CN103101559A - Full-speed field train interval real-time control method based on car-following behavior quality evaluation - Google Patents
Full-speed field train interval real-time control method based on car-following behavior quality evaluation Download PDFInfo
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Abstract
The invention provides a full-speed field train interval real-time control method based on car-following behavior quality evaluation, belongs to the technical field of train operation control of a railway transportation system, and particularly relates to the problem of dynamic control of full-speed field train interval in the process of car-following operation of a high-speed train, namely, how the high-speed train adjusts and achieves dynamic and real-time control of train interval by self high-quality behavior in the car-following operation process of the high-speed train, so that the aims that the train is safe in operation, and stable and comfortable in behavior adjustment process, and line transport capacity is fully utilized are achieved. The car-following behavior quality estimation and car-following operating state of the high-speed train are tightly combined, and a speed difference control method based on whole car distance dynamic track in the scope of full speed field is provided. Scientific adjustment of the train interval is achieved by combing optimum car-following behavior control with safety, high efficiency and stability (comfort).
Description
Technical field
The invention belongs to rail transportation system high speed train operation control technology field, be specifically related to high speed train with the All Speed Range of train interval in the operational process of speeding, dynamic control problem, be high speed train in the operational process of speeding how by self special quality behavior adjustment realize train interval dynamically, control in real time, reach train operating safety, the behavior adjustment process is steady, comfortable, and the purpose that takes full advantage of the circuit capacity.
Background technology
(hereinafter to be referred as " row control ") technology is controlled in train operation, with the speed control method classification, mainly contains hierarchical speed control and target range speed and controls two kinds of patterns.
The hierarchical speed master mode take a block section as unit, according to the velocity stages of train operation, is carried out speed to train operation and is controlled.This pattern Train tracking interval is main relevant with speed with division, the train performance of block section, due to block section length take the train of the worst performance as according to and the combined circuit parameter determine, only have free block section or train to go out this block section clearly, just may allow follow-up train to sail into, therefore taking full advantage of of circuit capacity is very restricted.
The target range speed control mode for retro-speed mode of continous way, is namely determined the train braking curve according to performance, the state of target range, target velocity and train itself.If speed control mode of continous way for following the trail of the objective a little, is quasi-moving block with the block section entrance of the place ahead train occupation; If for following the trail of the objective a little, be movable block with the afterbody of the place ahead train.
Than the hierarchical speed master mode, the target range speed control mode can utilize the circuit capacity more fully under the prerequisite of safe driving, has obtained using very widely in the developed country such as current America and Europe, Japan and China.
In the World Iron road transport system, present state-of-the-art row control techniques is for adopting " the quasi-moving block system " of target range speed control mode." moving block system " due to the complexity of railway transportation high speed, heavy duty and organization of driving, can't be transplanted to railway transportation with it although use to some extent at City Rail Transit System simply.
Based target is more emphasized " safety " apart from " retro-speed of continous way " curve of speed control mode.Normally drive a vehicle after the unfavorable factors such as breakdown of equipment, train operation accident or disaster of order eliminate when affecting railway, often need the train Accelerating running to move by " train diagram " with recovery, or after the normal excessive need of riving condition Train spacing, the car Accelerating running improves the utilization ratio of circuit capacity, only depends on " retro-speed of continous way " obviously can not solve the optimal motion trajectory problem of train from a speed to another speed.
The particularly fast development of China Express Railway, the online highest running speed of high speed train has reached 350Km/h, and speed of experiment is even up to more than 400Km/h.High speed train is from Acceleration of starting, through lasting the high-speed cruising that has behavior to adjust, arrive last ramp to stop, it all must make train interval be tending towards optimum by the science adjustment of self behavior with any moment of speeding in operational process, could realize taking full advantage of the purpose of circuit capacity again.
Therefore, be necessary to follow in the operational process of speeding at high speed train, in All Speed Range, according to train operation state, train actual pitch and current time safety, efficient with speeding to move the factors such as safe distance between vehicles that needs are followed, essentiality to high speed train behavior adjustment is proved, high speed train behavior adjustment strategy and behavior adjustment process are carried out safety, high efficiency and steady (comfortable) property comprehensive analyses, implement the behavior adjustment of train to take comprehensive optimum control policy.
The present invention is based on above-mentioned technical background, by " behavior quality assessment ", high speed train is judged with speed running state and behavior adjustment process, and with " safety ", " high efficiency " and " steadily (comfortable) property " three as high speed train with speed on into the dynamic optimization target, determine dynamically, in real time high speed train with speed on into control law, and then realize the Scientific Regulation of train behavior and train interval.
Summary of the invention
The present invention proposes a kind of high speed train with the method for real-time adjustment of dynamic train interval in the operational process of speeding.At first, determine according to the real-time calibration method of dynamic security spacing the safe distance between vehicles that car Train2 after current time should keep with front truck Train1; Then, by the comparison of actual spacing and safe distance between vehicles, high speed train is carried out the assessment of safety and high efficiency with speeding on for quality; Again according to assessment result, whether determine current with speeding running state adjustment; If need not adjust, keep current with speeding running state; Adjust if need, according to front and back train performance, and the current running state of front and back train, actual spacing and the safe distance between vehicles that should keep, determine that corresponding rear garage is for adjusting strategy and being implemented, by high speed train follow speed on into the science adjustment, reach high speed train safety, efficient and steadily (comfortable) move purpose with the train interval dynamic optimization with speeding.
The method and technology scheme that the present invention needs protection is:
A kind of based on speeding on as the All Speed Range train interval real-time control method of quality evaluation, specifically comprise the steps:
Step 1: according to the calibration method of All Speed Range dynamic security spacing, namely adopt the fitting function L of be perfectly safe spacing and rear vehicle speed
S=f (V
2), determine in real time the safe distance between vehicles that car after current time should keep with the front truck afterbody.
Step 2: high speed train is carried out the assessment of safety and high efficiency with speeding on for quality.
Speed on according to heel and be the quality evaluation formula
(wherein, L is actual spacing, and η is that rear garage is quality evaluation index), and follow the principle of " safety first ", determine the neighborhood of safe distance between vehicles and with speeding running state:
(1) if η＜0 or η＞ξ (0＜ξ＜100%), actual spacing is outside the neighborhood of safe distance between vehicles, high speed train is in " non-security, efficient with speeding state ";
(2) if 0≤η≤ξ, actual spacing is in the neighborhood of safe distance between vehicles, high speed train is in " safety, efficient with speeding state ".
The value of described ξ can be determined according to actual conditions.
Step 3: with speeding on as adjusting decision-making.
(1) if η＜0 or η＞ξ (0＜ξ＜100%), high speed train is in " non-security, efficient with speeding state ", takes take " spacing adjustment " as main control method, after determining, the control policy of garage for adjusting, see shown in following formula.
a
2=μ*η
Wherein, a
2For rear garage is the acceleration/accel that adjustment is taked, μ also can determine according to stationarity, the traveling comfort of behavior adjustment for the coefficient greater than 0.
(2) if 0≤η≤ξ, high speed train is in " safety, efficient with speeding state ", takes take " speed is poor to be adjusted " as main control method, makes it by " safety, efficient with speeding state " convergence " safety, efficient with speeding stable state ", its mathematical description is:
Step 4: implement for adjusting strategy with speeding on.
Select and carry out with the corresponding control policy of state of speeding the adjustment that rear garage is.To the adjustment of rear garage for doing to be complementary, be this area proven technique knowledge under concrete control policy, this specification sheets repeats no more.
Step 5: turn step 1, the demarcation of the dynamic security spacing that circulation above-mentioned steps 1 to step 4 is carried out, follow to speed on and select and be to adjust with speeding on for assessment, control policy.
The present invention is calculated as support dynamically, in real time with safe distance between vehicles, high speed train is dynamically followed the tracks of with safe distance between vehicles for quality evaluation with speeding on combined, propose a kind of behavior and adjust COMPREHENSIVE CALCULATING and definite method of control policy, both be applicable to the behavior adjustment of " safety, efficient with speeding state " lower high speed train, also be applicable to the behavior adjustment of high speed train under " non-security, efficient with speeding state " situation, the science that helps high speed train to follow to improve when speeding to move its behavior to adjust is to reach safety, the efficient and steady purpose of (comfortable) operation.
Description of drawings
Fig. 1. high speed train safe distance between vehicles L in the All Speed Range scope
SAbout following the speed V that speeds
2Matched curve.
Fig. 2. high speed train is with speeding running state and behavior adjustment.
Fig. 3. the poor mathematical description of controlling of speed
Fig. 4. based on the All Speed Range train interval dynamic control model of behavior quality assessment.
Fig. 5. high speed train is quality evaluation, decision making algorithm with speeding on.
Fig. 6. the front truck control policy.
Fig. 7. based on the emulation experiment (t of the All Speed Range train interval dynamic control technology of behavior quality assessment
aDuring=500s).
Fig. 8. based on the emulation experiment (t of the All Speed Range train interval dynamic control technology of behavior quality assessment
aDuring=1000s).
Fig. 9. based on the emulation experiment (t of the All Speed Range train interval dynamic control technology of behavior quality assessment
aDuring=1500s).
Figure 10. based on the emulation experiment (t of the All Speed Range train interval dynamic control technology of behavior quality assessment
aDuring=2000s).
Fig. 7 (a), Fig. 8 (a), Fig. 9 (a), Figure 10 (a) are the acceleration/accel-time curve of forward and backward train.
Fig. 7 (b), Fig. 8 (b), Fig. 9 (b), Figure 10 (b) are the speed-time curve of forward and backward train.
Fig. 7 (c), Fig. 8 (c), Fig. 9 (c), Figure 10 (c) are the position-time curve of forward and backward train.
Fig. 7 (d), Fig. 8 (d), Fig. 9 (d), Figure 10 (d) are the speed-position curve of forward and backward train.
Fig. 7 (e), Fig. 8 (e), Fig. 9 (e), Figure 10 (e) are that actual following speeded spacing L-time curve and follow safely the distance L of speeding
Safe-time curve.
Fig. 7 (f), Fig. 8 (f), Fig. 9 (f), Figure 10 (f) are L
Safe/ L-time curve.
Fig. 7 (g), Fig. 8 (g), Fig. 9 (g), Figure 10 (g) are impulsion value-time curve.
The Chinese translation that the figure English is corresponding: car after The preceding vehicle front truck, The following vehicle.
The specific embodiment
Below in conjunction with accompanying drawing, technical solution of the present invention is described in further detail.
Step 1: according to the calibration method (seeing shown in formula (1)) of All Speed Range dynamic security spacing, determine in real time the safe distance between vehicles that car after current time should keep with front truck.
L
S=f(V
2) （1）
Formula (1) is the spacing L that is perfectly safe
S(" spacing is perfectly safe " belongs to general knowledge known in this field, and this specification sheets need not elaborate) is to rear vehicle speed V
2Fitting function.Its Parabolic Fit curve as shown in Figure 1.
Step 2: high speed train is carried out the assessment of safety and high efficiency with speeding on for quality.
Mainly that current actual spacing and safe distance between vehicles with speeding under state compared, the judgement high speed train with speed on into quality, for next step determine whether to follow speed on into adjustment ready.
Due to factors such as road conditions, weathers, speed with forward and backward car in the operational process of speeding is difficult to for a long time, accurately is consistent, even (forward and backward vehicle speed is identical for certain instantaneous realization " safety, efficient with speeding to move stable state ", and actual spacing equals safe distance between vehicles), also be difficult to keep always, it is implemented to control the frequent behavior adjustment that must avoid again train, so high speed train is the assessment of quality, the simple comparison of actual spacing and safe distance between vehicles anything but with speeding on.
For this reason, can follow the state of the operational system of speeding to be divided into two kinds high speed train: " non-security, efficient with speeding state " and " safety, the efficient state of speeding of following ", as shown in Figure 2.
" safety, efficient with speeding state " shows as a neighborhood of " safety, efficient with speeding to move stable state ", and " safety, efficient with speeding to move stable state " is a point in " safety, efficient with speeding state "; " non-security, efficient with speeding state " is either-or antagonistic relations with " safety, efficient with speeding state ".
By to current actual spacing and the comparative analysis of safe distance between vehicles with speeding under state, can draw current safety, the high efficiency evaluation of following the state of speeding of high speed train.Rear car can use formula (2) to its evaluation with speeding on into quality.
Wherein, L is actual spacing, and η is that rear garage is quality evaluation index.
Follow the principle of " safety first ", determine the neighborhood of safe distance between vehicles and follow the running state of speeding:
(1) if η＜0 or η＜ξ (0＜ξ＜100%), actual spacing is outside the neighborhood of safe distance between vehicles, high speed train is in " non-security, efficient with speeding state ", sees shown in Fig. 2 (a);
(2) if 0≤η≤ξ, actual spacing is in the neighborhood of safe distance between vehicles, high speed train is in " safety, efficient with speeding state ", sees shown in Fig. 2 (b).
Here, the value of ξ can be determined according to actual conditions, for example gets ξ=5%.
Step 3: with speeding on as adjusting decision-making.
Is to adjust decision-making with speeding on, with high speed train with speed on into the evaluation of quality closely related.The state of speeding of following of different quality takes different behaviors to adjust strategy.
(1) if η＜0 or η＜ξ (0＜ξ＜100%), high speed train is in " non-security, efficient with speeding state ", takes to see shown in formula (3) take " spacing adjustment " as main control method.
a
2=μ*η （3）
Wherein, a
2For rear garage is the acceleration/accel (acceleration/accel also claims " unit makes a concerted effort ") that adjustment is taked, μ also can determine according to stationarity, the traveling comfort of behavior adjustment for the coefficient greater than 0.
If L＜L
SThe time, actual spacing though have security risks with the efficient of speeding is high, can be got a less than safe distance between vehicles according to formula (3)
2＜0 so that rear car run slowly, to widen the actual spacing of itself and front truck; If L＞L
SAnd when satisfying η＞ξ, can think actual spacing much larger than safe distance between vehicles, though safety is high lower with the efficient of speeding, can get a according to formula (3)
2＞0.
(2) if 0≤η≤ξ, high speed train is in " safety, efficient with speeding state ", takes take " speed is poor to be adjusted " as main control method, makes it by " safety, efficient with speeding state " convergence " safety, efficient with speeding stable state ", its mathematical description is seen shown in formula (9), is specifically derived as follows:
High speed train is with in the operational process of speeding, and safe distance between vehicles generally can corresponding change occur along with the behavior adjustment.Safe distance between vehicles L
sTo time t differentiate, can get
Again by formula (1) as can be known
Further have
Follow the principle of " safety first ", actual spacing L with the operation of speeding due to high speed train
1-L
2(L
1, L
2Be respectively forward and backward truck position) must be all the time more than or equal to safe distance between vehicles L
s, namely
L
S≤L
1-L
2 （7）
Take into account high speed train with " safety " and " high efficiency " of speeding to move, desirable
L
S=L
1-L
2 （8）
Association type (6), (8) can get
Formula (9) is the mathematical description of the control method take " speed is poor to be adjusted " as the master, and its figure as shown in Figure 3.
By formula (9) as can be known, safety, efficient with the state of speeding under, namely (0≤η≤ξ) is if V in the neighborhood of safe distance between vehicles for actual spacing
1＞V
2, rear car is with acceleration/accel a
2Accelerating running; If V
1=V
2The time, rear car is not done the behavior adjustment, has reduced to a certain extent the frequent degree that behavior is adjusted; If V
1＜V
2The time, rear car is with acceleration/accel a
2Run slowly.Due in the neighborhood of dynamic security spacing, front and back speed poor less and
Larger, acceleration/accel can satisfy stationarity, traveling comfort demand.
Step 4: implement for adjusting strategy with speeding on.
Select and carry out with the corresponding control policy of state of speeding the adjustment that rear garage is, it controls model as shown in Figure 4, wherein, and a
1, V
1, V
10, L
1, L
10Represent that respectively the acceleration/accel, speed, behavior of front truck Train1 adjust initial velocity, position and the initial position of the zero hour; , V
2, V
20, L
2, L
20Initial velocity, position and the initial position of the zero hour adjusted in the acceleration/accel of the rear car Train2 of representative, speed, behavior respectively.
High speed train with speed on into quality evaluation, decision making algorithm as shown in Figure 5.In Fig. 5, μ is for greater than 0 coefficient and can determine according to stationarity, the traveling comfort of behavior adjustment, and ξ gets the small positive number that satisfies 0＜ξ＜100%, can determine according to actual conditions.
Step 5: turn step 1, loop it and follow-up select and be to adjust with speeding on for assessment, control policy with speeding on.
, take based on the simulation scenarios of speeding on and for the All Speed Range train interval real-time control method of quality evaluation, self behavior being adjusted with speeding in process according to the concrete dynamic behaviour of front truck for rear car Fig. 6-10, ξ=50% wherein, μ=0.20.
If suppose that forward and backward car all remains static, spacing is 800 m.The control policy of front truck Train1 as shown in Figure 6.Work as t
a=500s, 1000s, 1500s, during 2000s (as shown in Figure 6), the behavior adjustment of rear car train2 is seen shown in Fig. 7-10.This Fig. 7-10 have been described rear car and have been followed the tracks of (t in the front truck operational process
a=500 s, 1000s, 1500s, 2000 s) the control law performance adjusted of behavior.
Along with front truck slows down and gradually stops, the speed of rear car and acceleration/accel also simultaneously level off to 0 gradually, see Fig. 7 (a)-10 (a), shown in Fig. 7 (b)-Figure 10 (b).
Rear garage is that safety in adjustment process, high efficiency have obtained better realization, sees Fig. 7 (c)-Figure 10 (c), and Fig. 7 (d)-Figure 10 (d) is shown in Fig. 7 (e)-Figure 10 (e).
Fig. 7 (g)-Figure 10 (g) is (Jerk of impulsion value in adjustment process for rear garage, be the derivative of acceleration/accel about the time) the emulation experiment situation, generally with it together with the amplitude of acceleration/accel as steady (comfortable) property standard of evaluation of vehicle behavior adjustment.Can referring to the ISO2631 international standard, be generally the acceleration/accel absolute value less than or equal to 0.63 m/s about steady (comfortable) property evaluation criterion of acceleration/accel
2Steady (comfortable) property evaluation criterion of impulsion value (Jerk) is generally-2 m/s
3＜Jerk＜2m/s
3From Fig. 7 (a)-10 (a), Fig. 7 (g)-Figure 10 (g) can find out, rear garage can reach steadily (comfortable) property evaluation criterion fully for the control law of adjusting.
On the other hand, along with front truck the travel at the uniform speed prolongation (speed reaches 120 m/s, i.e. 432 km/h) of time, i.e. t
aValue become more and more large, from Fig. 7 (d)-Figure 10 (d), Fig. 7 (f)-Figure 10 (f) can find out, rear car safety, efficient effect with speeding become and become better and better.Therefore, the high speed train that the present invention is specially adapted to the railway moving block system is controlled with the operation of speeding, because between high speed railway adjacent station, circuit is generally longer, otherwise, be difficult to take full advantage of the speed advantage of high speed train.
Claims (1)
1. one kind speeds on as the All Speed Range train interval real-time control method of quality evaluation based on following, and it is characterized in that, specifically comprises the steps:
Step 1 namely adopts the fitting function L of be perfectly safe spacing and rear vehicle speed according to the calibration method of All Speed Range dynamic security spacing
S=f (V
2), determine in real time the safe distance between vehicles that car after current time should keep with the front truck afterbody;
Step 2 pair high speed train carries out the assessment of safety and high efficiency with speeding on for quality:
Speed on according to heel and be the quality evaluation formula
, wherein L is actual spacing, η is that rear garage is quality evaluation index, determines the neighborhood of safe distance between vehicles and follows the running state of speeding:
(1) if η＜0 or η＞ξ, 0＜ξ＜100%, actual spacing are outside the neighborhood of safe distance between vehicles, high speed train is in " non-security, efficient with speeding state ";
(2) if 0≤η≤ξ, actual spacing is in the neighborhood of safe distance between vehicles, high speed train is in " safety, efficient with speeding state ".
The value of described ξ is determined according to actual conditions;
Step 3 is with speeding on as adjusting decision-making:
(1) if η＜0 or η＞ξ, 0＜ξ＜100%, high speed train are in " non-security, efficient with speeding state ", rear garage sees shown in following formula for the control policy of adjusting,
a
2=μ*η
Wherein, a
2For rear garage is the acceleration/accel that adjustment is taked, μ is the coefficient greater than 0;
(2) if 0≤η≤ξ, high speed train is in " safety, efficient with speeding state ", rear garage for the mathematical description of adjusting control policy is:
Step 4 is selected and is carried out with the corresponding control policy of state of speeding the adjustment that rear garage is;
Step 5 turns step 1, the demarcation of the dynamic security spacing that circulation above-mentioned steps 1 to step 4 is carried out, follows to speed on and selects and be to adjust with speeding on for assessment, control policy.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109709956A (en) * | 2018-12-26 | 2019-05-03 | 同济大学 | A kind of automatic driving vehicle speed control multiple-objection optimization with algorithm of speeding |
| WO2020007215A1 (en) * | 2018-07-06 | 2020-01-09 | 同济大学 | Curve fitting modeling method based on vehicle behavior adjustment model for calculation of optimal car-following distance |
| CN115092211A (en) * | 2022-05-31 | 2022-09-23 | 同济大学 | Wide-area interlocking control method and device for dynamic train interval adjustment and storage medium |
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| JPH0516808A (en) * | 1991-07-16 | 1993-01-26 | Toshiba Corp | Train operation management system |
| CN1876461A (en) * | 2006-07-06 | 2006-12-13 | 上海交通大学 | Method for controlling speed difference-distance when following a driving vehicle |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020007215A1 (en) * | 2018-07-06 | 2020-01-09 | 同济大学 | Curve fitting modeling method based on vehicle behavior adjustment model for calculation of optimal car-following distance |
| US11345346B2 (en) | 2018-07-06 | 2022-05-31 | Tongji University | Method for vehicle following control based on real-time calculation of dynamic safe following distance |
| CN109709956A (en) * | 2018-12-26 | 2019-05-03 | 同济大学 | A kind of automatic driving vehicle speed control multiple-objection optimization with algorithm of speeding |
| CN109709956B (en) * | 2018-12-26 | 2021-06-08 | 同济大学 | Multi-objective optimized following algorithm for controlling speed of automatic driving vehicle |
| CN115092211A (en) * | 2022-05-31 | 2022-09-23 | 同济大学 | Wide-area interlocking control method and device for dynamic train interval adjustment and storage medium |
| CN115092211B (en) * | 2022-05-31 | 2023-07-04 | 同济大学 | Wide area interlocking control method, device and storage medium for dynamic train interval adjustment |
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| CN103101559B (en) | 2015-06-03 |
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