Train automatic driving speed planning method and device

The invention provides a train automatic driving speed planning method and device. The method comprises the steps that train parameters are obtained; establishing a train kinematics model according to the train parameters; according to the train kinematics model, calculating the highest cruise speed of each speed limit interval of the train, and generating a first shortest ATO target speed curve; optimizing the comfort level of the first shortest time ATO target speed curve according to the current train operation condition, and generating a second shortest time ATO target speed curve; adjusting the cruising speed of each speed limit interval in the second shortest time ATO target speed curve according to the train operation timetable time, and generating a third shortest time ATO target speed curve; and controlling the train to run according to the third shortest time ATO target speed curve. The method is used for overcoming the defect that train automatic driving speed planning cannot be fully combined with