Simulation method and system for virtual train formation

Abstract

The present disclosure provides a simulation method and system for a virtual marshaled train, which can be applied to the field of rail transit technology. The method includes: obtaining command acceleration information of the master car based on the state information of the master car, train operation target curve parameters, line parameter information, and the dynamic model of the master car; obtaining actual acceleration information of the master car and target state information of the master car based on the command acceleration information of the master car, the dynamic model of the master car, and the line parameter information; determining separation distance information; determining command acceleration information of the slave car based on the state information of the slave car, the target state information of the master car, line parameter information, separation distance information, and the dynamic model of the slave car; obtaining actual acceleration information of the slave car and target state information of the slave car; and determining simulation evaluation results of the virtual marshaled train based on the target state information of the master car, the target state information of the slave car, the actual acceleration information of the master car, the actual acceleration information of the slave car, and the separation distance information.

Description

Technical Field

[0001] The present disclosure relates to the field of rail transportation technology, and in particular to a simulation method and system for a virtual train formation. Background Art

[0002] With the continued development of the economy, residents' travel needs and the pressure on railway transportation are increasing. Virtual train marshaling utilizes virtual coupling technology to virtually group two or more trains running in sequence, forming an intelligent logical entity. This system then implements train control and transportation scheduling based on commands from a control center.

[0003] In the process of realizing the concept of the present disclosure, the inventors discovered that the operation control effect of the virtual marshaling train in the related art is poor, resulting in a low traffic capacity of the line where the virtual marshaling train runs. Summary of the Invention

[0004] In view of the above problems, the present disclosure provides a simulation method and system for a virtual train formation.

[0005] According to a first aspect of the present disclosure, a method for simulating a virtual train set is provided. The virtual train set includes a master car and a slave car. The method comprises: obtaining command acceleration information for the master car based on state information of the master car, train operation target curve parameters, line parameter information, and a dynamic model of the master car. Based on the command acceleration information, the dynamic model, and the line parameter information, dynamic calculations are performed on the master car and state information is updated to obtain actual acceleration information and target state information of the master car. Based on the target state information of the master car, the state information of the slave car, and the line parameter information, separation distance information between the master car and the slave car is determined. Based on the state information of the slave car, the target state information of the master car, the line parameter information, the separation distance information, and the dynamic model of the slave car, command acceleration information for the slave car is determined. Based on the command acceleration information, the dynamic model, and the line parameter information, dynamic calculations are performed on the slave car and state information is updated to obtain actual acceleration information and target state information of the slave car. The simulation evaluation result of the virtual train formation is determined based on the target state information of the master vehicle, the target state information of the slave vehicle, the actual acceleration information of the master vehicle, the actual acceleration information of the slave vehicle and the interval distance information.

[0006] According to an embodiment of the present disclosure, the aforementioned virtual train simulation method further includes: determining a target speed of the slave car based on the status information of the slave car and the command acceleration of the slave car; determining an acceleration delay of the slave car based on the actual acceleration information of the slave car, the impact rate of the slave car, and the target speed of the slave car; and eliminating the acceleration delay of the slave car and line disturbances to enable the master car and the slave car to operate in coordination.

[0007] According to an embodiment of the present disclosure, the aforementioned process of eliminating the acceleration delay and line disturbance of the slave vehicle includes: determining a delay error and a speed error based on the acceleration delay and line disturbance of the slave vehicle; determining a switching function based on the delay error and speed error; and eliminating the acceleration delay and line disturbance of the slave vehicle based on the switching function.

[0008] According to an embodiment of the present disclosure, the above-mentioned method of performing dynamic calculations and updating state information of the master vehicle based on the command acceleration information of the master vehicle, the dynamic model of the master vehicle, and the line parameter information to obtain the actual acceleration information of the master vehicle and the target state information of the master vehicle includes: determining the train operation target curve parameters of the master vehicle based on the line parameter information. Determining the dynamic model of the master vehicle based on the state information of the master vehicle. Performing dynamic calculations and updating state information of the master vehicle based on the command acceleration information of the master vehicle, the dynamic model of the master vehicle, and the train operation target curve parameters of the master vehicle to obtain the speed difference of the master vehicle, the acceleration difference of the master vehicle, and the target state information of the master vehicle. Obtaining the actual acceleration information of the master vehicle based on the speed difference of the master vehicle and the acceleration difference of the master vehicle.

[0009] According to an embodiment of the present disclosure, obtaining the command acceleration information of the slave vehicle based on the state information of the slave vehicle, the target state information of the master vehicle, the route parameter information, the separation distance information, and the dynamic model of the slave vehicle includes: determining the target operating curve of the slave vehicle based on the route parameter information; determining the dynamic model of the slave vehicle based on the target state information of the master vehicle and the state information of the slave vehicle; and obtaining the command acceleration information of the slave vehicle based on the target operating curve of the slave vehicle, the separation distance information, and the dynamic model of the slave vehicle.

[0010] According to an embodiment of the present disclosure, performing dynamic calculations and updating state information on the slave vehicle based on the command acceleration information of the slave vehicle, the dynamic model of the slave vehicle, and the line parameter information to obtain actual acceleration information of the slave vehicle and target state information of the slave vehicle includes: inputting the command acceleration information of the slave vehicle and the line parameter information into the dynamic model of the slave vehicle, performing dynamic calculations and updating state information on the slave vehicle, and eliminating acceleration delay and line disturbances of the slave vehicle to obtain actual acceleration information of the slave vehicle and target state information of the slave vehicle.

[0011] According to an embodiment of the present disclosure, the above-mentioned method of determining the simulation evaluation result of the virtual train set based on the target state information of the master car, the target state information of the slave car, the actual acceleration information of the master car, the actual acceleration information of the slave car, and the separation distance information includes: transmitting the target state information of the master car, the actual acceleration information of the master car, and the line parameter information through a wireless access point communication method. Transmitting the target state information of the slave car, the command acceleration information of the slave car, the actual acceleration information of the slave car, the line parameter information, and the separation distance information through a train real-time data communication method. Determining the simulation evaluation result of the virtual train set based on the target state information of the master car, the target state information of the slave car, the actual acceleration information of the master car, the actual acceleration information of the slave car, and the separation distance information.

[0012] The second aspect of the present disclosure provides a simulation system for a virtual marshaled train, comprising: a master car simulation control system for obtaining command acceleration information of the master car based on the master car's state information, train operation target curve parameters, line parameter information, and the master car's dynamic model, and performing dynamic calculations and state information updates on the master car based on the master car's command acceleration information to obtain actual acceleration information of the master car and target state information of the master car. A slave car simulation control system, comprising a slave car control subsystem and a slave car simulation subsystem, for inputting the command acceleration information of the slave car output by the slave car control subsystem into the slave car simulation subsystem, and performing dynamic calculations and state information updates on the slave car to obtain actual acceleration information of the slave car and target state information of the slave car, and the slave car simulation subsystem inputs the actual acceleration information of the slave car into the control subsystem of the slave car. A virtual marshaled train evaluation module for evaluating the virtual marshaled train based on the master car's target state information, the slave car's target state information, the master car's actual acceleration information, and the slave car's command acceleration information.

[0013] According to an embodiment of the present disclosure, the simulation system for the virtual marshaled train further includes: a wireless access point communication module for transmitting the target state information of the master train and the actual acceleration information of the master train from the master train simulation control system to the slave train control subsystem; and a train real-time data communication module for transmitting the command acceleration information of the slave train from the slave train control subsystem to the slave train simulation subsystem and transmitting the actual acceleration information of the slave train from the slave train simulation subsystem to the slave train control subsystem.

[0014] According to an embodiment of the present disclosure, the simulation system for the virtual marshaled train further includes: a first visualization module for displaying the target state information of the master car and the historical information of the master car; and a second visualization module for displaying the target state information of the slave car and the historical information of the slave car.

[0015] The third aspect of the present disclosure provides an electronic device, comprising: one or more processors; a memory for storing one or more programs, wherein, when the one or more programs are executed by the one or more processors, the one or more processors execute the above-mentioned simulation method of virtual train formation.

[0016] A fourth aspect of the present disclosure further provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, causes the processor to execute the above-mentioned simulation method for virtual train formation.

[0017] The fifth aspect of the present disclosure further provides a computer program product, including a computer program, which implements the above-mentioned simulation method of virtual train formation when executed by a processor.

[0018] According to the simulation method and system for a virtual marshaled train provided by the present disclosure, the master car's command acceleration information is obtained based on the master car's state information, train operation target curve parameters, line parameter information, and the master car's dynamic model. When the master car's command acceleration is determined, the master car is dynamically calculated and its state information is updated to obtain the master car's actual acceleration information and the master car's target state information. Based on the master car's target state information, the slave car's state information, and line parameter information, the master car's separation distance information of the slave car can be determined. The slave car's command acceleration information and line parameter information are input into the slave car's dynamic model to perform the slave car's dynamic calculation and state information update, to obtain the slave car's actual acceleration information and the slave car's target state information. Based on the master car's target state information, the slave car's target state information, the master car's actual acceleration information, the slave car's actual acceleration information, and the separation distance information, it can be determined that the master car and the slave car can achieve steady-state coordinated operation, thereby improving the traffic capacity of the line where the virtual marshaled train operates. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above contents and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0020] Figure 1 The following schematically illustrates an application scenario of a simulation method for a virtual train formation according to an embodiment of the present disclosure;

[0021] Figure 2 The flowchart of the simulation method of the virtual train formation according to the embodiment of the present disclosure is schematically shown;

[0022] Figure 3 The following schematically shows a flow chart of a method for simulating a virtual train formation according to another embodiment of the present disclosure;

[0023] Figure 4 The structure diagram of the simulation method of virtual train formation according to an embodiment of the present disclosure is schematically shown;

[0024] Figure 5 The structure diagram of the simulation platform of the virtual train formation according to the embodiment of the present disclosure is schematically shown;

[0025] Figure 6A A schematic diagram schematically illustrates a method for simulating a virtual train formation according to an embodiment of the present disclosure;

[0026] Figure 6B A schematic diagram schematically illustrates a method for simulating a virtual train formation according to another embodiment of the present disclosure;

[0027] Figure 7A A schematic diagram schematically illustrates a method for simulating a virtual train formation according to another embodiment of the present disclosure;

[0028] Figure 7B A schematic diagram schematically illustrates a method for simulating a virtual train formation according to another embodiment of the present disclosure;

[0029] Figure 8 The following schematically shows a structural block diagram of a simulation system for a virtual train formation according to an embodiment of the present disclosure;

[0030] Figure 9 A functional module diagram of a simulation system for a virtual train formation according to an embodiment of the present disclosure is schematically shown; and

[0031] Figure 10 The block diagram of an electronic device suitable for implementing a simulation method for a virtual train formation according to an embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0032] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present disclosure. In the detailed description below, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0033] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise," "include," etc. used herein indicate the presence of the features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0034] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0035] When expressions such as "at least one of A, B, and C, etc." are used, they should generally be interpreted in accordance with the meaning commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0036] In the technical solution of the present invention, the user information involved (including but not limited to user personal information, user image information, user device information, such as location information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) are all information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of the relevant data comply with relevant laws, regulations and standards, take necessary confidentiality measures, do not violate public order and good morals, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0037] In the process of implementing the present disclosure, it was found that in the related art, the virtual train formation mainly adopts a control method that assumes that the main car is in a stationary state, thereby shortening the interval distance information between the main car and the follower car. However, this control method cannot treat both the main car and the follower car as dynamically running trains, and the improvement of the line's traffic capacity is limited.

[0038] In view of this, an embodiment of the present disclosure provides a simulation method for a virtual marshaling train, comprising: wherein the virtual marshaling train includes a master car and a slave car; obtaining command acceleration information of the master car according to state information of the master car, train operation target curve parameters, line parameter information and the dynamic model of the master car; performing dynamic calculation and state information update on the master car based on the command acceleration information of the master car, the dynamic model of the master car and the line parameter information, and obtaining actual acceleration information of the master car and target state information of the master car; determining the master car and the slave car according to the target state information of the master car, the state information of the slave car and the line parameter information. The interval distance information of the trains is obtained; the command acceleration information of the slave train is determined according to the status information of the slave train, the target status information of the master train, the line parameter information, the interval distance information and the dynamic model of the slave train; the dynamic calculation and status information update of the slave train are performed according to the command acceleration information of the slave train, the dynamic model of the slave train and the line parameter information to obtain the actual acceleration information of the slave train and the target status information of the slave train; the simulation evaluation results of the virtual marshaled train are determined according to the target status information of the master train, the target status information of the slave train, the actual acceleration information of the master train, the actual acceleration information of the slave train and the interval distance information.

[0039] Figure 1 The application scenario diagram of the simulation method of virtual train formation according to an embodiment of the present disclosure is schematically shown.

[0040] like Figure 1 As shown, the application scenario 100 according to this embodiment may include a first terminal device 101, a second terminal device 102, a third terminal device 103, a network 104, and a server 105. The network 104 is used as a medium for providing a communication link between the first terminal device 101, the second terminal device 102, the third terminal device 103, and the server 105. The network 104 may include various connection types, such as wired or wireless communication links or optical fiber cables.

[0041] A user may use a first terminal device 101, a second terminal device 102, or a third terminal device 103 to interact with a server 105 via a network 104 to receive or send messages, etc. Various communication client applications may be installed on the first terminal device 101, the second terminal device 102, or the third terminal device 103, such as shopping applications, web browser applications, search applications, instant messaging tools, email clients, social platform software, etc. (for example only).

[0042] The first terminal device 101 , the second terminal device 102 , and the third terminal device 103 may be various electronic devices having display screens and supporting web browsing, including but not limited to smart phones, tablet computers, laptop computers, desktop computers, and the like.

[0043] The server 105 may be a server that provides various services, such as a background management server (for example only) that supports websites browsed by users using the first terminal device 101, the second terminal device 102, and the third terminal device 103. The background management server may analyze and process received data such as user requests, and feed back processing results (e.g., web pages, information, or data obtained or generated based on user requests) to the terminal devices.

[0044] It should be noted that the simulation method of the virtual marshaling train provided in the embodiment of the present disclosure can generally be executed by the server 105. Accordingly, the simulation system of the virtual marshaling train provided in the embodiment of the present disclosure can generally be set in the server 105. The simulation method of the virtual marshaling train provided in the embodiment of the present disclosure can also be executed by a server or server cluster that is different from the server 105 and can communicate with the first terminal device 101, the second terminal device 102, the third terminal device 103 and / or the server 105. Accordingly, the simulation system of the virtual marshaling train provided in the embodiment of the present disclosure can also be set in a server or server cluster that is different from the server 105 and can communicate with the first terminal device 101, the second terminal device 102, the third terminal device 103 and / or the server 105.

[0045] It should be understood that Figure 1 The number of terminal devices, networks and servers in the embodiment is merely illustrative. Any number of terminal devices, networks and servers may be provided as required.

[0046] The following will be based on Figure 1 The scene described by Figures 2 to 7B The simulation method of the virtual train formation according to the disclosed embodiment is described in detail.

[0047] Figure 2 The flowchart of the simulation method of the virtual train formation according to the embodiment of the present disclosure is schematically shown.

[0048] like Figure 2 As shown, the simulation method 200 of a virtual train formation in this embodiment includes operations S210 to S260.

[0049] In operation S210 , command acceleration information of the master vehicle is obtained according to state information of the master vehicle, train operation target curve parameters, line parameter information, and a dynamic model of the master vehicle.

[0050] In operation S220 , based on the command acceleration information of the host vehicle, the dynamic model of the host vehicle, and the route parameter information, dynamic calculation and state information update are performed on the host vehicle to obtain actual acceleration information of the host vehicle and target state information of the host vehicle.

[0051] In operation S230 , the interval distance information between the master vehicle and the slave vehicle is determined based on the target state information of the master vehicle, the state information of the slave vehicle, and the route parameter information.

[0052] In operation S240 , command acceleration information of the slave vehicle is determined based on the state information of the slave vehicle, the target state information of the master vehicle, the route parameter information, the separation distance information, and the dynamic model of the slave vehicle.

[0053] In operation S250, dynamics calculation and state information update are performed on the slave vehicle based on the command acceleration information of the slave vehicle, the dynamics model of the slave vehicle, and the route parameter information to obtain actual acceleration information of the slave vehicle and target state information of the slave vehicle.

[0054] In operation S260, a simulation evaluation result of the virtual train formation is determined based on the target state information of the master car, the target state information of the slave car, the actual acceleration information of the master car, the actual acceleration information of the slave car, and the interval distance information.

[0055] According to an embodiment of the present disclosure, a virtual marshaling train may include a master car and a slave car. The master car may be the leading car in the virtual marshaling train or the leading car in the virtual marshaling train. The slave car may be the leading car in the virtual marshaling train or the leading car in the virtual marshaling train. In the case where the master car is the leading car in the virtual marshaling train, the slave car is the trailing car in the virtual marshaling train. In the case where the master car is the trailing car in the virtual marshaling train, the slave car is the leading car in the virtual marshaling train. The master car and the slave car may be subway trains. A line may include multiple virtual marshaling trains, wherein the line may be a track.

[0056] According to an embodiment of the present disclosure, the status information of the main vehicle may be the status attributes of the main vehicle, and may include the location information and speed information of the main vehicle. The train operation target curve parameters may be data parameters for the main vehicle to operate based on the automatic train operation (ATO) mode. The train operation target curve parameters may include the speed information of the main vehicle at various positions on the line. The line parameter information may include the identification of the line, the layout of the line, etc. For example, the layout of the line may include a 45-degree curve to the right front 10 kilometers away from the starting point of the line. The dynamic model of the main vehicle can be used to describe the dynamic behavior of the main vehicle when it moves on the track.

[0057] According to an embodiment of the present disclosure, the master vehicle's state information, train operation target curve parameters, and line parameter information can be input into the master vehicle's dynamic model to obtain the master vehicle's command acceleration information. The master vehicle's output traction force can be determined based on the master vehicle's state information. The master vehicle's slope added resistance, curve added resistance, and basic resistance can be determined based on the train operation target curve parameters and line parameter information. The master vehicle's command acceleration information can represent the ideal acceleration information of the master vehicle calculated based on the master vehicle's dynamic model. The master vehicle's command acceleration can be obtained based on the master vehicle's output traction force, slope added resistance, curve added resistance, basic resistance, and the master vehicle's mass.

[0058] According to an embodiment of the present disclosure, once the master vehicle's command acceleration information is determined, this command acceleration information and line parameter information can be input into the master vehicle's dynamics model for dynamics calculation and state information update. The dynamics calculation can yield the master vehicle's actual acceleration information. Due to long acceleration delays and line disturbances, the master vehicle's actual acceleration information may differ from the command acceleration information. The target state information of the master vehicle can be obtained through state information updates.

[0059] According to an embodiment of the present disclosure, the target state information of a master vehicle can be transmitted to a slave vehicle control subsystem via wireless access point communication. The slave vehicle state information can be a state attribute of the slave vehicle and may include the master vehicle's location information, speed information, etc. The separation distance information between the master vehicle and the slave vehicle can represent the safe operating separation distance between the master vehicle and the slave vehicle. When the distance between the master vehicle and the slave vehicle is greater than or equal to the separation distance information, the master vehicle and the slave vehicle can operate safely. The separation distance information between the master vehicle and the slave vehicle can be determined based on the target state information of the master vehicle, the status information of the slave vehicle, and line parameter information.

[0060] According to embodiments of the present disclosure, command acceleration information for a slave vehicle can be determined based on the slave vehicle's state information, the master vehicle's target state information, route parameter information, separation distance information, and the slave vehicle's dynamic model. The slave vehicle's traction force can be determined based on the slave vehicle's state information, the master vehicle's target state information, route parameter information, and separation distance information. Based on the slave vehicle's traction force, the slave vehicle's dynamic model can be determined, and thus the command acceleration for the slave vehicle can be determined.

[0061] According to an embodiment of the present disclosure, the slave vehicle's command acceleration information can represent the ideal acceleration information of the slave vehicle calculated based on the slave vehicle's dynamic model. Based on the slave vehicle's command acceleration information, the slave vehicle's dynamic model, and route parameter information, dynamic calculations and state information updates can be performed on the slave vehicle. The slave vehicle's actual acceleration information can be obtained by performing dynamic calculations on the slave vehicle, and the slave vehicle's target state information can be obtained by updating the slave vehicle's state information. The slave vehicle's command acceleration information can differ from the slave vehicle's actual acceleration information.

[0062] According to an embodiment of the present disclosure, the simulation evaluation results of the virtual marshaling train can be determined based on the target state information of the master car, the target state information of the slave car, the actual acceleration information of the master car, the actual acceleration information of the slave car, and the interval distance information. The duration of the train speed information being greater than the target speed can be determined by monitoring the target state information of the master car and the target state information of the slave car. The interval evaluation index of the train can be determined by monitoring the actual acceleration information of the master car, the actual acceleration information of the slave car, and the interval distance information. The simulation evaluation results of the virtual marshaling train can be determined in combination with the duration of the train speed information being greater than the target speed, the interval evaluation index of the train, the stopping time and stopping accuracy of the slave car after the master car stops at the station, as well as different train state information, different line information, different train operation target curve parameters, etc.

[0063] According to an embodiment of the present disclosure, command acceleration information of the master car is obtained based on the master car's state information, train operation target curve parameters, line parameter information, and the master car's dynamic model. Once the command acceleration of the master car is determined, dynamic calculations are performed on the master car and its state information is updated to obtain the master car's actual acceleration information and the master car's target state information. Separation distance information between the master car and the slave car can be determined based on the master car's target state information, the slave car's state information, and line parameter information. The command acceleration information and line parameter information of the slave car are input into the slave car's dynamic model to perform dynamic calculations and state information updates on the slave car, to obtain the slave car's actual acceleration information and the slave car's target state information. Based on the master car's target state information, the slave car's target state information, the master car's actual acceleration information, the slave car's actual acceleration information, and the separation distance information, a simulation evaluation result of a virtual marshaling train can be determined. Based on the simulation evaluation results, it can be determined that the master car and the slave car can achieve steady-state coordinated operation, thereby improving the traffic capacity of the line on which the virtual marshaling train operates.

[0064] Figure 3 A flowchart of a method for simulating a virtual train formation according to another embodiment of the present disclosure is schematically shown.

[0065] like Figure 3As shown, the simulation method 300 of the virtual train formation of this embodiment includes operations S301 to S334.

[0066] In operation S301 , the host vehicle train data is read.

[0067] In operation S302 , a dynamic model of the host vehicle is initialized.

[0068] In operation S303, it is determined whether wireless access point communication is established. If established, operation S304 is executed; if not, operation S303 is executed again.

[0069] In operation S304, line parameter information is read.

[0070] In operation S305 , train operation target curve parameters are read.

[0071] In operation S306 , the command acceleration of the host vehicle is calculated.

[0072] In operation S307 , a dynamic model of the host vehicle is simulated and calculated.

[0073] In operation S308 , the control subsystem of the slave vehicle is communicated with through a wireless access point communication method.

[0074] In operation S309 , the target status information and historical information are visually displayed.

[0075] In operation S310 , it is determined whether the simulation calculation of the host vehicle is completed. If it is completed, operation S311 is executed; if not, operation S306 is executed.

[0076] In operation S311 , data of the host vehicle is stored.

[0077] In operation S312, train data is read from the vehicle.

[0078] In operation S313 , a dynamic model of the vehicle is initialized.

[0079] In operation S314, it is determined whether the train real-time data communication is established. If established, operation S315 is performed; if not, operation S314 is repeated.

[0080] In operation S315 , it is determined whether wireless access point communication is established. If established, operation S316 is executed; if not, operation S315 is executed again.

[0081] In operation S316, line parameter information is read.

[0082] In operation S317 , target state information and actual acceleration information of the host vehicle are acquired.

[0083] In operation S318 , actual acceleration information of the slave vehicle is acquired.

[0084] In operation S319, separation distance information is calculated.

[0085] In operation S320 , command acceleration information of the slave vehicle is calculated.

[0086] In operation S321 , the train real-time data communication method communicates with the slave vehicle simulation subsystem.

[0087] In operation S322 , the target status information and historical information are visually displayed.

[0088] In operation S323, it is determined whether the simulation calculation of the slave vehicle is completed. If completed, operation S324 is executed; if not, operation S317 is executed.

[0089] In operation S324 , data from the vehicle is stored.

[0090] In operation S325 , train data is read from the vehicle.

[0091] In operation S326 , a dynamic model of the vehicle is initialized.

[0092] In operation S327, it is determined whether the train real-time data communication is established. If established, operation S328 is performed; if not, operation S327 is repeated.

[0093] In operation S328, line parameter information is read.

[0094] In operation S329 , command acceleration information of the slave vehicle is acquired.

[0095] In operation S330 , actual acceleration information of the slave vehicle is calculated.

[0096] In operation S331 , the train real-time data communication method communicates with the slave vehicle control subsystem.

[0097] In operation S332 , the vehicle tracking effect is evaluated.

[0098] In operation S333 , the vehicle stopping accuracy is evaluated.

[0099] In operation S334, robustness analysis is performed.

[0100] According to an embodiment of the present disclosure, the train data may include the mass of the train, the length of the train, etc. The data storage of the main vehicle may store the target state information of the main vehicle at each moment.

[0101] According to the embodiment of the present disclosure, the evaluation of the train tracking effect can draw a control curve operation diagram based on the data saved in the simulation calculation process, and calculate the performance evaluation index of the virtual train formation to evaluate the overall performance of the virtual train formation in the coupled state.

[0102] According to an embodiment of the present disclosure, the performance evaluation index of the virtual train formation may include a safety index evaluation function and a separation distance information performance evaluation index. The calculation is as follows:

[0103] (1)

[0104] in, Indicates the duration of the i-th train speed exceeding the safety limit.

[0105] According to the embodiment of the present disclosure, the interval distance information performance evaluation index The calculation is as follows:

[0106] (2)

[0107] in, Indicates the actual distance between the master vehicle and the slave vehicle. Indicates the distance information between the master vehicle and the slave vehicle. Indicates the end point of the virtual marshaling train operation time.

[0108] According to an embodiment of the present disclosure, smaller values ​​of the safety index evaluation function and the interval distance information performance evaluation index indicate better performance of the virtual train formation.

[0109] According to an embodiment of the present disclosure, the aforementioned virtual train simulation method further includes: determining a target speed of the slave car based on the slave car's status information and its command acceleration information; determining an acceleration delay of the slave car based on the slave car's actual acceleration information, its impact rate, and its target speed; and eliminating the slave car's acceleration delay and line disturbances to ensure coordinated operation of the master and slave cars.

[0110] According to embodiments of the present disclosure, a target speed of a slave vehicle can be determined by performing dynamic calculations on the slave vehicle using its dynamic model based on the slave vehicle's state information and commanded acceleration information. The target speed of the slave vehicle is the ideal speed at which the slave vehicle can operate, assuming no acceleration delay or line disturbances.

[0111] According to the embodiment of the present disclosure, the impact rate can represent the rate of change of train acceleration caused by track irregularities, braking, acceleration, etc. during the operation of the train. Generally, the maximum value of the impact rate of the train is less than or equal to 0.75. The acceleration delay of the slave vehicle can be calculated based on the actual acceleration information of the slave vehicle, the impact rate of the slave vehicle, and the target speed of the slave vehicle. The acceleration delay of the slave vehicle is calculated as follows:

[0112] (3)

[0113] Where, I represents the impact rate of the slave car, represents the target speed of the car at time t, represents the actual acceleration of the car at time t.

[0114] According to an embodiment of the present disclosure, by eliminating the acceleration delay and line disturbance of the slave vehicle, the acceleration delay and line disturbance of the slave vehicle converge to zero within a finite time, thereby enabling the master vehicle and the slave vehicle to operate in coordination.

[0115] According to the embodiments of the present disclosure, the target speed of the slave vehicle can be determined based on the status information of the slave vehicle and the command acceleration information of the slave vehicle. By eliminating the acceleration delay time and line disturbance of the slave vehicle, the acceleration delay time and line disturbance of the slave vehicle can be converged to zero within a limited time, thereby enabling the master vehicle and the slave vehicle to operate in coordination and improving the traffic capacity of the line.

[0116] According to an embodiment of the present disclosure, a process for eliminating acceleration delay and line disturbances of a slave vehicle includes: determining a delay error and a speed error based on the acceleration delay and line disturbances of the slave vehicle; determining a switching function based on the delay error and speed error; and eliminating the acceleration delay and line disturbances of the slave vehicle based on the switching function.

[0117] According to the embodiment of the present disclosure, the slave vehicle can be controlled by the terminal sliding mode. During the process of controlling the slave vehicle by the terminal sliding mode, a sliding surface can be selected so that the error of the slave vehicle gradually decreases to zero after the state information of the slave vehicle reaches the sliding surface. The convergence speed can be achieved by adjusting the first switching function of the sliding surface. The first switching function The calculation is as follows:

[0118] (4)

[0119] in, , , represents the terminal function of the sliding surface to be constructed, and E represents the error vector. In this embodiment, .

[0120] According to the embodiment of the present disclosure, due to the existence of the acceleration delay of the slave vehicle and the line disturbance, the switching function can be obtained by processing the error caused by the acceleration delay of the slave vehicle and the line disturbance. The calculation is as follows:

[0121] (5)

[0122] in, represents the boundary layer thickness. In this embodiment, .

[0123] According to an embodiment of the present disclosure, the target state information of the slave vehicle can be introduced , , , p represents the position of the slave vehicle, and v represents the speed of the slave vehicle. In the presence of the slave vehicle's acceleration delay and line disturbance, the expected state information of the slave vehicle is , where D represents the ideal distance between the master and slave vehicles under terminal sliding mode control. represents the target position of the vehicle, Indicates the target speed of the slave vehicle.

[0124] According to an embodiment of the present disclosure, the time delay error and speed error can be determined based on the acceleration delay length of the slave vehicle and the line disturbance. The time delay error and speed error can be determined as an error vector. The error vector E is calculated as follows:

[0125] (6)

[0126] in, , .

[0127] According to an embodiment of the present disclosure, in the process of modeling the dynamic model of the slave vehicle, a rotational mass coefficient can be introduced to convert the rotational kinetic energy of the rotating part of the slave vehicle into the translational kinetic energy of the translational mass. The calculation is as follows:

[0128] (7)

[0129] Where g represents the acceleration due to gravity, , r represents the rotational mass coefficient.

[0130] According to an embodiment of the present disclosure, when there is a long acceleration delay of the slave vehicle and line disturbance, and the target state information of the slave vehicle reaches the sliding surface, the target state information of the slave vehicle can change in a nonlinear manner, and the nonlinear function The calculation is as follows:

[0131] (8)

[0132] Among them, a, b, and c are the empirical values ​​of the Davis equation from the car's dynamic model.

[0133] According to an embodiment of the present disclosure, when a nonlinear function is determined, a terminal sliding mode control model can be obtained. The calculation is as follows:

[0134] (9)

[0135] in, . Determine the rate at which the target state information of the slave vehicle approaches the sliding surface. In an embodiment of the present disclosure, , .

[0136] According to embodiments of the present disclosure, a switching function can be used to eliminate the acceleration delay and line disturbances of the slave vehicle, resulting in a terminal sliding mode control model. Based on this terminal sliding mode control model, the slave vehicle can track the master vehicle in unstable scenarios, thereby ensuring safe operation between the slave and master vehicles.

[0137] According to the embodiments of the present disclosure, the time delay error and the speed error, and then the error vector, can be determined based on the acceleration delay length and the line disturbance of the slave vehicle. In the presence of the error vector, the terminal sliding mode control model can be determined in combination with the switching function and the nonlinear function. The slave vehicle can operate based on the terminal sliding mode control model, thereby eliminating the acceleration delay length and the line disturbance of the slave vehicle, achieving stable and accurate tracking of the master vehicle by the slave vehicle, and improving the tracking stability of the slave vehicle on the master vehicle.

[0138] Figure 4 The structure diagram of the simulation method of virtual train formation according to an embodiment of the present disclosure is schematically shown.

[0139] like Figure 4 As shown, it includes a terminal sliding mode control module 410, a state correction module 420, a dynamics module 430, a line disturbance module 440, an acceleration delay module 450, a target state information module 460 of the master vehicle and a state information module 470 of the slave vehicle.

[0140] According to an embodiment of the present disclosure, the terminal sliding mode control module 410 is configured to receive target state information transmitted by the target state information module of the host vehicle and output a terminal sliding mode control model. The target state information of the host vehicle includes the position information and speed information of the host vehicle.

[0141] According to an embodiment of the present disclosure, the state correction module 420 eliminates the line disturbance in the line disturbance module 440 and the acceleration delay duration in the acceleration delay duration module 450 .

[0142] According to an embodiment of the present disclosure, the dynamics module 430 is configured to output the status information of the slave vehicle under the action of the terminal synovial control model. The status information of the slave vehicle may include the position information and speed information of the slave vehicle.

[0143] According to an embodiment of the present disclosure, based on the command acceleration information of the main vehicle, the dynamic model of the main vehicle, and the line parameter information, dynamic calculations and status information updates are performed on the main vehicle to obtain the actual acceleration information of the main vehicle and the target state information of the main vehicle. This includes: determining the train operation target curve parameters of the main vehicle based on the line parameter information. Determining the dynamic model of the main vehicle based on the state information of the main vehicle. Based on the command acceleration information of the main vehicle, the dynamic model of the main vehicle, and the train operation target curve parameters of the main vehicle, dynamic calculations and status information updates are performed on the main vehicle to obtain the speed difference of the main vehicle, the acceleration difference of the main vehicle, and the target state information of the main vehicle. Based on the speed difference of the main vehicle and the acceleration difference of the main vehicle, the actual acceleration information of the main vehicle is obtained.

[0144] According to embodiments of the present disclosure, the train operation target curve parameters for the master vehicle can be determined based on line parameter information. For example, if the determined line parameter information is for a line with line ID 2, the train operation target curve parameters for the master vehicle can be determined to be the curve corresponding to the line with line ID 2. The master vehicle's dynamic model can be determined based on its status information. The master vehicle's traction force can be determined based on the master vehicle's status information. Combined with the master vehicle's slope added resistance, curve added resistance, and basic resistance determined from the line parameter information, the master vehicle's dynamic model can be determined.

[0145] According to embodiments of the present disclosure, the master vehicle's speed difference can represent the difference between the master vehicle's actual speed and its target speed. The master vehicle's acceleration difference can represent the difference between the master vehicle's actual acceleration information and its commanded acceleration information. The commanded acceleration information and the master vehicle's train operation target curve parameters can be input into the master vehicle's dynamic model, and dynamic calculations and state information updates performed on the master vehicle can be performed to obtain the master vehicle's speed difference, acceleration difference, and target state information.

[0146] According to an embodiment of the present disclosure, the actual acceleration information of the host vehicle can be obtained based on the speed difference of the host vehicle and the acceleration difference of the host vehicle, combined with the command acceleration information of the host vehicle and the target state information of the host vehicle.

[0147] According to an embodiment of the present disclosure, the main vehicle can be controlled using a sliding-mode PID (Proportion Integration Differentiation, or PID) control method to achieve stable operation of the main vehicle. The sliding-mode PID control method is a control model that combines a sliding-mode controller and a PID controller. The control process of the sliding-mode PID model is as follows:

[0148] (10)

[0149] in, Indicates the speed difference of the host vehicle, Indicates the actual speed of the host vehicle. represents the target speed of the host vehicle, Indicates the acceleration difference of the host vehicle, Indicates the actual acceleration information of the host vehicle. Indicates the command acceleration information of the host vehicle, Represents the acceleration information output by the sliding mode controller, Indicates the acceleration difference input to the sliding mode PID controller, Indicates the command acceleration information of the main vehicle output by the sliding mode PID controller, represents the velocity gain parameter of the sliding mode controller, represents the acceleration gain parameter of the sliding mode controller, , and Represents the three parameters of the PID controller.

[0150] According to the embodiments of the present disclosure, the train operation target curve parameters of the main vehicle can be determined based on the line parameter information, and the dynamic model of the main vehicle can be determined based on the status information of the main vehicle. Based on the command acceleration information of the main vehicle, the dynamic model of the main vehicle and the train operation target curve parameters of the main vehicle, the dynamic calculation and status information update of the main vehicle are performed to obtain the speed difference of the main vehicle, the acceleration difference of the main vehicle and the target status information of the main vehicle. In the case of the speed difference of the main vehicle and the acceleration difference of the main vehicle, the actual acceleration information of the main vehicle can be obtained. In the case of determining the actual acceleration information of the main vehicle, the main vehicle can operate based on the actual acceleration information, thereby improving the speed tracking performance of the main vehicle.

[0151] According to an embodiment of the present disclosure, command acceleration information of a slave vehicle is obtained based on status information of the slave vehicle, target status information of the master vehicle, route parameter information, separation distance information, and a dynamic model of the slave vehicle. The method includes: determining a target operating curve of the slave vehicle based on the route parameter information; determining a dynamic model of the slave vehicle based on the target status information of the master vehicle and the status information of the slave vehicle; and obtaining command acceleration information of the slave vehicle based on the target operating curve of the slave vehicle, separation distance information, and the dynamic model of the slave vehicle.

[0152] According to embodiments of the present disclosure, the target operating curve of the slave vehicle can be determined based on route parameter information. The traction force of the slave vehicle can be determined based on the target state information of the master vehicle and the state information of the slave vehicle. Once the traction force of the slave vehicle is determined, the dynamic model of the slave vehicle can be determined.

[0153] According to embodiments of the present disclosure, the slave vehicle's target operating curve, the master vehicle's target state information, the slave vehicle's state information, and the distance between the slave and the master vehicle can be input into the slave vehicle's dynamic model to obtain the slave vehicle's command acceleration information. While the slave vehicle can operate based on the command acceleration information, due to long acceleration delays and line disturbances, the command acceleration information of the slave vehicle may not be equal to the actual acceleration information of the slave vehicle.

[0154] According to an embodiment of the present disclosure, the operating target curve of the slave vehicle can be determined through line parameter information, and the dynamic model of the slave vehicle can be determined based on the target state information of the master vehicle and the state information of the slave vehicle. The operating target curve of the slave vehicle, the target state information of the master vehicle, the state information of the slave vehicle and the interval distance information are input into the dynamic model of the slave vehicle, and the instruction set speed information of the slave vehicle can be obtained. The instruction acceleration information of the slave vehicle is jointly determined by the target state information of the master vehicle and the state information of the slave vehicle, thereby improving the accuracy of obtaining the instruction acceleration information of the slave vehicle.

[0155] According to an embodiment of the present disclosure, dynamic calculations and state information updates are performed on a slave vehicle based on command acceleration information, a dynamic model of the slave vehicle, and line parameter information, to obtain actual acceleration information and target state information of the slave vehicle. This includes: inputting the command acceleration information and line parameter information of the slave vehicle into the dynamic model of the slave vehicle. Dynamic calculations and state information updates are performed on the slave vehicle, and acceleration delay and line disturbances of the slave vehicle are eliminated to obtain actual acceleration information and target state information of the slave vehicle.

[0156] According to an embodiment of the present disclosure, the command acceleration information and line parameter information of the slave vehicle can be input into the dynamic model of the slave vehicle. By using the dynamic model of the slave vehicle, the dynamic calculation and status information of the slave vehicle are updated, and the acceleration delay time and line disturbance of the slave vehicle are eliminated, the actual acceleration information of the slave vehicle and the target status information of the slave vehicle can be obtained.

[0157] According to the embodiments of the present disclosure, by eliminating the acceleration delay time and line disturbance of the slave vehicle, the acceleration delay time and line disturbance of the slave vehicle can converge to zero within a limited time, thereby obtaining the actual acceleration information of the slave vehicle and the target state information of the slave vehicle.

[0158] According to the embodiments of the present disclosure, by eliminating the acceleration delay time and line disturbance of the slave vehicle, the actual acceleration information of the slave vehicle and the target state information of the slave vehicle can be obtained, thereby improving the coordinated and stable operation capability of the slave vehicle and the master vehicle in different application scenarios.

[0159] According to an embodiment of the present disclosure, a simulation evaluation result of a virtual marshaled train is determined based on the target state information of the master car, the target state information of the slave car, the actual acceleration information of the master car, the actual acceleration information of the slave car, and the interval distance information, including: transmitting the target state information of the master car, the actual acceleration information of the master car, and the line parameter information through a wireless access point communication method; transmitting the target state information of the slave car, the command acceleration information of the slave car, the actual acceleration information of the slave car, the line parameter information, and the interval distance information through a train real-time data communication method; and determining the simulation evaluation result of the virtual marshaled train based on the target state information of the master car, the target state information of the slave car, the actual acceleration information of the master car, the actual acceleration information of the slave car, and the interval distance information.

[0160] According to an embodiment of the present disclosure, the master vehicle's target state information, actual acceleration information, and line parameter information can be transmitted from the master vehicle simulation control system to the slave vehicle control subsystem via wireless access point communication. Prior to transmission from the master vehicle simulation control system to the slave vehicle control subsystem, the master vehicle's target state information, actual acceleration information, and line parameter information must be encoded. The encoded master vehicle's target state information, actual acceleration information, and line parameter information must then be transmitted to the slave vehicle control subsystem via wireless access point communication.

[0161] According to an embodiment of the present disclosure, the target state information of the slave vehicle, the command acceleration information of the slave vehicle, the actual acceleration information of the slave vehicle, the line parameter information, and the interval distance information can be transmitted from the vehicle control subsystem to the slave vehicle simulation subsystem via a train real-time data communication method. The target state information of the slave vehicle and the actual acceleration information of the slave vehicle can also be transmitted from the vehicle simulation subsystem to the slave vehicle control subsystem via a train real-time data communication method. Before the slave vehicle simulation subsystem and the simulation control subsystem transmit data, the data to be transmitted needs to be encoded. For example, when transmitting from the vehicle control subsystem to the slave vehicle simulation subsystem, the data to be transmitted can be the target state information of the slave vehicle, the command acceleration information of the slave vehicle, the actual acceleration information of the slave vehicle, the line parameter information, and the interval distance information. After receiving the transmitted data, the transmitted data needs to be decoded. For example, the received transmitted data by the slave vehicle control subsystem can be the target state information of the master vehicle, the actual acceleration information of the master vehicle, and the line parameter information.

[0162] According to an embodiment of the present disclosure, the target state information of the master vehicle, the target state information of the slave vehicle, the actual acceleration information of the master vehicle, the actual acceleration information of the slave vehicle, and the distance between the master and slave vehicles at each moment can be stored. Based on the target state information of the master vehicle, the target state information of the slave vehicle, the actual acceleration information of the master vehicle, the actual acceleration information of the slave vehicle, and the distance between the slave vehicles, the simulation evaluation results of the virtual train formation can be determined. The target state information and historical information of the master vehicle are displayed in a first visualization module to demonstrate the operational control status and effects of the master vehicle. The target state information and historical information of the slave vehicle are displayed in a second visualization module to demonstrate the operational control status and effects of the slave vehicle.

[0163] According to the embodiments of the present disclosure, the train status information, target status information, acceleration information, etc. are transmitted by using different communication methods, and based on the target status information of the master vehicle, the target status information of the slave vehicle, the actual acceleration information of the master vehicle, the actual acceleration information of the slave vehicle and the interval distance information, the simulation evaluation results of the virtual marshaling train can be determined, thereby improving the stability of the virtual marshaling train in different operating scenarios.

[0164] Figure 5 The structure diagram of the simulation platform of the virtual train formation according to the embodiment of the present disclosure is schematically shown.

[0165] like Figure 5 As shown, it includes: industrial computer 1, industrial computer 2, industrial computer 3, wireless router 1, wireless router 2, switch 1 and switch 2.

[0166] According to the embodiment of the present disclosure, the industrial computer 1 can serve as the main vehicle, used to read train data, line parameter information and train operation target curve parameters, and can run the operation control and simulation program of the main vehicle to realize the dynamic model construction, operation control and dynamic calculation of the main vehicle in the virtual marshaling train, and transmit the target state information and actual acceleration information of the main vehicle to the industrial computer 2 through the switch 1 through the wireless access point communication method of the wireless router 1 and the wireless router 2.

[0167] According to the embodiment of the present disclosure, the industrial computer 2 receives the target state information and actual acceleration information of the master vehicle sent by the industrial computer 1, and receives the actual acceleration information of the slave vehicle sent by the industrial computer 3, and combines it with the line parameter information to run the operation control program of the slave vehicle, realize the operation control of the slave vehicle, and output the command acceleration information of the slave vehicle. The command acceleration information of the slave vehicle can be transmitted to the industrial computer 3 through the real-time data communication method of the train.

[0168] According to an embodiment of the present disclosure, the industrial computer 3 receives the command acceleration information of the slave vehicle sent by the industrial computer 2 through the real-time data communication method of the train, combines the train data and line parameter information, runs the simulation program of the slave vehicle, realizes the dynamic calculation of the slave vehicle, and updates the status information of the slave vehicle to obtain the target status information of the slave vehicle, and transmits the actual acceleration information and target status information of the slave vehicle to the industrial computer 2 through the real-time data communication method of the train.

[0169] According to an embodiment of the present disclosure, wireless access point (AP) communication can be implemented using wireless routers (Access Points, APs) 1 and 2. Data is transmitted between the APs based on the TRDP (Tethernet Real-time Data Publish / Subscribe) protocol. Wireless routers 1 and 2 are connected to industrial computers 1 and 2, respectively, and wirelessly transmit the vehicle's target state information and actual acceleration information from industrial computer 1 to industrial computer 2.

[0170] According to an embodiment of the present disclosure, switch 1 and switch 2 can be a train implementation data protocol network card. Data is transmitted between switches based on the TRDP protocol. Communication in a real-time data communication mode of the train can be realized based on switch 1 and switch 2. Switch 1 and switch 2 are respectively connected to industrial computer 2 and industrial computer 3, and the communication mode from inside the car in a real scenario is simulated by wired communication. The command acceleration information of industrial computer 2 is transmitted to industrial computer 3, and the target state information and actual acceleration information of industrial computer 3 are transmitted to industrial computer 2.

[0171] According to an embodiment of the present disclosure, the communication cycle between wireless router 1 and wireless router 2 can be set to 50ms. The communication cycle between switch 1 and switch 2 can be set to 10ms. The control cycle of the master vehicle can be set to 100ms. The control cycle of the slave vehicle can be set to 20ms.

[0172] According to an embodiment of the present disclosure, line parameter information may include stations, signal mileage starting point, signal mileage end point, segment length, civil engineering speed limit, segment curvature, segment slope, etc. The segment length may be the actual length after considering the slope. Train data may include train length: 31300mm, train mass: 58.268t, train maximum speed: 70km / h, train common braking curve: satisfying the average deceleration ≥1.2m / s2, and the initial speed at the braking moment is 70km / h. In terms of train traction performance: the average acceleration of the train speed from 0 to 40km / h: 1.0m / s2, the average acceleration of the train speed from 0 to 70km / h: 0.7m / s2, and in terms of control model, the parameters selected for the sliding mode PID model are , , , the parameters of the terminal sliding mode control model are , .

[0173] Figure 6A and 6B The following schematically shows a simulation method of a virtual train formation according to an embodiment of the present disclosure. Figure 6A As shown in Figure 1, it is a schematic diagram of the running speed curve of the master car and the follower car in the virtual marshaling train. Figure 6B As shown, it is a schematic diagram of the running distance curve of the master car and the follower car in the virtual marshaling train.

[0174] According to an embodiment of the present disclosure, Figure 6A The horizontal axis of represents the train's distance traveled, and the vertical axis represents the train's speed. leader_train represents the leader train, and follower_train represents the follower train. The horizontal axis of 6B represents the train's travel time, and the vertical axis represents the train's speed. Therefore, the simulation method based on virtual marshaling of the leader and follower trains can operate stably and safely.

[0175] Figure 7A and 7B The following schematically shows a method for simulating a virtual train formation according to another embodiment of the present disclosure. Figure 7A As shown in the figure, it is a schematic diagram of the running distance curve of the master train and the follower train under the normal train running target curve parameters. Figure 7B The figure shows the running speed curves of the master train and the follower train under abnormal train running target curve parameters.

[0176] According to an embodiment of the present disclosure, Figure 7A The horizontal axis of is the train distance traveled, and the vertical axis is the train speed. The horizontal axis of 7B is the train travel time, and the vertical axis is the train speed. Under normal and abnormal train operation target curve parameters, the master and slave cars can operate stably and safely using the virtual train formation simulation method. This demonstrates that the master car uses a sliding mode PID control method, while the slave cars use a terminal sliding mode control method. These methods exhibit a certain degree of robustness and are suitable for different application scenarios.

[0177] Based on the above-mentioned simulation method of virtual marshaling train, the present disclosure also provides a simulation system of virtual marshaling train. Figure 8 The device is described in detail.

[0178] Figure 8 The structural block diagram of the simulation system of the virtual train formation according to the embodiment of the present disclosure is schematically shown.

[0179] like Figure 8 As shown, the simulation system 800 of the virtual train formation of this embodiment includes a master vehicle simulation control system 810 , a slave vehicle simulation control system 820 and a virtual train formation evaluation module 830 .

[0180] The master vehicle simulation control system 810 is configured to obtain command acceleration information for the master vehicle based on the master vehicle's state information, target train curve parameters, line parameters, and the master vehicle's dynamic model. Based on the command acceleration information, the master vehicle performs dynamic calculations and updates its state information, obtaining actual acceleration information and target state information for the master vehicle. In one embodiment, the master vehicle simulation control system 810 can be configured to execute operations S210 through S220 described above, which will not be further described here.

[0181] The slave vehicle simulation control system 820 includes a slave vehicle control subsystem and a slave vehicle simulation subsystem. It is configured to input the slave vehicle's command acceleration information, output from the slave vehicle control subsystem, into the slave vehicle simulation subsystem, perform dynamic calculations and update state information on the slave vehicle, and obtain actual acceleration information and target state information for the slave vehicle. The slave vehicle simulation subsystem then inputs the actual acceleration information of the slave vehicle into the slave vehicle control subsystem. In one embodiment, the slave vehicle simulation control system 820 can be configured to execute operations S230 through S250 described above, which will not be further described here.

[0182] The virtual train evaluation module 830 is configured to evaluate the virtual train based on the target state information of the master car, the target state information of the slave cars, the actual acceleration information of the master car, and the command acceleration information of the slave cars. In one embodiment, the virtual train evaluation module 830 can be configured to perform operation S260 described above, which will not be further described here.

[0183] According to an embodiment of the present disclosure, the above-mentioned virtual train simulation system further includes:

[0184] A wireless access point communication module is used to transmit the target state information of the master vehicle and the actual acceleration information of the master vehicle from the master vehicle simulation control system to the slave vehicle control subsystem;

[0185] The train real-time data communication module is used to transmit the slave vehicle's command acceleration information from the slave vehicle control subsystem to the slave vehicle simulation subsystem and to transmit the slave vehicle's actual acceleration information from the slave vehicle simulation subsystem to the slave vehicle control subsystem.

[0186] According to an embodiment of the present disclosure, the above-mentioned virtual train simulation system further includes:

[0187] The first visualization module is used to display the target state information and historical information of the main vehicle;

[0188] The second visualization module is used to display the target state information and historical information of the slave vehicle.

[0189] According to an embodiment of the present disclosure, the above-mentioned virtual train simulation system further includes:

[0190] a first determining module, configured to determine a target speed of the slave vehicle based on the state information of the slave vehicle and the command acceleration of the slave vehicle;

[0191] a second determining module, configured to determine a duration of an acceleration delay of the slave vehicle according to actual acceleration information of the slave vehicle, an impact rate of the slave vehicle, and a target speed of the slave vehicle;

[0192] The elimination module is used to eliminate the acceleration delay and line disturbance of the slave vehicle so that the master vehicle and the slave vehicle can operate in coordination.

[0193] According to an embodiment of the present disclosure, the elimination module includes:

[0194] The first elimination submodule is used to determine the delay error and the speed error according to the acceleration delay length of the slave vehicle and the line disturbance;

[0195] A second elimination submodule is used to determine a switching function according to the delay error and the speed error;

[0196] The third elimination submodule is used to eliminate the acceleration delay and line disturbance of the slave vehicle based on the switching function.

[0197] According to an embodiment of the present disclosure, the host vehicle simulation control system 810 includes:

[0198] The first main vehicle simulation control submodule is used to determine the train operation target curve parameters of the main vehicle according to the line parameter information;

[0199] The second main vehicle simulation control submodule is used to determine the main vehicle's dynamic model based on the main vehicle's state information;

[0200] The third master vehicle simulation control submodule is used to perform dynamic calculations and update state information of the master vehicle based on the master vehicle's command acceleration information, the master vehicle's dynamic model, and the master vehicle's train operation target curve parameters, to obtain the master vehicle's speed difference, the master vehicle's acceleration difference, and the master vehicle's target state information;

[0201] The fourth main vehicle simulation control submodule is used to obtain actual acceleration information of the main vehicle according to the speed difference of the main vehicle and the acceleration difference of the main vehicle.

[0202] According to an embodiment of the present disclosure, the slave vehicle control subsystem includes:

[0203] The first slave vehicle control submodule is configured to determine an operating target curve of the slave vehicle according to line parameter information;

[0204] The second slave vehicle control submodule is used to determine the dynamic model of the slave vehicle according to the target state information of the master vehicle and the state information of the slave vehicle;

[0205] The third slave vehicle control submodule is used to obtain the command acceleration information of the slave vehicle according to the operation target curve of the slave vehicle, the interval distance information and the dynamic model of the slave vehicle.

[0206] According to an embodiment of the present disclosure, the slave vehicle simulation subsystem includes:

[0207] A first slave vehicle simulation submodule is configured to input the slave vehicle's command acceleration information and line parameter information into the slave vehicle's dynamic model;

[0208] The second slave vehicle simulation submodule is used to perform dynamic calculations and update state information of the slave vehicle, and eliminate the acceleration delay and line disturbance of the slave vehicle to obtain the actual acceleration information and target state information of the slave vehicle.

[0209] According to an embodiment of the present disclosure, the virtual train formation evaluation module 830 includes:

[0210] The first virtual marshaling train evaluation submodule is used to transmit the target state information of the main vehicle, the actual acceleration information of the main vehicle and the line parameter information through the wireless access point communication mode;

[0211] The second virtual marshaling train evaluation submodule is used to transmit the target state information of the slave car, the command acceleration information of the slave car, the actual acceleration information of the slave car, the line parameter information and the interval distance information through the train real-time data communication mode;

[0212] The third virtual marshaling train evaluation submodule is used to determine the simulation evaluation result of the virtual marshaling train based on the target state information of the master car, the target state information of the slave car, the actual acceleration information of the master car, the actual acceleration information of the slave car and the interval distance information.

[0213] According to an embodiment of the present disclosure, any multiple modules among the master vehicle simulation control system 810, the slave vehicle simulation control system 820, and the virtual train formation evaluation module 830 can be combined into a single module, or any one of these modules can be split into multiple modules. Alternatively, at least part of the functionality of one or more of these modules can be combined with at least part of the functionality of other modules and implemented in a single module. According to an embodiment of the present disclosure, at least one of the master vehicle simulation control system 810, the slave vehicle simulation control system 820, and the virtual train formation evaluation module 830 can be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package, an application specific integrated circuit (ASIC), or can be implemented in hardware or firmware by any other reasonable means of circuit integration or packaging, or can be implemented in any one of the three implementation methods of software, hardware, and firmware, or in any appropriate combination of any of these. Alternatively, at least one of the master vehicle simulation control system 810, the slave vehicle simulation control system 820 and the virtual train formation evaluation module 830 may be at least partially implemented as a computer program module, which may perform corresponding functions when executed.

[0214] Figure 9 The functional module diagram of the simulation system of the virtual train formation according to the embodiment of the present disclosure is schematically shown.

[0215] like Figure 9 As shown, the main vehicle simulation control system 810 includes a data reading module 8101, a first visualization module 8102, a main vehicle control module 8103, a train status simulation update module 8104, an information storage module 8105, and a wireless communication module 8106.

[0216] The slave vehicle simulation control system 820 includes a slave vehicle simulation subsystem 821 and a slave vehicle control subsystem 822 .

[0217] According to an embodiment of the present disclosure, the data reading module 811 initializes the dynamic model and sliding mode PID control model of the main vehicle by reading the train data, line parameter information and train operation target curve of the main vehicle.

[0218] According to an embodiment of the present disclosure, the first visualization module 812 is used to intuitively display the operation control status and effect of the host vehicle by displaying the target status information and historical information of the host vehicle.

[0219] According to an embodiment of the present disclosure, the main vehicle control module 813 outputs the command acceleration of the main vehicle according to the main vehicle's dynamic model, the main vehicle's state information, the line parameter information and the train operation target curve parameters.

[0220] According to an embodiment of the present disclosure, the train state simulation update module 814 performs dynamic calculations and updates state information on the main vehicle to obtain actual acceleration information and target state information of the main vehicle.

[0221] According to an embodiment of the present disclosure, the information storage module 815 is used to store the target state information, state information, command acceleration information and actual acceleration information of the host vehicle.

[0222] According to an embodiment of the present disclosure, the wireless communication module 816 is used to implement communication between the master vehicle simulation control system 810 and the slave vehicle simulation subsystem 821 .

[0223] like Figure 9 As shown, the slave vehicle control subsystem 821 includes a data reading module 8211, a wireless communication module 8212, a second visualization module 8213, an interval distance information module 8214, a slave vehicle control module 8215, and a network security communication module 8216.

[0224] According to an embodiment of the present disclosure, the data reading module 8211 initializes the sliding mode control model of the slave vehicle terminal by reading the train data and line parameter information of the slave vehicle.

[0225] According to an embodiment of the present disclosure, the wireless communication module 8212 is used to implement communication between the master vehicle simulation control system 810 and the slave vehicle control subsystem 821 .

[0226] According to an embodiment of the present disclosure, the second visualization module 8213 is used to display the target state information and historical information of the slave vehicle. The separation distance information module 8214 is used to determine the separation distance information between the master vehicle and the slave vehicle. The slave vehicle control module 8215 is used to output the command acceleration of the slave vehicle. The network security communication module 8216 is used to implement secure communication between the slave vehicle control subsystem 821 and the slave vehicle simulation subsystem.

[0227] like Figure 9As shown, the slave vehicle simulation subsystem 822 includes a data reading module 8221 , a network security communication module 8222 , a slave vehicle status information updating module 8223 and a data storage module 8224 .

[0228] According to an embodiment of the present disclosure, the data reading module 8221 initializes the slave vehicle's dynamic model by reading the slave vehicle's train data and line parameter information. The network security communication module 8222 is used to enable communication between the master vehicle simulation control system 810 and the slave vehicle control subsystem 821. The slave vehicle status information update module 8223 performs dynamic calculations and status information updates on the slave vehicle, obtaining the slave vehicle's actual acceleration information and target status information. The data storage module 8224 stores the slave vehicle's status information, target status information, command acceleration information, and actual acceleration information.

[0229] Figure 10 The block diagram of an electronic device suitable for implementing a simulation method for a virtual train formation according to an embodiment of the present disclosure is schematically shown.

[0230] like Figure 10 As shown, the electronic device 1000 according to an embodiment of the present disclosure includes a processor 1001, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage portion 1008 into a random access memory (RAM) 1003. The processor 1001 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or a related chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 1001 may also include onboard memory for caching purposes. The processor 1001 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present disclosure.

[0231] Various programs and data required for the operation of the electronic device 1000 are stored in the RAM 1003. The processor 1001, the ROM 1002, and the RAM 1003 are connected to each other via a bus 1004. The processor 1001 performs various operations of the method flow according to the embodiment of the present disclosure by executing the programs in the ROM 1002 and / or the RAM 1003. It should be noted that the programs may also be stored in one or more memories other than the ROM 1002 and the RAM 1003. The processor 1001 may also perform various operations of the method flow according to the embodiment of the present disclosure by executing the programs stored in the one or more memories.

[0232] According to an embodiment of the present disclosure, electronic device 1000 may further include an input / output (I / O) interface 1005, which is also connected to bus 1004. Electronic device 1000 may also include one or more of the following components connected to I / O interface 1005: an input section 1006 including a keyboard, mouse, etc.; an output section 1007 including devices such as a cathode ray tube (CRT), liquid crystal display (LCD), and speakers; a storage section 1008 including a hard disk; and a communication section 1009 including a network interface card such as a LAN card or modem. Communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to I / O interface 1005 as needed. Removable media 1011, such as a magnetic disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed in drive 1010 as needed, so that computer programs read from the removable media can be installed into storage section 1008 as needed.

[0233] The present disclosure also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments, or may exist independently and not be incorporated into the device / apparatus / system. The computer-readable storage medium carries one or more programs, and when executed, implements the method according to the embodiments of the present disclosure.

[0234] According to an embodiment of the present disclosure, a computer-readable storage medium may be a non-volatile computer-readable storage medium, and may include, for example, but is not limited to: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. For example, according to an embodiment of the present disclosure, a computer-readable storage medium may include the ROM 1002 and / or RAM 1003 described above, and / or one or more memories other than ROM 1002 and RAM 1003.

[0235] The embodiments of the present disclosure also include a computer program product, which includes a computer program containing program code for executing the method shown in the flowchart. When the computer program product is executed in a computer system, the program code is used to cause the computer system to implement the item recommendation method provided by the embodiments of the present disclosure.

[0236] The computer program executes the above functions defined in the system / device of the embodiment of the present disclosure when the processor 1001 executes the computer program. According to the embodiment of the present disclosure, the system, device, module, unit, etc. described above can be implemented by a computer program module.

[0237] In one embodiment, the computer program may be stored on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may be transmitted and distributed in the form of a signal on a network medium, downloaded and installed via the communication portion 1009, and / or installed from the removable medium 1011. The program code contained in the computer program may be transmitted using any appropriate network medium, including but not limited to wireless, wired, or any suitable combination thereof.

[0238] In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 1009, and / or installed from the removable medium 1011. When the computer program is executed by the processor 1001, the above-described functions defined in the system of the embodiment of the present disclosure are performed. According to the embodiment of the present disclosure, the systems, devices, means, modules, units, etc. described above can be implemented by computer program modules.

[0239] According to an embodiment of the present disclosure, the program code for executing the computer program provided by the embodiment of the present disclosure can be written in any combination of one or more programming languages. Specifically, these computer programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, languages ​​such as Java, C++, Python, "C" or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (for example, using an Internet service provider to connect via the Internet).

[0240] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the above-mentioned module, program segment, or a part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0241] Those skilled in the art will appreciate that the features described in the various embodiments of the present disclosure may be combined and / or coupled in various ways, even if such combinations and / or couplings are not explicitly described in the present disclosure. In particular, the features described in the various embodiments of the present disclosure may be combined and / or coupled in various ways without departing from the spirit and teachings of the present disclosure. All such combinations and / or couplings fall within the scope of the present disclosure.

[0242] The above describes the embodiments of the present disclosure. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although each embodiment has been described separately above, this does not mean that the measures in each embodiment cannot be advantageously used in combination. Without departing from the scope of the present disclosure, those skilled in the art may make various substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. A simulation method for a virtual train formation, wherein: The virtual marshaled train includes a master train and a slave train; the method includes: Obtaining command acceleration information of the master vehicle according to the state information of the master vehicle, train operation target curve parameters, line parameter information, and the dynamic model of the master vehicle; Based on the command acceleration information of the master vehicle, the dynamic model of the master vehicle and the route parameter information, performing dynamic calculation and state information update on the master vehicle to obtain actual acceleration information of the master vehicle and target state information of the master vehicle; determining, based on the target state information of the master vehicle, the state information of the slave vehicle, and the line parameter information, the interval distance information between the master vehicle and the slave vehicle; determining command acceleration information of the slave vehicle according to the state information of the slave vehicle, the target state information of the master vehicle, the route parameter information, the separation distance information, and the dynamic model of the slave vehicle; performing dynamic calculation and state information update on the slave vehicle according to the command acceleration information of the slave vehicle, the dynamic model of the slave vehicle, and the line parameter information, to obtain actual acceleration information of the slave vehicle and target state information of the slave vehicle; determining a simulation evaluation result of the virtual marshaled train according to the target state information of the master car, the target state information of the slave car, the actual acceleration information of the master car, the actual acceleration information of the slave car, and the interval distance information; The simulation method of the virtual marshaled train further includes: determining a target speed of the slave car based on the status information of the slave car and the command acceleration of the slave car; determining an acceleration delay of the slave car based on the actual acceleration information of the slave car, the impact rate of the slave car, and the target speed of the slave car; and eliminating the acceleration delay of the slave car and line disturbance to enable the master car and the slave car to operate in coordination; The elimination processing of the acceleration delay time length and line disturbance of the slave vehicle includes: determining a delay error and a speed error based on the acceleration delay time length and line disturbance of the slave vehicle; determining a switching function based on the delay error and speed error; and eliminating the acceleration delay time length and line disturbance of the slave vehicle based on the switching function.

2. The method according to claim 1, characterized in that The performing of dynamic calculation and state information updating on the master vehicle based on the command acceleration information of the master vehicle, the dynamic model of the master vehicle, and the route parameter information to obtain actual acceleration information of the master vehicle and target state information of the master vehicle includes: determining a train operation target curve parameter of the main vehicle according to the line parameter information; Determining a dynamic model of the main vehicle according to the state information of the main vehicle; Performing dynamic calculations and updating state information of the master vehicle based on the command acceleration information of the master vehicle, the dynamic model of the master vehicle, and the train operation target curve parameters of the master vehicle to obtain a speed difference of the master vehicle, an acceleration difference of the master vehicle, and target state information of the master vehicle; The actual acceleration information of the host vehicle is obtained according to the speed difference of the host vehicle and the acceleration difference of the host vehicle.

3. The method according to claim 1, characterized in that The obtaining, according to the state information of the slave vehicle, the target state information of the master vehicle, the line parameter information, the separation distance information, and the dynamic model of the slave vehicle, the command acceleration information of the slave vehicle includes: determining an operating target curve of the slave vehicle according to the line parameter information; determining a dynamic model of the slave vehicle according to the target state information of the master vehicle and the state information of the slave vehicle; The command acceleration information of the slave vehicle is obtained according to the operation target curve of the slave vehicle, the interval distance information and the dynamic model of the slave vehicle.

4. The method according to claim 3, characterized in that The performing of dynamic calculation and state information updating on the slave vehicle according to the command acceleration information of the slave vehicle, the dynamic model of the slave vehicle, and the line parameter information to obtain actual acceleration information of the slave vehicle and target state information of the slave vehicle includes: inputting the command acceleration information of the slave vehicle and the route parameter information into a dynamic model of the slave vehicle; Dynamic calculation and state information update are performed on the slave vehicle, and acceleration delay and line disturbance of the slave vehicle are eliminated to obtain actual acceleration information of the slave vehicle and target state information of the slave vehicle.

5. The method according to claim 4, characterized in that The determining of the simulation evaluation result of the virtual marshaled train according to the target state information of the master car, the target state information of the slave car, the actual acceleration information of the master car, the actual acceleration information of the slave car, and the interval distance information includes: transmitting the target state information of the host vehicle, the actual acceleration information of the host vehicle, and the line parameter information via a wireless access point communication method; Transmitting the target state information of the slave vehicle, the command acceleration information of the slave vehicle, the actual acceleration information of the slave vehicle, the line parameter information and the interval distance information through a train real-time data communication mode; The simulation evaluation result of the virtual train formation is determined according to the target state information of the master car, the target state information of the slave car, the actual acceleration information of the master car, the actual acceleration information of the slave car and the interval distance information.

6. A simulation system for a virtual train formation, characterized in that: include: a main vehicle simulation control system, configured to obtain command acceleration information of the main vehicle based on the main vehicle's state information, train operation target curve parameters, line parameter information, and the main vehicle's dynamic model, and perform dynamic calculations and state information updates on the main vehicle based on the command acceleration information to obtain actual acceleration information of the main vehicle and target state information of the main vehicle; The slave vehicle simulation control system includes a slave vehicle control subsystem and a slave vehicle simulation subsystem, and is configured to input command acceleration information of the slave vehicle output by the slave vehicle control subsystem into the slave vehicle simulation subsystem, perform dynamic calculations and update state information of the slave vehicle, obtain actual acceleration information of the slave vehicle and target state information of the slave vehicle, and the slave vehicle simulation subsystem inputs the actual acceleration information of the slave vehicle into the control subsystem of the slave vehicle; a virtual marshaling train evaluation module, configured to evaluate the virtual marshaling train according to the target state information of the master car, the target state information of the slave car, the actual acceleration information of the master car, and the command acceleration information of the slave car; The simulation system of the virtual train assembly further includes: a first determining module, configured to determine a target speed of the slave vehicle according to the state information of the slave vehicle and the command acceleration of the slave vehicle; a second determining module, configured to determine a duration of an acceleration delay of the slave vehicle according to actual acceleration information of the slave vehicle, an impact rate of the slave vehicle, and a target speed of the slave vehicle; an elimination module, configured to eliminate the acceleration delay and line disturbance of the slave vehicle so as to enable the master vehicle and the slave vehicle to operate in coordination; The elimination module includes: a first elimination submodule, used to determine the delay error and the speed error based on the acceleration delay duration and the line disturbance of the slave vehicle; a second elimination submodule, used to determine the switching function based on the delay error and the speed error; and a third elimination submodule, used to eliminate the acceleration delay duration and the line disturbance of the slave vehicle based on the switching function.

7. The system according to claim 6, characterized in that Also includes: a wireless access point communication module, configured to transmit the target state information of the master vehicle and the actual acceleration information of the master vehicle from the master vehicle simulation control system to the slave vehicle control subsystem; The train real-time data communication module is used to transmit the command acceleration information of the slave vehicle from the slave vehicle control subsystem to the slave vehicle simulation subsystem and to transmit the actual acceleration information of the slave vehicle from the slave vehicle simulation subsystem to the slave vehicle control subsystem.

8. The system according to claim 6, wherein: Also includes: A first visualization module is used to display the target state information of the host vehicle and the historical information of the host vehicle; The second visualization module is used to display the target state information of the slave vehicle and the historical information of the slave vehicle.

9. An electronic device comprising: one or more processors; a memory for storing one or more computer programs, It is characterized in that the one or more processors execute the one or more computer programs to implement the steps of the method according to any one of claims 1 to 5.

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