The invention discloses an operation smooth curve planning method based on rail car GATO performance and a real-time state, and is applied to the technical field of rail transit. Comprising the following steps: acquiring acceleration performance and braking performance data of the rail car; line state data of rail car driving are collected; according to a preset driving strategy, different accelerations and acceleration variation limiting conditions are configured; collecting acceleration, speed and road condition state data of the rail car in real time; calculating and generating the most ideal speed and acceleration at different moments; generating an operation planning smooth curve and an acceleration smooth curve; and controlling the operation of the rail car according to the generated operation planning smooth curve and the acceleration smooth curve. According to the method, the optimal operation time can be achieved, energy is saved compared with manual operation, frequent and unreasonable acceleration and deceleration are reduced, the automatically planned operation curve strictly complies with speed limitation and safety constraints, the driving safety is effectively guaranteed, automatic driving in the operation process is achieved, and the operation efficiency is improved.
本发明公开了一种基于轨道车GATO性能和实时状态的运行平滑曲线规划方法,应用于轨道交通技术领域。包括以下步骤:采集轨道车的加速性能和制动性能数据;采集轨道车行驶的线路状态数据;根据预设的驾驶策略,配置不同的加速度和加速度变化量限制条件;实时采集轨道车的加速度、速度和路况状态数据;计算生成不同时刻的最理想速度和加速度;生成运行规划平滑曲线和加速度平滑曲线;根据生成的运行规划平滑曲线和加速度平滑曲线,控制轨道车的运行。本发明可实现运行时间最优,较人工操作节能,减少了频繁的和不合理的加减速,自动规划的运行曲线严格遵守速度限制和安全约束,有效保障了行车安全,实现运行过程的自动驾驶,提高了运行效率。
Rail car GATO performance and real-time state-based operation smooth curve planning method
一种基于轨道车GATO性能和实时状态的运行平滑曲线规划方法
2024-08-16
Patent
Electronic Resource
Chinese
IPC: | B61L Leiten des Eisenbahnverkehrs , GUIDING RAILWAY TRAFFIC |
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