Test method, device and equipment of cooperative control algorithm under virtual marshalling and medium

Abstract

The application provides a kind of virtual marshalling under the test method of cooperative control algorithm, device, equipment and medium, related to rail transit technical field, which comprises: for each test scene, obtaining the running data of the front vehicle of virtual marshalling train and the running data of the rear vehicle;According to the running curve of the target front vehicle is constructed according to the running data of the front vehicle, and the running curve of the target rear vehicle is constructed according to the running data of the rear vehicle;According to the running curve of the target front vehicle and the running curve of the preset front vehicle, according to the running curve of the target rear vehicle and the running curve of the preset rear vehicle, the test result of cooperative control algorithm under virtual marshalling is output.The application can quickly and accurately verify the train virtual marshalling cooperative control algorithm, provide reliable, efficient test and verification means for improving the application level of train virtual marshalling technology, to improve train operation efficiency, flexibly adjust transport capacity and reduce passenger waiting time.

Description

Technical Field

[0001] This invention relates to the field of rail transit technology, and in particular to a testing method, apparatus, equipment and medium for a cooperative control algorithm under virtual train formation. Background Technology

[0002] The invention patent application CN114326385A relates to a cooperative control method for virtual train formations based on adaptive non-singular terminal sliding mode. The method includes: Step A: Establishing a train kinematic model using a third-order kinematic differential equation system of "displacement-velocity-response acceleration"; Step B: Defining the speed tracking error and acceleration tracking error of the first train in the formation relative to a preset target curve, and constructing the non-singular terminal sliding mode surface of the train; Step C: Calculating the target curves of the remaining following trains in the formation, defining the combination error of the following trains in the formation, and constructing the non-singular terminal sliding mode surface based on the combination error; Step D: Designing cooperative automatic driving controllers for the first train and the remaining following trains in the virtual formation; Step E: Considering the estimated values ​​of unknown parameters for each train, using Lyapunov stability theory to obtain the adaptive law for the unknown parameters. However, testing of the cooperative control algorithm under virtual formations is relatively lacking.

[0003] Existing testing methods mainly rely on laboratory simulations and modeling, which cannot conduct real-world tests on virtual train formations in actual operating scenarios to obtain test results. This makes it impossible to fully evaluate the effectiveness and stability of the cooperative control algorithm, and thus cannot guarantee the safety of train operation under virtual formations. Summary of the Invention

[0004] This invention provides a testing method, apparatus, equipment, and medium for cooperative control algorithms under virtual train formation, in order to address the current technical deficiency that makes it impossible to evaluate the effectiveness and stability of cooperative control algorithms, thereby failing to guarantee the driving safety of trains under virtual train formation.

[0005] In a first aspect, the present invention provides a testing method for a cooperative control algorithm under virtual grouping, comprising:

[0006] For each test scenario, acquire the running data of the leading and trailing trains in the virtual train formation;

[0007] The running curve of the target preceding vehicle is constructed based on the running data of the preceding vehicle, and the running curve of the target following vehicle is constructed based on the running data of the following vehicle.

[0008] Based on the running curve of the target preceding vehicle and the running curve of the preset preceding vehicle, and based on the running curve of the target following vehicle and the running curve of the preset following vehicle, the test results of the cooperative control algorithm under virtual formation are output.

[0009] The test scenarios include the establishment of marshalling, the operation of marshalling, the operation of marshalling at the marshalling platform, and the operation of marshalling turnaround.

[0010] The operating curve is determined based on the speed measured at preset intervals between trains.

[0011] According to the testing method of the cooperative control algorithm under virtual formation provided by the present invention, the step of constructing the running curve of the target preceding vehicle based on the running data of the preceding vehicle, and constructing the running curve of the target following vehicle based on the running data of the following vehicle, includes:

[0012] The speed of each preceding vehicle measured at each preset distance interval is determined based on the preceding vehicle's running data, and the target preceding vehicle running curve is constructed based on each preceding vehicle speed measured at each preset distance interval.

[0013] The speed of each following vehicle is determined at each preset distance interval based on the following vehicle's running data, and the target following vehicle running curve is constructed based on each following vehicle speed measured at each preset distance interval.

[0014] According to the testing method for the cooperative control algorithm under virtual train formation provided by the present invention, the step of outputting the test results of the cooperative control algorithm under virtual train formation based on the running curve of the target preceding vehicle and the running curve of a preset preceding vehicle, and based on the running curve of the target following vehicle and the running curve of a preset following vehicle, includes:

[0015] Based on the running curve of the target preceding vehicle and the running curve of the preset preceding vehicle, the preceding vehicle coordination test results are output;

[0016] Based on the running curve of the target vehicle and the running curve of the preset vehicle, output the vehicle coordination test results;

[0017] Based on the preceding vehicle coordination test results and the following vehicle coordination test results, the test results of the coordination control algorithm under virtual formation are output.

[0018] According to the testing method of the cooperative control algorithm under virtual formation provided by the present invention, the step of outputting the cooperative test result of the preceding vehicle based on the running curve of the target preceding vehicle and the running curve of the preset preceding vehicle includes:

[0019] Determine the speed difference between each speed of the preceding vehicle measured at each preset distance interval and the speed preset at each preset distance interval in the preset preceding vehicle running curve;

[0020] The preceding vehicle coordination error value is determined based on the average of all preceding vehicle speed differences;

[0021] If the preceding vehicle coordination error value is less than or equal to the first preset error value, the preceding vehicle coordination test result is output as passed.

[0022] If the preceding vehicle coordination error value is greater than the first preset error value, the preceding vehicle coordination test result is output as "fail".

[0023] According to the testing method of the cooperative control algorithm under virtual grouping provided by the present invention, the step of outputting the cooperative test result of the rear vehicle based on the running curve of the target rear vehicle and the running curve of the preset rear vehicle includes:

[0024] Determine the speed difference between each speed of the following vehicle measured at each preset distance interval and the speed of each preset distance interval in the preset following vehicle running curve;

[0025] The following vehicle coordination error value is determined based on the average of all following vehicle speed differences;

[0026] If the rear vehicle coordination error value is less than or equal to the second preset error value, the rear vehicle coordination test result is output as passed.

[0027] If the rear vehicle coordination error value is greater than the second preset error value, the rear vehicle coordination test result will be output as "fail".

[0028] According to the testing method for the cooperative control algorithm under virtual train formation provided by the present invention, the step of outputting the test results of the cooperative control algorithm under virtual train formation based on the cooperative test results of the preceding vehicle and the cooperative test results of the following vehicle includes:

[0029] If both the preceding vehicle coordination test result and the following vehicle coordination test result are passed, the test result of the coordination control algorithm under virtual formation is output as passed.

[0030] Otherwise, the test result for the cooperative control algorithm under virtual grouping will be "fail".

[0031] According to the testing method for the cooperative control algorithm under virtual grouping provided by the present invention, after outputting the test result of the cooperative control algorithm under virtual grouping as failing, the method further includes:

[0032] Adjust the control parameters of the cooperative control algorithm under the virtual grouping;

[0033] Acquire the running data of the lead train and the trailing train in each test scenario to output the test results of the cooperative control algorithm under virtual formation.

[0034] The test results for the cooperative control algorithm under virtual grouping are passed until the output is displayed.

[0035] The control parameters of the cooperative control algorithm under virtual formation include at least the acceleration parameters of the following vehicles during cooperative operation under virtual formation.

[0036] Secondly, the present invention provides a testing apparatus for a cooperative control algorithm under virtual grouping, comprising:

[0037] The acquisition unit is used to acquire the running data of the front train and the running data of the rear train of the virtual train formation for each test scenario.

[0038] A construction unit is configured to construct the running curve of the target preceding vehicle based on the preceding vehicle's running data, and to construct the running curve of the target following vehicle based on the following vehicle's running data.

[0039] The output unit is used to output the test results of the cooperative control algorithm under virtual formation based on the running curve of the target preceding vehicle and the running curve of the preset preceding vehicle, and based on the running curve of the target following vehicle and the running curve of the preset following vehicle.

[0040] The test scenarios include the establishment of marshalling, the operation of marshalling, the operation of marshalling at the marshalling platform, and the operation of marshalling turnaround.

[0041] The operating curve is determined based on the speed measured at preset intervals between trains.

[0042] Thirdly, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the test method for the cooperative control algorithm under virtual grouping.

[0043] Fourthly, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a test method for a cooperative control algorithm under virtual grouping as described above.

[0044] This invention provides a testing method, apparatus, equipment, and medium for a cooperative control algorithm under virtual train formation. Based on different test scenarios—including formation scenario, formation operation scenario, formation platform operation scenario, and formation turnaround operation scenario—the invention acquires the running data of the preceding and following trains in the virtual train formation. It constructs the running curves of the target preceding and following trains and compares them with preset running curves of the preceding and following trains, thereby outputting the test results of the cooperative control algorithm under virtual train formation. This invention can quickly and accurately verify the cooperative control algorithm for urban rail train formation, providing a reliable and efficient testing and verification method to improve the application level of virtual train formation technology, thereby improving train operation efficiency, flexibly adjusting capacity, and reducing passenger waiting time. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0046] Figure 1 This is one of the flowcharts illustrating the testing method for the cooperative control algorithm under virtual grouping provided by the present invention;

[0047] Figure 2 This is a schematic diagram of the process for constructing and running curves provided by the present invention;

[0048] Figure 3 This is a flowchart illustrating the output test results provided by the present invention;

[0049] Figure 4 This is a schematic diagram of the grouping scenario provided by the present invention;

[0050] Figure 5 This is a schematic diagram of the grouping operation scenario provided by the present invention;

[0051] Figure 6 This is a schematic diagram of a marshalling yard operation scenario provided by the present invention;

[0052] Figure 7 This is a schematic diagram of a group turnaround operation scenario provided by the present invention;

[0053] Figure 8 This is one of the flowcharts illustrating the testing method for the cooperative control algorithm under virtual grouping provided by the present invention;

[0054] Figure 9 This is the second flowchart illustrating the testing method for the cooperative control algorithm under virtual grouping provided by this invention;

[0055] Figure 10 This is the third flowchart illustrating the testing method for the cooperative control algorithm under virtual grouping provided by this invention;

[0056] Figure 11 This is a schematic diagram of the structure of the test device for the cooperative control algorithm under virtual grouping provided by the present invention;

[0057] Figure 12 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0058] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0059] Virtual train formation technology is a technology applied to urban rail transit systems. By forming two trains into one operating unit, the two trains that have been successfully virtual-formed are treated as one train for management and control, thereby achieving coordinated control and synchronous operation between the trains in the formation.

[0060] However, research on testing methods and tools for collaborative control algorithms in virtual train formation is relatively limited. Current testing technologies mainly rely on laboratory simulations, which cannot perform real-world testing in actual operating scenarios of virtual train formations. This makes it impossible to fully evaluate the effectiveness and stability of the collaborative control algorithm. Furthermore, existing technologies lack testing methods and devices for virtual train formations under different operating scenarios, making it impossible to comprehensively verify the collaborative control algorithm across all scenarios, including formation setup, formation operation, platform operation, and turnaround operations. To address these technical problems, this invention provides a testing method, device, equipment, and medium for collaborative control algorithms in virtual train formation. Figure 1 This is one of the flowcharts illustrating the testing method for the cooperative control algorithm under virtual grouping provided by the present invention. The testing method for the cooperative control algorithm under virtual grouping includes:

[0061] Step 101: For each test scenario, obtain the running data of the leading train and the trailing train of the virtual train formation;

[0062] Step 102: Construct the running curve of the target preceding vehicle based on the preceding vehicle's running data, and construct the running curve of the target following vehicle based on the following vehicle's running data;

[0063] Step 103: Based on the running curve of the target preceding vehicle and the running curve of the preset preceding vehicle, and based on the running curve of the target following vehicle and the running curve of the preset following vehicle, output the test results of the cooperative control algorithm under virtual formation.

[0064] The test scenarios include the establishment of marshalling, the operation of marshalling, the operation of marshalling at the marshalling platform, and the operation of marshalling turnaround.

[0065] The operating curve is determined based on the speed measured at preset intervals between trains.

[0066] In step 101, the test scenarios include a formation setup scenario, a formation operation scenario, a formation platform operation scenario, and a formation turnaround operation scenario. Specifically, for the formation setup scenario, the running data of the leading and trailing trains of the virtual formation train are acquired; for the formation operation scenario, the running data of the leading and trailing trains of the virtual formation train are acquired; for the formation platform operation scenario, the running data of the leading and trailing trains of the virtual formation train are acquired; and for the formation turnaround operation scenario, the running data of the leading and trailing trains of the virtual formation train are acquired. The virtual formation train shown in this invention includes a virtual leading train and a virtual trailing train, which enables comprehensive testing and verification of the collaborative control algorithm of the virtual leading and trailing trains under different scenarios. Through real operating scenarios and accurately collected train operating data, the effectiveness and stability of the collaborative control algorithm can be evaluated.

[0067] Figure 4 This is a schematic diagram of the grouping scenario provided by the present invention. Figure 5 This is a schematic diagram of the grouping operation scenario provided by the present invention. Figure 6 This is a schematic diagram of a marshalling yard operation scenario provided by the present invention. Figure 7 This is a schematic diagram of a marshalling and turnaround operation scenario provided by the present invention. The present invention designs a virtual actual operation scenario of a marshalling train, including: establishing a marshalling scenario, a marshalling operation scenario, a marshalling platform operation scenario, and a marshalling and turnaround operation scenario, so as to fully verify the collaborative control algorithm of the marshalling train under the conditions of establishing a marshalling scenario, a marshalling operation scenario, a marshalling platform operation scenario, and a marshalling and turnaround operation scenario.

[0068] In step 102, the running curve of the target preceding vehicle is constructed based on the preceding vehicle's running data, and the running curve of the target following vehicle is constructed based on the following vehicle's running data. The preceding vehicle's running data includes parameters such as speed, position, and acceleration during the preceding vehicle's operation, and the following vehicle's running data includes parameters such as speed, position, and acceleration during the following vehicle's operation. This invention performs real-time analysis and processing of the collected running data to extract key information, determines the running curve of the target preceding vehicle based on the speed measured at preset intervals of the preceding vehicle, and determines the running curve of the target following vehicle based on the speed measured at preset intervals of the following vehicle.

[0069] In step 103, based on the running curve of the target preceding vehicle and the running curve of the preset preceding vehicle, and based on the running curve of the target following vehicle and the running curve of the preset following vehicle, the test results of the cooperative control algorithm under virtual formation are output. The running curves of the preset preceding vehicle and the preset following vehicle are pre-set ideal target curves, which are also determined based on the speed measured at each preset distance. By comparing the running curve of the target preceding vehicle with the running curve of the preset preceding vehicle, and comparing the running curve of the target following vehicle with the running curve of the preset following vehicle, the differences between the two sets of curves are analyzed, thereby outputting the test results of the cooperative control algorithm under virtual formation.

[0070] Optionally, for any test scenario, output the test results under the current test scenario, traverse all test scenarios, output all test results, and determine the final test results of the cooperative control algorithm under virtual grouping based on all the measured test results.

[0071] Optionally, before acquiring the running data of the preceding and following trains in the virtual train formation, the method further includes acquiring the initial data of the preceding and following trains in each test scenario; for the initial data of the preceding and following trains in each test scenario, cleaning the initial data of the preceding and following trains, filtering out the first running data of the preceding train and the first running data of the following train, performing time-series adjustment on the first running data of the preceding and the first running data of the following train, and acquiring the second running data of the preceding and the second running data of the following train; performing a timestamp alignment operation on the second running data of the preceding and the second running data of the following train to acquire the running data of the preceding and following trains in the virtual train formation.

[0072] Optionally, this invention collects initial data from the leading and trailing trains of a virtual train formation in real time, and preprocesses this data. The preprocessing includes data cleaning, timing adjustment, and timestamp alignment. This preprocessing ensures the accuracy and usability of the data. Finally, based on the preprocessed leading and trailing train operation data, feature extraction and analysis are performed to output test results. This invention can effectively evaluate the safety protection function of virtual train formations and provide accurate test results.

[0073] This invention provides a test method for a cooperative control algorithm for virtual train formations based on a target curve. By creating a target curve, the virtual train formations can be comprehensively tested and verified in actual operation scenarios, making the test more realistic and accurate, and fully evaluating the effectiveness of the cooperative control algorithm in different scenarios.

[0074] This invention can comprehensively verify the collaborative control algorithm of trains in all scenarios, including train formation, train operation, train platform operation, and train turnaround operation. This full-scenario testing can better simulate actual operating conditions and ensure the stability and reliability of the collaborative control algorithm in various operating scenarios.

[0075] This invention can also accurately collect operational data from virtual train formations. Through real-time data collection, the performance of the cooperative control algorithm in actual operation can be evaluated and analyzed. This invention also provides a reliable means for testing and verifying the cooperative control algorithm for virtual train formations. Through testing in actual operating scenarios and accurate data collection, the authenticity, accuracy, and reliability of the test results can be ensured, thereby better evaluating and optimizing the cooperative control algorithm. This invention helps improve the application level of urban rail train virtual formation technology. By quickly and accurately verifying the effectiveness of the cooperative control algorithm, the application efficiency and data accuracy of urban rail train virtual formation technology can be improved.

[0076] This invention provides a testing method, apparatus, equipment, and medium for a cooperative control algorithm under virtual train formation. Based on different test scenarios—including formation scenario, formation operation scenario, formation platform operation scenario, and formation turnaround operation scenario—the invention acquires the running data of the preceding and following trains in the virtual train formation. It constructs the running curves of the target preceding and following trains and compares them with preset running curves of the preceding and following trains, thereby outputting the test results of the cooperative control algorithm under virtual train formation. This invention can quickly and accurately verify the cooperative control algorithm for virtual train formation, providing a reliable and efficient testing and verification method to improve the application level of virtual train formation technology in urban rail transit, thereby improving train operation efficiency, flexibly adjusting capacity, and reducing passenger waiting time.

[0077] Figure 2 This is a flowchart illustrating the process of constructing operating curves provided by the present invention. The steps of constructing the operating curve of the target preceding vehicle based on the preceding vehicle's operating data, and constructing the operating curve of the target following vehicle based on the following vehicle's operating data, include:

[0078] Step 201: Determine the speed of each preceding vehicle measured at each preset distance interval based on the preceding vehicle's running data, and construct the target preceding vehicle running curve based on each preceding vehicle speed measured at each preset distance interval;

[0079] Step 202: Determine the speed of each rear vehicle measured at each preset distance interval based on the rear vehicle's running data, and construct the target rear vehicle running curve based on each rear vehicle speed measured at each preset distance interval.

[0080] In step 201, the present invention obtains the speed and position of the preceding vehicle by means of a test device set on the preceding vehicle. The preset distance can be 1 centimeter, 1 meter or 10 meters, that is, the speed of the current preceding vehicle is measured every certain distance, so as to establish a curve with the preceding vehicle's travel distance as the horizontal axis and the speed measured by the travel distance as the vertical axis.

[0081] In step 202, the present invention obtains the speed and position of the following vehicle through a testing device installed on the following vehicle. The preset distance can be 1 centimeter, 1 meter or 10 meters, that is, the speed of the following vehicle is measured at regular intervals. Thus, a curve is established with the distance traveled by the following vehicle as the horizontal axis and the speed measured over the travel distance as the vertical axis. The smaller the preset distance is set, the more refined the running curve reflected by the curve. However, the present invention does not limit the construction of the curve and can be processed according to actual needs.

[0082] This invention, by constructing the running curves of the target preceding train and the target following train, intuitively reflects the mapping of the cooperative control algorithm under virtual train formation from a macroscopic perspective, providing accurate test results. It can accurately collect and analyze train operation data and generate target curves for testing, providing an objective evaluation of the performance and optimization direction of the cooperative control algorithm for subsequent test result analysis, and providing guidance for the improvement of urban rail train virtual train formation technology.

[0083] Figure 3 This is a flowchart illustrating the output test results provided by the present invention. Based on the running curve of the target following vehicle and the running curve of the preset following vehicle, the test results of the cooperative control algorithm under virtual formation are output, including:

[0084] Step 301: Based on the running curve of the target preceding vehicle and the running curve of the preset preceding vehicle, output the preceding vehicle coordination test results;

[0085] Step 302: Based on the running curve of the target vehicle and the running curve of the preset vehicle, output the vehicle coordination test results;

[0086] Step 303: Based on the preceding vehicle coordination test results and the following vehicle coordination test results, output the test results of the coordination control algorithm under virtual formation.

[0087] In step 301, the preceding train of the cooperative control algorithm under the virtual train formation is tested and verified. Specifically, the preceding train cooperative test result is output based on the running curve of the target preceding train and the running curve of the preset preceding train, including:

[0088] Determine the speed difference between each speed of the preceding vehicle measured at each preset distance interval and the speed preset at each preset distance interval in the preset preceding vehicle running curve;

[0089] The preceding vehicle coordination error value is determined based on the average of all preceding vehicle speed differences;

[0090] If the preceding vehicle coordination error value is less than or equal to the first preset error value, the preceding vehicle coordination test result is output as passed.

[0091] If the preceding vehicle coordination error value is greater than the first preset error value, the preceding vehicle coordination test result is output as "fail".

[0092] Optionally, the running curve of the target preceding vehicle and the preset preceding vehicle running curve can be adjusted to the same curve scale, including but not limited to adjusting the measurement units in the horizontal axis and vertical axis of the preset preceding vehicle running curve to be consistent with the measurement units of the running curve of the target preceding vehicle.

[0093] Furthermore, the preset distance can be 250 meters, that is, every 250 meters on the horizontal axis of the running curve, the speed in the vertical direction of the running curve of the target preceding vehicle is taken, and the speed in the vertical direction of the running curve of the preset preceding vehicle is taken. For example, every 250 meters, the speed of the running curve of the target preceding vehicle is obtained as 40km / h, 56km / h, 58km / h and 46km / h, and the speed of the running curve of the preset preceding vehicle is obtained as 42km / h, 50km / h, 60km / h and 44km / h.

[0094] Optionally, the speed difference between each speed of the preceding vehicle measured at each preset distance interval and the speed preset at each preset distance interval in the preset preceding vehicle running curve is determined to be 2km / h, 6km / h, 2km / h and 2km / h respectively.

[0095] Optionally, the preceding vehicle coordination error value is determined based on the average of all preceding vehicle speed differences, and the preceding vehicle coordination error value is 3 km / h.

[0096] Optionally, if the first preset error value is 1.5 km / h, then if the preceding vehicle coordination error value is 3 km / h, the preceding vehicle coordination test result will be output as "fail".

[0097] Optionally, if the first preset error value is 4 km / h, then when the preceding vehicle coordination error value is 3 km / h, the preceding vehicle coordination test result is output as passed. The first preset error value can be set according to actual needs, which will not be elaborated here.

[0098] This invention can quickly test and verify the virtual train formation cooperative control algorithm of urban rail transit, and output the cooperative test results of the preceding train. Compared with traditional laboratory simulation and modeling, it can be used for on-site testing in actual operation scenarios, saving time and costs and improving testing efficiency.

[0099] In step 302, the step of outputting the rear vehicle coordination test result based on the running curve of the target rear vehicle and the running curve of the preset rear vehicle includes:

[0100] Determine the speed difference between each speed of the following vehicle measured at each preset distance interval and the speed of each preset distance interval in the preset following vehicle running curve;

[0101] The following vehicle coordination error value is determined based on the average of all following vehicle speed differences;

[0102] If the rear vehicle coordination error value is less than or equal to the second preset error value, the rear vehicle coordination test result is output as passed.

[0103] If the rear vehicle coordination error value is greater than the second preset error value, the rear vehicle coordination test result will be output as "fail".

[0104] Furthermore, the preset distance used in outputting the rear vehicle coordination test results can be the same as or different from the preset distance used in outputting the front vehicle coordination test results. For example, the preset distance can be 150 meters, that is, on the horizontal axis of the running curve, the speed in the vertical axis direction of the target rear vehicle's running curve is taken every 150 meters, and the speed in the vertical axis direction of the preset rear vehicle's running curve is taken. For example, every 150 meters, the speed of the target rear vehicle's running curve is obtained as 32km / h, 50km / h, 52km / h and 44km / h, and the speed of the preset rear vehicle's running curve is obtained as 31km / h, 49km / h, 51km / h and 43km / h.

[0105] Optionally, the speed difference between each speed of the following vehicle measured at each preset distance interval and the speed preset at each preset distance interval in the preset following vehicle running curve is determined to be 1km / h, 1km / h, 1km / h and 1km / h respectively.

[0106] Optionally, the following vehicle coordination error value is determined based on the average of the speed differences of all following vehicles, and the following vehicle coordination error value is 1 km / h.

[0107] Optionally, if the second preset error value is 1.5 km / h, then if the rear vehicle coordination error value is 1 km / h, the rear vehicle coordination test result is output as passed.

[0108] Optionally, if the second preset error value is 0.5 km / h, then when the rear vehicle coordination error value is 1 km / h, the rear vehicle coordination test result will be output as "fail". The second preset error value can be set according to actual needs, which will not be elaborated here.

[0109] This invention can quickly test and verify the virtual train formation cooperative control algorithm of urban rail transit, and output the test results of the rear train cooperation. Compared with traditional laboratory simulation and modeling, it can be used for on-site testing in actual operation scenarios, saving time and costs and improving testing efficiency.

[0110] In step 303, the step of outputting the test results of the cooperative control algorithm under virtual formation based on the cooperative test results of the preceding vehicle and the cooperative test results of the following vehicle includes:

[0111] If both the preceding vehicle coordination test result and the following vehicle coordination test result are passed, the test result of the coordination control algorithm under virtual formation is output as passed.

[0112] Otherwise, the test result for the cooperative control algorithm under virtual grouping will be "fail".

[0113] Optionally, if both the preceding vehicle coordination test result and the following vehicle coordination test result are passed, then the comprehensive testing and verification of the coordination control algorithm is considered to ensure the effectiveness and stability of the coordination control algorithm in actual operation, and the test result of the coordination control algorithm under virtual grouping is output as passed.

[0114] If the preceding vehicle's coordination test result is "failed" and the following vehicle's coordination test result is "passed", then the test result for the virtual train formation coordination control algorithm will be output as "failed". If the preceding vehicle's coordination test result is "passed" and the following vehicle's coordination test result is "failed", then the test result for the virtual train formation coordination control algorithm will be output as "failed".

[0115] This invention provides a reliable means for testing and verifying the cooperative control algorithm of virtual train formation by outputting the test results of the cooperative control algorithm under virtual formation. Through testing in actual operation scenarios, the operating status and interaction of the train formation can be simulated more realistically and accurately, ensuring the accuracy and reliability of the test results.

[0116] This invention aims to address the current lack of testing methods and tools for collaborative control algorithms in the field of virtual train formation technology for urban rail transit. Based on the running curve of the target train following the target train and the running curve of the preset train following the target train, the invention outputs the test results of the collaborative control algorithm under virtual formation, thereby improving the application level of virtual train formation technology for urban rail transit. Through comprehensive testing and verification of the collaborative control algorithm, the invention ensures the effectiveness and stability of the collaborative control algorithm in actual operation, and enhances the collaborative operation capability between trains in formation.

[0117] Optionally, after the test result of the cooperative control algorithm under the output virtual grouping is "fail", the method further includes:

[0118] Adjust the control parameters of the cooperative control algorithm under the virtual grouping;

[0119] Acquire the running data of the lead train and the trailing train in each test scenario to output the test results of the cooperative control algorithm under virtual formation.

[0120] The test results for the cooperative control algorithm under virtual grouping are passed until the output is displayed.

[0121] The control parameters of the cooperative control algorithm under virtual formation include at least the acceleration parameters of the following vehicles during cooperative operation under virtual formation.

[0122] This invention identifies problems and shortcomings in the cooperative control algorithm under virtual train formation after the test result shows a failure. The control parameters of the algorithm are adjusted, including at least the acceleration parameters of the following train during cooperative operation under virtual formation. After adjusting the control parameters, the running data of the leading and following trains in each test scenario are acquired again, and the test result of the cooperative control algorithm under virtual formation is finally output. If the test result shows a failure, the control parameters are adjusted again; if the test result shows a success, the adjustment is stopped.

[0123] Figure 8 This is one of the flowcharts illustrating the testing method for the cooperative control algorithm under virtual train formation provided by the present invention. Based on the analysis of the test results, the present invention adjusts and improves the cooperative control algorithm of the urban rail train virtual train formation system to enhance the effectiveness of the cooperative control algorithm.

[0124] like Figure 8 As shown, this invention evaluates test results based on test result data. If the test passes, the cooperative control algorithm is confirmed to be usable. If the test fails, the problem with the cooperative control algorithm is identified. The data points with excessive deviations are analyzed based on the test result curves. The parameters of the cooperative control algorithm model are modified and the test is repeated. Alternatively, if the test fails, other problems are identified.

[0125] This invention optimizes and adjusts the cooperative control function of virtual train formations by analyzing the deviation values ​​of test result data. Each test result of the virtual train formation cooperative control algorithm outputs a comparison between the actual train running curve and the target curve. Based on this comparison, it can be determined whether the actual effect of the virtual train formation cooperative control algorithm meets expectations. Otherwise, the virtual train formation cooperative control parameters can be further adjusted, and the test repeated until the desired control effect is obtained. Figure 8 The test method shown can provide reliable technical support for the application of virtual train formation collaborative control technology in urban rail transit systems, and promote its widespread application in urban rail transit systems.

[0126] This invention can promote technological innovation and improvement by adjusting the control parameters of the cooperative control algorithm under virtual train formation, providing a foundation for further innovation and improvement of urban rail train virtual train formation cooperative control technology. Through the analysis of test results, the problems and shortcomings of the cooperative control algorithm can be identified, and targeted improvements and optimizations can be made, thereby promoting the continuous development and innovation of urban rail train virtual train formation cooperative control technology.

[0127] Figure 9 This is the second flowchart illustrating the testing method for the cooperative control algorithm under virtual train formation provided by this invention. First, this invention generates target curve data and inputs it into the onboard equipment under test to determine the expected operating reference curve for the train formation. Then, it designs test scenarios, including a formation scenario, a formation operation scenario, a formation platform operation scenario, and a formation turnaround operation scenario. Next, it sets up a testing device, which includes a data acquisition module, a data analysis module, a curve generation module, and a test result output module. Specifically, after setting up the test scenarios and the testing device, this invention executes the test scenarios, connects the testing device to the recording board of the onboard equipment of the virtual train formation, and ensures that the testing device can normally receive the actual operating data sent by the onboard equipment, realizing data acquisition, data analysis, and preprocessing, and generating a corresponding train operation curve. This curve is then compared with the target curve. If the difference between the curve and the target curve meets expectations, the test result is considered passed; if the difference exceeds expectations, the test result is considered failed.

[0128] This invention, after train startup, puts the train into a virtual train formation mode, sequentially running through formation creation, formation operation, formation platform operation, and formation turnaround operation scenarios. Test data is collected by a testing device, which performs real-time analysis and processing of the collected data. A curve generation module generates the actual operating curve of the train formation. Based on the actual operating curve and the target curve in the data generated by the curve generation module, the testing device analyzes the effectiveness of the virtual train formation cooperative control algorithm and automatically outputs the test results.

[0129] Figure 10 This is the third flowchart illustrating the testing method for the cooperative control algorithm under virtual train formation provided by this invention. The testing device includes a data acquisition module, a data analysis module, a curve generation module, and a test result output module. The data acquisition module receives and collects the operating data of the train formation, including parameters such as speed, position, and acceleration. The data analysis module performs real-time analysis and preprocessing of the collected operating data to extract key information. The curve generation module combines the operating data obtained from the analysis module to generate the actual operating curve of the train. The test result output module automatically outputs test results, including an effectiveness evaluation and performance analysis of the cooperative control algorithm, based on the pre-made target curve and the actual operating curve generated by the curve generation module.

[0130] Figure 11 This is a schematic diagram of the structure of the test device for the cooperative control algorithm under virtual train formation provided by the present invention. The present invention provides a test device for the cooperative control algorithm under virtual train formation, including an acquisition unit 1. The acquisition unit is used to acquire the running data of the front train and the running data of the rear train of the virtual train formation for each test scenario. The working principle of the acquisition unit 1 can be referred to the aforementioned step 101, and will not be repeated here.

[0131] The test device for the cooperative control algorithm under virtual grouping also includes a construction unit 2. The construction unit is used to construct the running curve of the target preceding vehicle based on the running data of the preceding vehicle, and to construct the running curve of the target following vehicle based on the running data of the following vehicle. The working principle of the construction unit 2 can be referred to the aforementioned step 102, and will not be repeated here.

[0132] The testing device for the cooperative control algorithm under virtual formation also includes an output unit 3. The output unit is used to output the test results of the cooperative control algorithm under virtual formation based on the running curve of the target preceding vehicle and the running curve of the preset preceding vehicle, and based on the running curve of the target following vehicle and the running curve of the preset following vehicle. The working principle of the output unit 3 can be referred to the aforementioned step 103, and will not be repeated here.

[0133] The test scenarios include the establishment of marshalling, the operation of marshalling, the operation of marshalling at the marshalling platform, and the operation of marshalling turnaround.

[0134] The operating curve is determined based on the speed measured at preset intervals between trains.

[0135] This invention provides a testing method, apparatus, equipment, and medium for a cooperative control algorithm under virtual train formation. Based on different test scenarios—including formation scenario, formation operation scenario, formation platform operation scenario, and formation turnaround operation scenario—the invention acquires the running data of the preceding and following trains in the virtual train formation. It constructs the running curves of the target preceding and following trains and compares them with preset running curves of the preceding and following trains, thereby outputting the test results of the cooperative control algorithm under virtual train formation. This invention can quickly and accurately verify the cooperative control algorithm for urban rail train formation, providing a reliable and efficient testing and verification method to improve the application level of virtual train formation technology, thereby improving train operation efficiency, flexibly adjusting capacity, and reducing passenger waiting time.

[0136] Figure 12 This is a schematic diagram of the structure of the electronic device provided by the present invention. For example... Figure 12 As shown, the electronic device may include: a processor 110, a communication interface 120, a memory 130, and a communication bus 140, wherein the processor 110, the communication interface 120, and the memory 130 communicate with each other through the communication bus 140. The processor 110 can call logical instructions in the memory 130 to execute a test method for a cooperative control algorithm under virtual train formation. The method includes: for each test scenario, acquiring the running data of the preceding and following trains in the virtual train formation; constructing the running curve of the target preceding train based on the running data of the preceding train, and constructing the running curve of the target following train based on the running data of the following train; outputting the test results of the cooperative control algorithm under virtual train formation based on the running curve of the target preceding train and the running curve of the preset preceding train, and based on the running curve of the target following train and the running curve of the preset following train; the test scenarios include establishing a train formation scenario, a train formation operation scenario, a train formation platform operation scenario, and a train formation turnaround operation scenario; the running curves are determined based on the speed measured at preset intervals of the train.

[0137] Furthermore, the logical instructions in the aforementioned memory 130 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0138] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute a test method for a cooperative control algorithm under virtual train formation provided by the above methods. The method includes: for each test scenario, acquiring the running data of the preceding train and the following train in the virtual train formation; constructing the running curve of the target preceding train based on the running data of the preceding train, and constructing the running curve of the target following train based on the running data of the following train; outputting the test results of the cooperative control algorithm under virtual train formation based on the running curve of the target preceding train and the running curve of the preset preceding train, and based on the running curve of the target following train and the running curve of the preset following train; the test scenarios include establishing a train formation scenario, a train formation operation scenario, a train formation platform operation scenario, and a train formation turnaround operation scenario; the running curves are determined based on the speed measured at each preset distance of the train interval.

[0139] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements a test method for performing the cooperative control algorithm under virtual train formation provided by the above methods. The method includes: for each test scenario, acquiring the running data of the preceding train and the following train in the virtual train formation; constructing the running curve of the target preceding train based on the running data of the preceding train, and constructing the running curve of the target following train based on the running data of the following train; outputting the test results of the cooperative control algorithm under virtual train formation based on the running curve of the target preceding train and the running curve of a preset preceding train, and based on the running curve of the target following train and the running curve of the preset following train; the test scenarios include establishing a train formation scenario, a train formation operation scenario, a train formation platform operation scenario, and a train formation turnaround operation scenario; the running curves are determined based on the speed measured at each preset distance of the train interval.

[0140] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0141] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0142] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A testing method for a cooperative control algorithm under virtual grouping, characterized in that, include: For each test scenario, acquire the running data of the leading and trailing trains in the virtual train formation; The running curve of the target preceding vehicle is constructed based on the running data of the preceding vehicle, and the running curve of the target following vehicle is constructed based on the running data of the following vehicle. Based on the running curve of the target preceding vehicle and the running curve of the preset preceding vehicle, and based on the running curve of the target following vehicle and the running curve of the preset following vehicle, the test results of the cooperative control algorithm under virtual formation are output. The test scenarios include the establishment of marshalling, the operation of marshalling, the operation of marshalling at the marshalling platform, and the operation of marshalling turnaround. The operating curve is determined based on the speed measured at preset intervals of the train; The step of outputting the test results of the cooperative control algorithm under virtual formation based on the running curve of the target preceding vehicle and the running curve of the preset preceding vehicle, and based on the running curve of the target following vehicle and the running curve of the preset following vehicle, includes: Based on the running curve of the target preceding vehicle and the running curve of the preset preceding vehicle, the preceding vehicle coordination test results are output; Based on the running curve of the target vehicle and the running curve of the preset vehicle, output the vehicle coordination test results; Based on the preceding vehicle coordination test results and the following vehicle coordination test results, output the test results of the coordination control algorithm under virtual formation. The step of outputting the preceding vehicle coordination test result based on the running curve of the target preceding vehicle and the running curve of the preset preceding vehicle includes: Determine the speed difference between each speed of the preceding vehicle measured at each preset distance interval and the speed preset at each preset distance interval in the preset preceding vehicle running curve; The preceding vehicle coordination error value is determined based on the average of all preceding vehicle speed differences. If the preceding vehicle coordination error value is less than or equal to the first preset error value, the preceding vehicle coordination test result is output as passed. If the preceding vehicle coordination error value is greater than the first preset error value, the preceding vehicle coordination test result is output as "fail".

2. The testing method for the cooperative control algorithm under virtual grouping according to claim 1, characterized in that, The step of constructing the running curve of the target preceding vehicle based on the preceding vehicle's running data, and constructing the running curve of the target following vehicle based on the following vehicle's running data, includes: The speed of each preceding vehicle measured at each preset distance interval is determined based on the preceding vehicle's running data, and the target preceding vehicle running curve is constructed based on each preceding vehicle speed measured at each preset distance interval. The speed of each following vehicle is determined at each preset distance interval based on the following vehicle's running data, and the target following vehicle running curve is constructed based on each following vehicle speed measured at each preset distance interval.

3. The testing method for the cooperative control algorithm under virtual grouping according to claim 1, characterized in that, The step of outputting the rear vehicle coordination test result based on the running curve of the target rear vehicle and the running curve of the preset rear vehicle includes: Determine the speed difference between each speed of the following vehicle measured at each preset distance interval and the speed of each preset distance interval in the preset following vehicle running curve; The coordination error value of the following vehicles is determined based on the average of the speed differences of all following vehicles. If the rear vehicle coordination error value is less than or equal to the second preset error value, the rear vehicle coordination test result is output as passed. If the rear vehicle coordination error value is greater than the second preset error value, the rear vehicle coordination test result will be output as "fail".

4. The testing method for the cooperative control algorithm under virtual grouping according to claim 1, characterized in that, The step of outputting the test results of the cooperative control algorithm under virtual formation based on the cooperative test results of the preceding vehicle and the cooperative test results of the following vehicle includes: If both the preceding vehicle coordination test result and the following vehicle coordination test result are passed, the test result of the coordination control algorithm under virtual formation is output as passed. Otherwise, the test result for the cooperative control algorithm under virtual grouping will be "fail".

5. The testing method for the cooperative control algorithm under virtual grouping according to claim 4, characterized in that, After the test result of the cooperative control algorithm under the output virtual grouping is "fail", the method further includes: Adjust the control parameters of the cooperative control algorithm under the virtual grouping; Acquire the running data of the lead train and the trailing train in each test scenario to output the test results of the cooperative control algorithm under virtual formation. The test results for the cooperative control algorithm under virtual grouping are passed until the output is displayed. The control parameters of the cooperative control algorithm under virtual formation include at least the acceleration parameters of the following vehicles during cooperative operation under virtual formation.

6. A testing device for a cooperative control algorithm under virtual grouping, characterized in that, include: The acquisition unit is used to acquire the running data of the front train and the running data of the rear train of the virtual train formation for each test scenario. A construction unit is configured to construct the running curve of the target preceding vehicle based on the preceding vehicle's running data, and to construct the running curve of the target following vehicle based on the following vehicle's running data. The output unit is used to output the test results of the cooperative control algorithm under virtual formation based on the running curve of the target preceding vehicle and the running curve of the preset preceding vehicle, and based on the running curve of the target following vehicle and the running curve of the preset following vehicle. The test scenarios include the establishment of marshalling, the operation of marshalling, the operation of marshalling at the marshalling platform, and the operation of marshalling turnaround. The operating curve is determined based on the speed measured at preset intervals of the train; The step of outputting the test results of the cooperative control algorithm under virtual formation based on the running curve of the target preceding vehicle and the running curve of the preset preceding vehicle, and based on the running curve of the target following vehicle and the running curve of the preset following vehicle, includes: Based on the running curve of the target preceding vehicle and the running curve of the preset preceding vehicle, the preceding vehicle coordination test results are output; Based on the running curve of the target vehicle and the running curve of the preset vehicle, output the vehicle coordination test results; Based on the preceding vehicle coordination test results and the following vehicle coordination test results, output the test results of the coordination control algorithm under virtual formation. The step of outputting the preceding vehicle coordination test result based on the running curve of the target preceding vehicle and the running curve of the preset preceding vehicle includes: Determine the speed difference between each speed of the preceding vehicle measured at each preset distance interval and the speed preset at each preset distance interval in the preset preceding vehicle running curve; The preceding vehicle coordination error value is determined based on the average of all preceding vehicle speed differences. If the preceding vehicle coordination error value is less than or equal to the first preset error value, the preceding vehicle coordination test result is output as passed. If the preceding vehicle coordination error value is greater than the first preset error value, the preceding vehicle coordination test result is output as "fail".

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements a test method for the cooperative control algorithm under virtual grouping as described in any one of claims 1-5.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the test method for the cooperative control algorithm under virtual grouping as described in any one of claims 1-5.

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