Automatic driving control system and method

Abstract

The invention discloses an automatic driving control system and method. The control system comprises a curve synthesis unit, a feedback unit, a controller and an optimization unit, wherein the curve synthesis unit is used for calculating an object speed curve according to a condition inputted by an external system; the feedback unit is used for acquiring state information during the operation process of a train; the controller is used for making a train control instruction according to the object speed curve and the sate information fed back by the feedback unit; and the optimization unit is used for optimizing the control instruction outputted by the controller by use of an instruction optimization strategy and a relation matrix combined and constructed by conditions to obtain an optimized control instruction. According to the invention, through increasing optimization units, multi-target data is obtained, i.e., multiple parameters are obtained, and the object speed curve obtained through calculating by the curve synthesis unit is formed, the control instruction is obtained through combination with the state information which is fed back, and the control instruction is optimized, so that in a specific scene, self-adaptive automatic driving control is realized, the control of a vehicle-mounted controller is facilitated, and the control effects are improved.

Description

technical field [0001] The invention relates to the field of control technology, in particular to a control system and method for automatic driving. Background technique [0002] At present, the on-board signal equipment of most domestic subway lines has realized manned automatic driving. In the manned automatic driving mode, the automatic train protection system (ATP) is responsible for protecting the safety of the train, and the automatic train driving system (ATO) is responsible for the interval during the train operation. Run and pitstop controls. Under the protection of ATP, automatic driving can reduce the labor intensity of drivers, improve train operation efficiency, shorten subway operation intervals, and improve parking accuracy. [0003] As a standard control system, a typical ATO system architecture is as follows figure 1 As shown, the control system includes: the target curve calculation unit 01 calculates the target amount of speed according to the input cond...

AI Technical Summary

Problems solved by technology

[0004] The traditional ATO system improves the control performance of ATO by directly adjusting the controller parameters. The vehicle is a time-delay system with a relatively large time constant and is sensitive to vehicle performance. Controller adaptability, control accuracy, system response speed, etc. It is already difficult to balance the basic performance indicators of the control system, and it is even more difficult to guarantee the comfort of automatic driving

Even if multiple sets of controller parameters are used, the dimensions available for adjustment are still limited, and most of the controller parameters are not intuitive and inconvenient to understand. The increase of controller parameters has caused great impact on software development and verification, on-site debugging, and after-sales maintenance. Difficulties

At the same time, with the accumulation of train running time, the performance of the vehicle will drift slowly over time, which will affect the control effect of the on-board controller, and the controller's control of the train will be more difficult to operate

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