A method and system for safety protection of cooperative formation trains based on iterative calculation

Abstract

The embodiment of the present invention provides a method and system for safety protection of cooperative formation trains based on iterative calculation. The method includes: acquiring the parameter set of the preceding vehicle and the parameter set of the following vehicle at the initial moment; acquiring the train state information at the previous moment and the train state at the current moment Information, based on the set of parameters of the preceding vehicle and the set of parameters of the following vehicle, an iterative control algorithm is used to establish a train state equation; the safety protection model of the relative tracking of the two vehicles is obtained, and the train state equation is solved to calculate the following vehicle at any time Initial speed, the initial speed of the rear vehicle is used as the safety protection speed of the rear vehicle at any time. In the embodiment of the present invention, by determining a series of parameters of the coordinated formation trains, the running trajectories of the front and rear vehicles are obtained based on the method of iterative control, and by calling the safety protection model when the two vehicles are relative to each other, the rear vehicle and the front vehicle are guaranteed at any time in the coordinated state. Do not collide.

Description

technical field [0001] The invention relates to the technical field of rail transit, and in particular, to a method and system for safety protection of collaborative platooning vehicles based on iterative calculation. Background technique [0002] In the urban rail operation technology, a safe and reliable braking protection model is the core algorithm of the urban rail traffic signal system to control the train operation. [0003] At present, the new generation of train control system uses train-vehicle communication technology to enable direct communication between trains to transmit information about their own position, speed, and running direction to each other. Ensure driving safety. The cooperative formation technology is a kind of cooperative operation state of trains based on the train-to-vehicle communication system. The virtual link technology is used to make the two trains approach the same speed to achieve synchronous operation, so as to minimize the tracking di...

AI Technical Summary

Problems solved by technology

The safety protection method proposed in the prior art can divide the safety protection scene by treating the vehicle in front as a moving state instead of a static state, so as to achieve the purpose of protecting the rear vehicle, but this method does not consider the influence of slope acceleration

However, if the traditional ATP (Automatic Train Protect) protection model is used to improve the boundary value of the slope within the braking range, because the slope value is actually a time variable and will change with the displacement of the train, the safety protection model is not accurate enough , cannot achieve the goal of minimum tracking distance

At the same time, the division of the train braking process in this scheme is not detailed enough. For example, the coasting phase and the traction removal phase in the braking process of the rear vehicle are combined and simplified, which also affects the accuracy of the algorithm to a certain extent.

Images