average or minimum value of the decelerations of all initial speed segments included in the current speed segment can be used as the fixed deceleration of the current speed segment, and further used as the basis for calculating the train braking curve.
  • (0, 20] corresponds to (0, 5], (5, 10], (10, 15], (15, 20] four initial speed segments, and the initial speed segment corresponding to each initial speed segment is
  • the segment decelerations are a1, a2, a3 and a4, then the segment deceleration corresponding to (0, 20] can be jointly determined by a1, a2, a3 and a4, thereby improving the accuracy of obtaining the segment deceleration at the current speed.
  • the speed segment is further performed according to the speed threshold value, so as to improve the accuracy of the speed segment, thereby further improving the braking performance.
  • the initial speed is high, the calculated train braking curve accuracy.
  • FIG. 3 is a schematic structural diagram of a speed segmentation device according to Embodiment 3 of the present invention.
  • the apparatus can be implemented in hardware and/or software, can execute a speed segmentation method provided by any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.
  • the device includes:
  • the coordinate point determination module 310 is used to determine the coordinate point in the initial deceleration curve according to the initial speed segment end point value and the initial speed segment deceleration;
  • a curvature determination module 320 configured to determine the curvature at the coordinate point in the initial deceleration curve
  • the endpoint value determination module 330 is configured to determine the current speed segment endpoint value from the initial speed segment endpoint value according to the curvature at the coordinate point, so as to obtain the current speed segment.
  • the coordinate points in the initial deceleration curve are determined according to the initial speed segment end point value and the initial speed segment deceleration; the curvature at the coordinate point in the initial deceleration curve is determined; The curvature of the current speed segment is determined from the initial speed segment endpoint value to obtain the current speed segment.
  • the curvature determination module includes:
  • a coordinate value obtaining unit used for obtaining the first coordinate value of the previous coordinate point and the second coordinate value of the next coordinate point of the current coordinate point in the initial deceleration curve
  • a curvature determining unit configured to determine the curvature at the coordinate point in the initial deceleration curve according to the first coordinate value, the second coordinate value and the coordinate value of the current coordinate point.
  • the endpoint value determination module includes:
  • a curvature threshold determination unit configured to determine a curvature threshold according to the curvature at each of the coordinate points
  • An endpoint value determination unit configured to determine the relationship between the curvature at each of the coordinate points and the curvature threshold, and determine the current speed segment endpoint value from the initial speed segment endpoint value.
  • the device further includes:
  • a target speed segment determination module used for determining a target speed segment from the current speed segment according to a preset speed threshold after the endpoint value determination module;
  • New speed segment endpoint value obtaining module for obtaining new speed segment endpoint value according to the endpoint value of described target speed segment
  • a current speed segment update module configured to update the current speed segment according to the current speed segment endpoint value and the new speed segment endpoint value.
  • the device further includes:
  • the current speed segment deceleration determination module is configured to determine the current speed segment deceleration according to all the corresponding initial speed segment decelerations in the current speed segment.
  • FIG. 4 is a schematic structural diagram of an electronic device according to Embodiment 4 of the present invention.
  • the electronic device includes a processor 40, a memory 41, an input device 42, and an output device 43;
  • the number can be one or more, and one processor 40 is taken as an example in FIG. 4; the processor 40, memory 41, input device 42 and output device 43 in the electronic device can be connected by a bus or other means, and in FIG. Take bus connection as an example.
  • the memory 41 can be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the speed segmentation method in the embodiment of the present invention.
  • the processor 40 executes various functional applications and data processing of the electronic device by running the software programs, instructions and modules stored in the memory 41 , that is, to implement the above-mentioned speed segmentation method.
  • the memory 41 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like.
  • the memory 41 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device.
  • memory 41 may further include memory located remotely from processor 40, which may be connected to the electronic device through a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.
  • Embodiment 5 of the present invention further provides a storage medium containing computer-executable instructions, where the computer-executable instructions are used to execute a speed segmentation method when executed by a computer processor, and the method includes:
  • the current speed segment end point value is determined from the initial speed segment end point value to obtain the current speed segment.
  • a storage medium containing computer-executable instructions provided by an embodiment of the present invention, the computer-executable instructions of which are not limited to the above-mentioned method operations, and can also execute the speed segmentation method provided by any embodiment of the present invention. related operations.
  • the present invention can be realized by software and necessary general-purpose hardware, and of course can also be realized by hardware, but in many cases the former is a better embodiment .
  • the technical solutions of the present invention can be embodied in the form of software products in essence or the parts that make contributions to the prior art, and the computer software products can be stored in a computer-readable storage medium, such as a floppy disk of a computer , read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), flash memory (FLASH), hard disk or optical disk, etc., including several instructions to make a computer device (which can be a personal computer , server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.
  • a computer-readable storage medium such as a floppy disk of a computer , read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), flash memory (FLASH), hard disk or optical disk, etc.
  • the included units and modules are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, The specific names of the functional units are only for the convenience of distinguishing from each other, and are not used to limit the protection scope of the present invention.

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Abstract

本发明实施例公开了一种速度分段方法、装置、电子设备及存储介质。该方法包括：根据初始速度分段端点值和初始速度分段减速度，确定初始减速度曲线中的坐标点；确定所述初始减速度曲线中坐标点处的曲率；根据所述坐标点处的曲率，从所述初始速度分段端点值中确定当前速度分段端点值，以得到当前速度分段。通过运行本发明实施例所提供的技术方案，可以解决由于初始速度分段个数多，计算量大，导致降低后续的计算效率和安全控制的实时性的问题，实现提高速度分段的准确性和效率的效果。

Description

一种速度分段方法、装置、电子设备及存储介质 技术领域
本发明实施例涉及计算机技术，尤其涉及一种速度分段方法、装置、电子设备及存储介质。
背景技术
通常情况下，高速铁路列车的制动减速度随速度不断发生变化，即不同速度下列车具有不同的制动减速度。通过对速度进行分段，并且分段内使用固定减速度，可以获取列车制动曲线，以确定列车行驶速度。
现有技术中，通常获取各初始速度分段内的数据，由于初始速度分段个数较多，计算量大，导致降低后续的计算效率和安全控制的实时性。
发明内容
本发明实施例提供一种速度分段方法、装置、电子设备及存储介质，以实现提高速度分段的准确性和效率。
第一方面，本发明实施例提供了一种速度分段方法，该方法包括：
根据初始速度分段端点值和初始速度分段减速度，确定初始减速度曲线中的坐标点；
确定所述初始减速度曲线中坐标点处的曲率；
根据所述坐标点处的曲率，从所述初始速度分段端点值中确定当前速度分段端点值，以得到当前速度分段。
第二方面，本发明实施例还提供了速度分段装置，该装置包括：
坐标点确定模块，用于根据初始速度分段端点值和初始速度分段减速度，确定初始减速度曲线中的坐标点；
曲率确定模块，用于确定所述初始减速度曲线中坐标点处的曲率；
端点值确定模块，用于根据所述坐标点处的曲率，从所述初始速度分段端点值中确定当前速度分段端点值，以得到当前速度分段。
第三方面，本发明实施例还提供了一种电子设备，该电子设备包括：
一个或多个处理器；
存储装置，用于存储一个或多个程序，
当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如上所述的速度分段方法。
第四方面，本发明实施例还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如上所述的速度分段方法。
本发明实施例通过根据初始速度分段端点值和初始速度分段减速度，确定初始减速度曲线中的坐标点；确定所述初始减速度曲线中坐标点处的曲率；根据所述坐标点处的曲率，从所述初始速度分段端点值中确定当前速度分段端点值，以得到当前速度分段。解决由于初始速度分段个数多，计算量大，，导致降低后续的计算效率和安全控制的实时性的问题，实现提高速度分段的准确性和效率的效果。
附图说明
图1为本发明实施例一提供的一种速度分段方法的流程图；
图2为本发明实施例二提供的一种速度分段方法的流程图；
图3为本发明实施例三提供的一种速度分段装置的结构示意图；
图4为本发明实施例四提供的一种电子设备的结构示意图。
具体实施方式
下面结合附图和实施例对本发明作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本发明，而非对本发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本发明相关的部分而非全部结构。
实施例一
图1为本发明实施例一提供的一种速度分段方法的流程图，本实施例可适用于根据初始速度分段确定当前速度分段的情况，该方法可以由本发明实施例所提供的速度分段装置来执行，该装置可以由软件和/或硬件的方式实现。参见图1，本实施例提供的速度分段方法，包括：
步骤110、根据初始速度分段端点值和初始速度分段减速度，确定初始减速度曲线中的坐标点。
其中，初始速度分段和初始速度分段减速度由车辆提供，根据不同车型确定不同的初始速度分段和对应的初始速度分段减速度，本实施例对此不作限制。在一个速度分段中，可以对应固定的车辆的减速度，即为初始速度分段减速度，不同速度分段对应的减速度可以相同，也可以不同，本实施例对此不作限制。
示例性的，车辆的整体速度区间为0到400km/h,初始速度分段步长为5km/h,则从0到400km/h之间存在80个初始速度分段，例如(0，5]、(5，10]。 则(0，5]分段对应初始速度分段减速度a1，(5，10]分段对应初始速度分段减速度a2。
根据初始速度分段端点值和初始速度分段减速度确定初始减速度曲线中的坐标点，例如坐标点为(初始速度分段端点值，初始速度分段减速度)，其中，可以将初始速度分段中的后一端点值对应该初始速度分段的减速度。示例性的，5km/h对应a1，10km/h对应a2，则初始减速度曲线中的坐标点为(5，a1)，(10，a2)。
将所有坐标点连接，构成初始减速度曲线。
步骤120、确定所述初始减速度曲线中坐标点处的曲率。
其中，坐标点处的曲率的获取方式可以为通过初始减速度曲线的方程结合曲率公式进行计算获取，本实施例对此不作限制。通过计算获取初始减速度曲线中每个坐标点对应的曲率。
本实施例中，可选的，确定所述初始减速度曲线中坐标点处的曲率，包括：
获取初始减速度曲线中当前坐标点的前一坐标点的第一坐标值和后一坐标点的第二坐标值；
根据所述第一坐标值、第二坐标值和当前坐标点的坐标值，确定所述初始减速度曲线中坐标点处的曲率。
其中，当前坐标点为需要计算曲率的坐标点，示例性的，坐标点为(5，a1)，(10，a2)，(15，a3)，若当前坐标点为(10，a2)，则前一坐标点的第一坐标值为(5，a1)，后一坐标点的第二坐标值为(15，a3)。
根据第一坐标值、第二坐标值和当前坐标点的坐标值，确定初始减速度曲线中当前坐标点处的曲率，可以通过三点求曲率的方法，计算得到当前坐标点 的曲率半径，进而得到当前坐标点的曲率。通过上述方法获取除第一个坐标点和最后一个坐标点的坐标点的曲率，避免求取初始减速度曲线方程，减少计算量，从而提高速度分段的效率。
步骤130、根据所述坐标点处的曲率，从所述初始速度分段端点值中确定当前速度分段端点值，以得到当前速度分段。
根据坐标点处的曲率，从初始速度分段端点值中确定当前速度分段端点值，可以将曲率相较于其它坐标点发生突变的坐标点对应的初始速度分段端点值作为当前速度分段端点值，其中，在通常情况下，曲率在0.05以下，因此曲率突变表明减速度趋势发生变化。
示例性的，若在20km/h、70km/h、120km/h、300km/h对应的坐标点处曲率较大，可以将0km/h到400km/h分为(0，20]、(20，70]、(70，120]、(120，300]、(300，400]5个当前速度分段。
若初始速度分段为80个，则通过上述方式可以将最终的速度分段个数大幅下降，在保证后续列车制动曲线计算结果精确度的同时，提高列车制动曲线的计算效率，从而保证车载设备对列车安全运行的实时监控。
本实施例中，可选的，根据所述坐标点处的曲率，从所述初始速度分段端点值中确定当前速度分段端点值，包括：
根据每一所述坐标点处的曲率，确定曲率阈值；
确定每一所述坐标点处的曲率与所述曲率阈值的关系，从所述初始速度分段端点值中确定当前速度分段端点值。
其中，曲率阈值可以通过多种方法确定，例如将曲率均值作为曲率阈值，或对曲率按大小进行排序，根据期望的分段个数选择曲率阈值。
曲率均值可以通过获取所有坐标点处的曲率的总和，并对总值求平均获得。确定每一坐标点处的曲率与曲率均值的差值，将与曲率均值小于曲率阈值的坐标点进行过滤，其中不同车型可能对应不同的阈值，本实施例对此不作限制。示例性的，将所有与曲率均值的差值小于2的坐标点判定为不发生突变的坐标点，并进行过滤，根据过滤后的坐标点得到当前速度分段。
或者对所有坐标点的曲率从大到小进行排序，如果期望对速度进行5个分段，则排序第6的曲率值为曲率阈值。
确定每一坐标点处的曲率与曲率阈值的关系后，可以将曲率大于曲率阈值的初始速度分段端点值确定为当前速度分段端点值，从而从初始速度分段端点值中确定当前速度分段端点值。
通过曲率阈值从初始速度分段端点值中确定当前速度分段端点值，根据减速度的变化趋势确定速度分段，提高速度分段的准确性。
本实施例所提供的技术方案，通过根据初始速度分段端点值和初始速度分段减速度，确定初始减速度曲线中的坐标点；确定所述初始减速度曲线中坐标点处的曲率；根据所述坐标点处的曲率，从所述初始速度分段端点值中确定当前速度分段端点值，以得到当前速度分段。解决了由于初始速度分段个数多，计算量大，导致降低后续的计算效率和安全控制的实时性的问题，实现提高速度分段的准确性和效率的效果。
实施例二
图2为本发明实施例二提供的一种速度分段方法的流程图，本技术方案是针对在从所述初始速度分段端点值中确定当前速度分段端点值，以得到当前速度分段之后的过程进行补充说明的。与上述方案相比，本方案具体优化为，在 从所述初始速度分段端点值中确定当前速度分段端点值，以得到当前速度分段之后，还包括：
根据预设速度阈值，从所述当前速度分段中确定目标速度分段；
根据所述目标速度分段的端点值，得到新的速度分段端点值；
根据所述当前速度分段端点值和所述新的速度分段端点值，更新所述当前速度分段。具体的，速度分段方法的流程图如图2所示：
步骤210、根据初始速度分段端点值和初始速度分段减速度，确定初始减速度曲线中的坐标点。
步骤220、确定所述初始减速度曲线中坐标点处的曲率。
步骤230、根据所述坐标点处的曲率，从所述初始速度分段端点值中确定当前速度分段端点值，以得到当前速度分段。
步骤240、根据预设速度阈值，从所述当前速度分段中确定目标速度分段。
其中，预设速度阈值用于从当前速度分段中确定速度较高的目标速度分段。不同的车型可以设置不同的预设速度阈值，本实施例对此不作限制。示例性的，预设速度阈值为120km/h，则大于120的速度分段为目标速度分段，例如，(0，20]、(20，70]、(70，120]、(120，300]、(300，400]中，(120，300]、(300，400]为目标速度分段。
由于当制动初始速度较低时，计算得到的列车制动曲线精度较高，当制动初始速度较高时，计算得到的列车制动曲线精度较低。
示例性的，对于速度分段(120，300]和(300，400]，虽然速度分段内的制动减速度曲率很小，即制动减速度近似线性变化，但是若速度分段跨度较大，速度分段内最小减速度和最大减速度差异将会较大，此时一个速度分段内对应 一个固定的减速度已不能准确反映整个速度分段内的减速度，可能导致计算出来的制动距离误差较大，因此需要对速度较高的目标速度分段进行进一步处理。
步骤250、根据所述目标速度分段的端点值，得到新的速度分段端点值。
根据目标速度分段的端点值，得到新的速度分段端点值，可以将分段端点值的平均值作为新的速度分段端点值，也可以通过其它方式得到新的速度分段端点值，本实施例对此不作限制。示例性的，在(120，300]分段中插入一个等间隔速度分段端点210，在(300，400]分段中插入一个等间隔速度分段端点350。
步骤260、根据所述当前速度分段端点值和所述新的速度分段端点值，更新所述当前速度分段。
通过新的速度分段端点值更新原本的当前速度分段端点值，得到更新后的当前速度分段端点值。
示例性的，新的速度分段端点值为210和350，则更新后的当前速度分段为(0，20]、(20，70]、(70，120]、(120，210]、(210，300]、(300，350]和(350，400]共7个速度分段。
本实施例中，可选的，根据所述当前速度分段中对应的所有初始速度分段减速度，确定当前速度分段减速度。
其中，当前速度分段可以为通过当前速度分段端点值和新的速度分段端点值更新后的速度分段，也可以为更新前的速度分段，本实施例对此不作限制。
可以将当前速度分段中包括的所有初始速度分段减速度的平均值或最小值，作为当前速度分段的固定减速度，进一步作为计算列车制动曲线的依据。
示例性的，(0，20]对应(0，5]，(5，10]，(10，15]，(15，20]四个初始速度分段，各初始速度分段对应的初始速度分段减速度为a1、a2、a3和a4，则(0， 20]对应的分段减速度可以由a1、a2、a3和a4共同确定。从而提高当前速度分段减速度获取的准确性。
本发明实施例在基于初始速度分段端点值和初始速度分段减速度进行速度分段的基础上，根据速度阈值再进行速度分段，提高速度分段的准确性，从而进一步提高在制动初始速度较高时，计算得到的列车制动曲线精度。
实施例三
图3为本发明实施例三提供的一种速度分段装置的结构示意图。该装置可以由硬件和/或软件的方式来实现，可执行本发明任意实施例所提供的一种速度分段方法，具备执行方法相应的功能模块和有益效果。如图3所示，该装置包括：
坐标点确定模块310，用于根据初始速度分段端点值和初始速度分段减速度，确定初始减速度曲线中的坐标点；
曲率确定模块320，用于确定所述初始减速度曲线中坐标点处的曲率；
端点值确定模块330，用于根据所述坐标点处的曲率，从所述初始速度分段端点值中确定当前速度分段端点值，以得到当前速度分段。
本发明实施例通过根据初始速度分段端点值和初始速度分段减速度，确定初始减速度曲线中的坐标点；确定所述初始减速度曲线中坐标点处的曲率；根据所述坐标点处的曲率，从所述初始速度分段端点值中确定当前速度分段端点值，以得到当前速度分段。解决通常获取各初始速度分段内的数据，由于初始速度分段个数多，计算量大，导致降低后续的计算效率和安全控制的实时性的问题，实现提高速度分段的准确性和效率的效果。
在上述各技术方案的基础上，可选的，所述曲率确定模块，包括：
坐标值获取单元，用于获取初始减速度曲线中当前坐标点的前一坐标点的第一坐标值和后一坐标点的第二坐标值；
曲率确定单元，用于根据所述第一坐标值、第二坐标值和当前坐标点的坐标值，确定所述初始减速度曲线中坐标点处的曲率。
在上述各技术方案的基础上，可选的，所述端点值确定模块，包括：
曲率阈值确定单元，用于根据每一所述坐标点处的曲率，确定曲率阈值；
端点值确定单元，用于确定每一所述坐标点处的曲率与所述曲率阈值的关系，从所述初始速度分段端点值中确定当前速度分段端点值。
在上述各技术方案的基础上，可选的，所述装置，还包括：
目标速度分段确定模块，用于所述端点值确定模块之后，根据预设速度阈值，从所述当前速度分段中确定目标速度分段；
新速度分段端点值获得模块，用于根据所述目标速度分段的端点值，得到新的速度分段端点值；
当前速度分段更新模块，用于根据所述当前速度分段端点值和所述新的速度分段端点值，更新所述当前速度分段。
在上述各技术方案的基础上，可选的，所述装置还包括：
当前速度分段减速度确定模块，用于根据所述当前速度分段中对应的所有初始速度分段减速度，确定当前速度分段减速度。
实施例四
图4为本发明实施例四提供的一种电子设备的结构示意图，如图4所示，该电子设备包括处理器40、存储器41、输入装置42和输出装置43；电子设备中处理器40的数量可以是一个或多个，图4中以一个处理器40为例；电子设 备中的处理器40、存储器41、输入装置42和输出装置43可以通过总线或其他方式连接，图4中以通过总线连接为例。
存储器41作为一种计算机可读存储介质，可用于存储软件程序、计算机可执行程序以及模块，如本发明实施例中的速度分段方法对应的程序指令/模块。处理器40通过运行存储在存储器41中的软件程序、指令以及模块，从而执行电子设备的各种功能应用以及数据处理，即实现上述的速度分段方法。
存储器41可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序；存储数据区可存储根据终端的使用所创建的数据等。此外，存储器41可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实例中，存储器41可进一步包括相对于处理器40远程设置的存储器，这些远程存储器可以通过网络连接至电子设备。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
实施例五
本发明实施例五还提供一种包含计算机可执行指令的存储介质，所述计算机可执行指令在由计算机处理器执行时用于执行一种速度分段方法，该方法包括：
根据初始速度分段端点值和初始速度分段减速度，确定初始减速度曲线中的坐标点；
确定所述初始减速度曲线中坐标点处的曲率；
根据所述坐标点处的曲率，从所述初始速度分段端点值中确定当前速度分段端点值，以得到当前速度分段。
当然,本发明实施例所提供的一种包含计算机可执行指令的存储介质,其计算机可执行指令不限于如上所述的方法操作,还可以执行本发明任意实施例所提供的速度分段方法中的相关操作。
通过以上关于实施方式的描述，所属领域的技术人员可以清楚地了解到，本发明可借助软件及必需的通用硬件来实现，当然也可以通过硬件实现，但很多情况下前者是更佳的实施方式。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如计算机的软盘、只读存储器(Read-Only Memory,ROM)、随机存取存储器(Random Access Memory,RAM)、闪存(FLASH)、硬盘或光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述的方法。
值得注意的是，上述速度分段装置的实施例中，所包括的各个单元和模块只是按照功能逻辑进行划分的，但并不局限于上述的划分，只要能够实现相应的功能即可；另外，各功能单元的具体名称也只是为了便于相互区分，并不用于限制本发明的保护范围。
注意，上述仅为本发明的较佳实施例及所运用技术原理。本领域技术人员会理解，本发明不限于这里所述的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本发明的保护范围。因此，虽然通过以上实施例对本发明进行了较为详细的说明，但是本发明不仅仅限于以上实施例，在不脱离本发明构思的情况下，还可以包括更多其他等效实施例，而本发明的范围由所附的权利要求范围决定。

Claims (10)

  1. 一种速度分段方法，其特征在于，包括：
    根据初始速度分段端点值和初始速度分段减速度，确定初始减速度曲线中的坐标点；
    确定所述初始减速度曲线中坐标点处的曲率；
    根据所述坐标点处的曲率，从所述初始速度分段端点值中确定当前速度分段端点值，以得到当前速度分段。
  2. 根据权利要求1所述的方法，其特征在于，确定所述初始减速度曲线中坐标点处的曲率，包括：
    获取初始减速度曲线中当前坐标点的前一坐标点的第一坐标值和后一坐标点的第二坐标值；
    根据所述第一坐标值、第二坐标值和当前坐标点的坐标值，确定所述初始减速度曲线中坐标点处的曲率。
  3. 根据权利要求1所述的方法，其特征在于，根据所述坐标点处的曲率，从所述初始速度分段端点值中确定当前速度分段端点值，包括：
    根据每一所述坐标点处的曲率，确定曲率阈值；
    确定每一所述坐标点处的曲率与所述曲率阈值的关系，从所述初始速度分段端点值中确定当前速度分段端点值。
  4. 根据权利要求1所述的方法，其特征在于，在从所述初始速度分段端点值中确定当前速度分段端点值，以得到当前速度分段之后，还包括：
    根据预设速度阈值，从所述当前速度分段中确定目标速度分段；
    根据所述目标速度分段的端点值，得到新的速度分段端点值；
    根据所述当前速度分段端点值和所述新的速度分段端点值，更新所述当前 速度分段。
  5. 根据权利要求1-4任一所述的方法，其特征在于，还包括：
    根据所述当前速度分段中对应的所有初始速度分段减速度，确定当前速度分段减速度。
  6. 一种速度分段装置，其特征在于，包括：
    坐标点确定模块，用于根据初始速度分段端点值和初始速度分段减速度，确定初始减速度曲线中的坐标点；
    曲率确定模块，用于确定所述初始减速度曲线中坐标点处的曲率；
    端点值确定模块，用于根据所述坐标点处的曲率，从所述初始速度分段端点值中确定当前速度分段端点值，以得到当前速度分段。
  7. 根据权利要求6所述的装置，其特征在于，所述曲率确定模块，包括：
    坐标值获取单元，用于获取初始减速度曲线中当前坐标点的前一坐标点的第一坐标值和后一坐标点的第二坐标值；
    曲率确定单元，用于根据所述第一坐标值、第二坐标值和当前坐标点的坐标值，确定所述初始减速度曲线中坐标点处的曲率。
  8. 根据权利要求6所述的装置，其特征在于，所述端点值确定模块，包括：
    曲率阈值确定单元，用于根据每一所述坐标点处的曲率，确定曲率阈值；
    端点值确定单元，确定每一所述坐标点处的曲率与所述曲率阈值的关系，从所述初始速度分段端点值中确定当前速度分段端点值。
  9. 一种电子设备，其特征在于，所述电子设备包括：
    一个或多个处理器；
    存储装置，用于存储一个或多个程序，
    当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如权利要求1-5中任一所述的速度分段方法。
  10. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现如权利要求1-5中任一所述的速度分段方法。
PCT/CN2021/104140 2021-01-04 2021-07-02 一种速度分段方法、装置、电子设备及存储介质 WO2022142228A1 (zh)

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