Method for determining run-curves for vehicles in real-time subject to dynamic travel time and speed limit constraint

• US 8,660,723 B2
• Filed: 11/19/2012
• Issued: 02/25/2014
• Est. Priority Date: 06/29/2012
• Status: Expired due to Fees

• Current Assignee: Mitsubishi Electric Research Laboratories, Inc. (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Electric Research Laboratories, Inc. (Mitsubishi Electric Corporation)
• Inventors: Xu, Jingyang, Nikovski, Daniel
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): RINK, RYAN J
• Application Number:
  US13/680,232
• Publication Number:
  US 20140005877A1
• Time in Patent Office: 463 Days
• Field of Search: 701 19- 20, 701/99
• US Class Current: 701/20
• CPC Class Codes: B61L 15/0058 On-board optimisation of vehicle or vehicle train operation
• CPC Class Codes: B61L 15/0062 On-board target speed calculation or supervision
• CPC Class Codes: G06F 17/00 Digital computing or data processing equipment or methods, specially adapted for specific functions information retrieval, database structures or file system structures therefor G06F16/00
• CPC Class Codes: G06F 17/11 for solving equations , e.g. nonlinear equations, general mathematical optimization problems optimization specially adapted for a specific administrative, business or logistic context G06Q10/04
• CPC Class Codes: G06Q 10/04 Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem" market predictions or forecasting for commercial activities G06Q30/0202

Abstract

A method reduces the computational complexity for determining optimal run-curves for a specific travel time of a vehicle along a route between two locations, when travel time and speed limit requirements are subject to change. The determination is partitioned into preprocessing and real-time steps. A set of weights are generated, and run-curves for the weights are obtained and stored during the preprocessing. A state transition matrix is generated in the preprocessing step and updated partially in the real-time step only for a subspace of velocities and locations constrained by speed limits. The optimal weight for solving an objective function to obtain an optimal run-curve can be obtained by searching with an initial estimation of multiple weights, and interpolating from the relation between the travel time and the initial weights to obtain the optimal weight.

Claims

1. A method for determining an optimal run-curve for a vehicle along a route between two locations comprising pre-processing steps and real-time processing steps,

wherein the preprocessing steps comprise:

defining, for the vehicle, a state space based on possible velocities and possible locations along the route;

generating, from the state space, a transition matrix for possible actions of the vehicle, and for evaluating a set of weights and corresponding travel times, wherein each weight is a relative importance of minimizing the corresponding travel time with respect to a rate of energy consumption E by the vehicle; and

wherein the real-time processing steps comprise;

receiving a current travel time T and current speed limits;

identifying a subspace of the state space based on the current;

speed limits while considering dynamics of the vehicle;

updating the transition matrix for the subspace according to the current speed limits;

determining initial weights for solving a minimization problem using the set of weights and the current travel time;

determining an optimal weight μ

by solving the minimization problem with the initial weights; and

solving the minimization problem sequentially with different weights to obtain the optimal run-curve, wherein the minimization problem uses an objective function μ

E+(1−

μ

)T subject to constraints, wherein the steps are performed in a processor.

2. The method of claim 1, wherein, the processor is onboard the vehicle and the optimal run-curve is determined in real-time.

3. The method of claim 1, wherein a relation between the travel times and the weights is monotonic, wherein the weights are in a range 0.0 to 1.0.

4. The method of claim 1, wherein the real-time processing is performed after receiving the current travel time and the current speed limits while the vehicle is along the route.

5. The method of claim 1, wherein the initial weights are determined during the preprocessing.

6. The method of claim 1, wherein the optimal run-curve is determine repeatedly while the vehicle is along the route.

7. The method of claim 1, wherein the possible actions include acceleration, deceleration, braking, and coasting.

8. The method of claim 1, wherein the dynamics include time, location, velocity and action.

9. The method of claim 1, wherein the constraints include the dynamics of the vehicle and the rate of energy consumption.

10. The method of claim 1, wherein the vehicle is a train.