CN117234892A

CN117234892A - Method, device, equipment and medium for testing cooperative control algorithm under virtual grouping

Info

Publication number: CN117234892A
Application number: CN202310994053.9A
Authority: CN
Inventors: 冷文俊
Original assignee: Traffic Control Technology TCT Co Ltd
Current assignee: Traffic Control Technology TCT Co Ltd
Priority date: 2023-08-08
Filing date: 2023-08-08
Publication date: 2023-12-15

Abstract

The invention provides a method, a device, equipment and a medium for testing a cooperative control algorithm under virtual marshalling, which relate to the technical field of rail transit and comprise the following steps: for each test scene, front car running data and rear car running data of the virtual marshalling train are obtained; constructing an operation curve of a target front vehicle according to the front vehicle operation data, and constructing an operation curve of a target rear vehicle according to the rear vehicle operation data; and outputting a test result of the cooperative control algorithm under the virtual grouping according to the operation curve of the target front vehicle and the operation curve of the preset front vehicle and the operation curve of the target rear vehicle and the operation curve of the preset rear vehicle. The invention can rapidly and accurately verify the cooperative control algorithm of the virtual train grouping, and provides a reliable and efficient test and verification means for improving the application level of the virtual train grouping technology so as to improve the running efficiency of the train, flexibly adjust the transport capacity and reduce the waiting time of passengers.

Description

Method, device, equipment and medium for testing cooperative control algorithm under virtual grouping

Technical Field

The invention relates to the technical field of rail transit, in particular to a method, a device, equipment and a medium for testing a cooperative control algorithm under virtual marshalling.

Background

The invention patent application with the application publication number of CN114326385A relates to a virtual marshalling train cooperative control method based on a self-adaptive nonsingular terminal sliding mode, which comprises the following steps: step A: establishing a train kinematics model of a displacement-speed-response acceleration third-order kinematics differential equation set; and (B) step (B): defining a speed tracking error and an acceleration tracking error of a first train and a preset target curve in a marshalling process, and constructing a nonsingular terminal sliding mode surface of the train; step C: calculating target curves of the rest following trains in the group, defining a combined error of the following trains in the group, and constructing a non-singular terminal sliding mode surface based on the combined error; step D: respectively carrying out the collaborative automatic driving controller design of the virtual grouping first train and the rest following trains; step E: the unknown parameter estimated value of each train is considered, and the self-adaptive law of the unknown parameters is obtained by utilizing the Lyapunov stability theory, but the test of the cooperative control algorithm under the virtual marshalling is relatively lacking.

The existing test method mainly depends on laboratory simulation and emulation, and cannot carry out real test on a virtual marshalling train in an actual operation scene to obtain a test result, so that the effectiveness and stability of a cooperative control algorithm cannot be fully evaluated, and further the driving safety of the train under the virtual marshalling cannot be guaranteed.

Disclosure of Invention

The invention provides a test method, a device, equipment and a medium of a cooperative control algorithm under virtual marshalling, which are used for solving the technical defect that the effectiveness and stability of the cooperative control algorithm cannot be evaluated at present, and further the driving safety of a train under the virtual marshalling cannot be ensured.

In a first aspect, the present invention provides a method for testing a cooperative control algorithm under virtual grouping, including:

for each test scene, front car running data and rear car running data of the virtual marshalling train are obtained;

constructing an operation curve of a target front vehicle according to the front vehicle operation data, and constructing an operation curve of a target rear vehicle according to the rear vehicle operation data;

outputting a test result of a cooperative control algorithm under virtual grouping according to the operation curve of the target front vehicle and the operation curve of the preset front vehicle and the operation curve of the target rear vehicle and the operation curve of the preset rear vehicle;

the test scene comprises a building grouping scene, a grouping operation scene, a grouping platform operation scene and a grouping turn-back operation scene;

the operating curve is determined from the speed measured at each preset distance of the train.

According to the test method of the cooperative control algorithm under virtual grouping provided by the invention, the operation curve of the target front car is constructed according to the front car operation data, and the operation curve of the target rear car is constructed according to the rear car operation data, and the test method comprises the following steps:

Determining each front vehicle speed measured at each preset distance according to the front vehicle running data, and constructing the target front vehicle running curve according to each front vehicle speed measured at each preset distance;

and determining each rear vehicle speed measured at each preset distance according to the rear vehicle running data, and constructing the target rear vehicle running curve according to each rear vehicle speed measured at each preset distance.

According to the method for testing the cooperative control algorithm under the virtual marshalling provided by the invention, the testing result of the cooperative control algorithm under the virtual marshalling is output according to the running curve of the target front vehicle and the running curve of the preset front vehicle and the running curve of the target rear vehicle and the running curve of the preset rear vehicle, and the method comprises the following steps:

outputting a front vehicle cooperative test result according to the operation curve of the target front vehicle and the operation curve of the preset front vehicle;

outputting a rear vehicle cooperative test result according to the operation curve of the target rear vehicle and the operation curve of the preset rear vehicle;

and outputting the test result of the cooperative control algorithm under the virtual marshalling according to the front vehicle cooperative test result and the rear vehicle cooperative test result.

According to the test method of the cooperative control algorithm under virtual grouping provided by the invention, the method for outputting the cooperative test result of the front vehicle according to the operation curve of the target front vehicle and the operation curve of the preset front vehicle comprises the following steps:

Determining the speed measured by each preset distance of the front vehicle and each front vehicle speed difference value of the speed preset by each preset distance in a preset front vehicle running curve;

determining the front vehicle cooperative error value according to the average value of all front vehicle speed difference values;

outputting the front vehicle cooperative test result as passing under the condition that the front vehicle cooperative error value is smaller than or equal to a first preset error value;

and outputting the front vehicle cooperative test result as failed under the condition that the front vehicle cooperative error value is larger than a first preset error value.

According to the test method of the cooperative control algorithm under virtual grouping provided by the invention, the method for outputting the cooperative test result of the rear vehicles according to the operation curve of the target rear vehicle and the operation curve of the preset rear vehicle comprises the following steps:

determining a speed difference value between the speed measured by each preset distance of the rear vehicle and each rear vehicle speed of the speed preset by each preset distance in a preset rear vehicle running curve;

determining the rear vehicle cooperative error value according to the average value of all the rear vehicle speed difference values;

outputting the rear vehicle cooperative test result as passing under the condition that the rear vehicle cooperative error value is smaller than or equal to a second preset error value;

And outputting the rear vehicle cooperative test result as failed under the condition that the rear vehicle cooperative error value is larger than a second preset error value.

According to the method for testing the cooperative control algorithm under the virtual marshalling provided by the invention, the testing result of the cooperative control algorithm under the virtual marshalling is output according to the front vehicle cooperative testing result and the rear vehicle cooperative testing result, and the method comprises the following steps:

outputting a test result of a cooperative control algorithm under the virtual marshalling to pass under the condition that the front vehicle cooperative test result passes and the rear vehicle cooperative test result passes;

otherwise, outputting the test result of the cooperative control algorithm under the virtual marshalling as failed.

According to the test method of the cooperative control algorithm under the virtual grouping provided by the invention, after the test result of the cooperative control algorithm under the virtual grouping is output as failed, the method further comprises the following steps:

adjusting control parameters of a cooperative control algorithm under the virtual marshalling;

acquiring front car running data and rear car running data of the virtual marshalling train in each test scene so as to output test results of a cooperative control algorithm under the virtual marshalling;

until the test result of the cooperative control algorithm under the virtual marshalling is output to pass;

The control parameters of the virtual marshalling cooperative control algorithm at least comprise acceleration parameters of the rear vehicle in the virtual marshalling cooperative operation process.

In a second aspect, the present invention provides a test apparatus for a cooperative control algorithm under virtual grouping, including:

the acquisition unit is used for acquiring front car operation data and rear car operation data of the virtual marshalling train for each test scene;

the construction unit is used for constructing an operation curve of the target front vehicle according to the front vehicle operation data and constructing an operation curve of the target rear vehicle according to the rear vehicle operation data;

the output unit is used for outputting a test result of a cooperative control algorithm under virtual grouping according to the operation curve of the target front vehicle and the operation curve of the preset front vehicle and the operation curve of the target rear vehicle and the operation curve of the preset rear vehicle;

In a third aspect, the present invention further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the processor implements the method for testing the cooperative control algorithm under virtual grouping when executing the program.

In a fourth aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of testing a virtual grouped synergistic control algorithm as described in any of the above.

The invention provides a test method, a device, equipment and a medium of a cooperative control algorithm under virtual marshalling, which are based on different test scenes of building a marshalling scene, a marshalling operation scene, a marshalling platform operation scene and a marshalling return operation scene, the obtained front car operation data and the rear car operation data of a virtual marshalling train are used for constructing an operation curve of a target front car and an operation curve of the target rear car, and are respectively compared with the operation curve of the preset front car and the operation curve of the preset rear car, so that test results of the cooperative control algorithm under the virtual marshalling are output.

Drawings

In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic flow chart of a method for testing a cooperative control algorithm under virtual marshalling;

FIG. 2 is a schematic flow chart of the construction of an operational curve provided by the present invention;

FIG. 3 is a flow chart of the output test result provided by the invention;

FIG. 4 is a schematic diagram of a set up grouping scenario provided by the present invention;

FIG. 5 is a schematic diagram of a group operation scenario provided by the present invention;

FIG. 6 is a schematic view of a marshalling station operation scenario provided by the present invention;

FIG. 7 is a schematic diagram of a grouping return operation scenario provided by the present invention;

FIG. 8 is a flow chart of a method for testing a cooperative control algorithm under virtual marshalling provided by the invention;

FIG. 9 is a second flow chart of a method for testing a cooperative control algorithm under virtual marshalling according to the present invention;

FIG. 10 is a third flow chart of a method for testing a cooperative control algorithm under virtual marshalling according to the present invention;

FIG. 11 is a schematic diagram of a test device for a cooperative control algorithm under virtual marshalling provided by the invention;

fig. 12 is a schematic structural diagram of an electronic device provided by the present invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The virtual train grouping technology is a technology applied to an urban rail transit system, and by grouping two trains into one running unit, two trains which are successfully virtually grouped are regarded as one train to be managed and controlled, so that cooperative control and synchronous running among grouped trains are realized.

However, test methods and tools for the virtual consist cooperative control algorithm for trains are relatively rarely studied. The current test technology mainly depends on laboratory simulation and emulation, and cannot perform real test on the actual operation scene of the virtual marshalling train in the field, so that the effectiveness and stability of the cooperative control algorithm cannot be fully evaluated, and in addition, the prior art also lacks a test method and a test device on the virtual marshalling train in different operation scenes, and cannot perform comprehensive verification on the cooperative control algorithm of the marshalling train in the full scenes such as a marshalling scene, a marshalling operation scene, a marshalling platform operation scene, a marshalling return operation scene and the like. In order to solve the above technical problems, the present invention provides a method, an apparatus, a device, and a medium for testing a virtual under-group cooperative control algorithm, and fig. 1 is a schematic flow diagram of the method for testing a virtual under-group cooperative control algorithm, where the method for testing a virtual under-group cooperative control algorithm includes:

Step 101, for each test scene, front car operation data and rear car operation data of the virtual marshalling train are obtained;

102, constructing an operation curve of a target front vehicle according to the front vehicle operation data, and constructing an operation curve of a target rear vehicle according to the rear vehicle operation data;

step 103, outputting a test result of a cooperative control algorithm under virtual grouping according to the operation curve of the target front vehicle and the operation curve of the preset front vehicle and according to the operation curve of the target rear vehicle and the operation curve of the preset rear vehicle;

In step 101, the test scenario includes a group scenario, a group operation scenario, a group platform operation scenario, and a group turn-back operation scenario, that is, for the group scenario, front car operation data and rear car operation data of the virtual group train are obtained; for a marshalling operation scene, front car operation data and rear car operation data of the virtual marshalling train are obtained; for a marshalling platform operation scene, front car operation data and rear car operation data of the virtual marshalling train are obtained; for a grouping return operation scene, front car operation data and rear car operation data of the virtual grouping train are acquired, and in the virtual grouping train shown in the invention, the virtual grouping train comprises the virtual grouping front car and the virtual grouping rear car, so that comprehensive test verification can be carried out on cooperative control algorithms of the virtual grouping front car and the virtual grouping rear car in different scenes, and the effectiveness and the stability of the cooperative control algorithms can be evaluated through real operation scenes and accurately acquired train operation data.

Fig. 4 is a schematic view of a building grouping scene provided by the present invention, fig. 5 is a schematic view of a grouping operation scene provided by the present invention, fig. 6 is a schematic view of a grouping platform operation scene provided by the present invention, and fig. 7 is a schematic view of a grouping turn-back operation scene provided by the present invention, wherein the present invention comprises the following steps by designing a virtual grouping train actual operation scene: the method comprises the steps of establishing a grouping scene, a grouping operation scene, a grouping platform operation scene and a grouping turn-back operation scene, and realizing comprehensive verification of a cooperative control algorithm of a grouping train under the conditions of establishing the grouping scene, the grouping operation scene, the grouping platform operation scene, the grouping turn-back operation scene and the like.

In step 102, an operation curve of a target front car is constructed according to the front car operation data, an operation curve of a target rear car is constructed according to the rear car operation data, the front car operation data comprises parameter information such as speed, position and acceleration when the front car is operated, the rear car operation data comprises parameter information such as speed, position and acceleration when the rear car is operated, the key information is extracted through real-time analysis and processing of the collected operation data, the operation curve of the target front car is determined according to the speed measured by the preset distance of each interval of the front car, and the operation curve of the target rear car is determined according to the speed measured by the preset distance of each interval of the rear car.

In step 103, according to the operation curve of the target front vehicle and the operation curve of the preset front vehicle, according to the operation curve of the target rear vehicle and the operation curve of the preset rear vehicle, the test result of the cooperative control algorithm under the virtual grouping is output, the operation curve of the preset front vehicle and the operation curve of the preset rear vehicle are preset ideal target curves, which are also determined according to the speed measured at each interval of preset distance, by comparing the operation curve of the target front vehicle with the operation curve of the preset front vehicle, the operation curve of the target rear vehicle is compared with the operation curve of the preset rear vehicle, and the difference between the two groups of curves is analyzed, so that the test result of the cooperative control algorithm under the virtual grouping is output.

Optionally, for any test scene, outputting the test result under the current test scene, traversing all the test scenes, outputting all the test results, and determining the test result of the cooperative control algorithm under the final virtual marshalling according to all the test results measured.

Optionally, before acquiring the front car operation data and the rear car operation data of the virtual marshalling train, the method further includes acquiring front car initial data and rear car initial data under each test scene, cleaning the front car initial data and the rear car initial data under each test scene, screening out first front car operation data and first rear car operation data, and performing time sequence adjustment on the first front car operation data and the first rear car operation data to acquire second front car operation data and second rear car operation data; and performing alignment time stamp operation on the second front car operation data and the second rear car operation data to obtain the front car operation data and the rear car operation data of the virtual marshalling train.

Optionally, the method and the device for preprocessing the front car initial data and the rear car initial data of the virtual marshalling train in real time collect the front car initial data and the rear car initial data of the virtual marshalling train, preprocessing the front car initial data and the rear car initial data, wherein the preprocessing comprises data cleaning, time sequence adjustment and time stamp alignment, the accuracy and the usability of the data are ensured through the preprocessing operation, and finally, the operations such as feature extraction, analysis and the like are performed according to the preprocessed front car operation data and the preprocessed rear car operation data, and test results are output.

The invention provides a virtual marshalling train cooperative control algorithm test method based on a target curve, which can comprehensively test and verify the virtual marshalling train in an actual running scene by manufacturing the target curve, so that the test is more real and accurate, and the effectiveness of the cooperative control algorithm in different scenes can be fully evaluated.

The invention can comprehensively verify the cooperative control algorithm of the marshalling train under the full scenes of building a marshalling scene, a marshalling operation scene, a marshalling platform operation scene, a marshalling turn-back operation scene and the like, and the full scene test can better simulate the actual operation condition and ensure the stability and the reliability of the cooperative control algorithm under various operation scenes.

The invention can also accurately collect the operation data of the virtual marshalling train, and can evaluate and analyze the performance of the cooperative control algorithm in actual operation through the data collected in real time. The invention also provides a reliable means for testing and verifying the virtual marshalling cooperative control algorithm of the train, and the authenticity, accuracy and reliability of the test result can be ensured through the test of the actual operation scene and accurate data acquisition, so that the virtual marshalling cooperative control algorithm of the urban rail train is better evaluated and optimized, and the invention is beneficial to improving the application level of the virtual marshalling technology of the urban rail train. The application efficiency and the data accuracy of the virtual marshalling technology of the urban rail train can be improved by rapidly and accurately verifying the effectiveness of the cooperative control algorithm.

The invention provides a test method, a device, equipment and a medium of a cooperative control algorithm under virtual marshalling, which are based on different test scenes of building a marshalling scene, a marshalling operation scene, a marshalling platform operation scene and a marshalling turn-back operation scene, the obtained front car operation data and the back car operation data of a virtual marshalling train are used for building an operation curve of a target front car and an operation curve of the target back car, and are respectively compared with the operation curve of the preset front car and the operation curve of the preset back car, so that test results of the cooperative control algorithm under the virtual marshalling are output.

Fig. 2 is a schematic flow chart of a process for constructing an operation curve according to the front vehicle operation data, wherein the process for constructing an operation curve of a target front vehicle according to the rear vehicle operation data includes:

step 201, determining each front vehicle speed measured at each preset distance according to the front vehicle running data, and constructing the target front vehicle running curve according to each front vehicle speed measured at each preset distance;

step 202, determining each rear vehicle speed measured at each preset distance according to the rear vehicle running data, and constructing the target rear vehicle running curve according to each rear vehicle speed measured at each preset distance.

In step 201, the present invention obtains the speed and the position of the front vehicle through the testing device disposed on the front vehicle, where the preset distance may be 1 cm, 1 m or 10 m, that is, the speed of the front vehicle is measured once every a distance, so that a graph is established with the driving distance of the front vehicle as the horizontal axis and the speed measured by the driving distance as the vertical axis.

In step 202, the present invention obtains the speed and the position of the rear vehicle through the testing device disposed on the rear vehicle, where the preset distance may be 1 cm, 1 m or 10 m, i.e. the speed of the current rear vehicle is measured at intervals, so that the graph is built with the driving distance of the rear vehicle as the horizontal axis and the speed measured by the driving distance as the vertical axis, and the smaller the preset distance is, the finer the operation curve reflected by the graph is, and the present invention does not limit the construction of the graph, and can perform actual processing according to actual requirements.

According to the invention, the operation curve of the front car of the target and the operation curve of the rear car of the target are constructed, the mapping of the cooperative control algorithm under virtual marshalling from the macroscopic angle is intuitively reflected, an accurate test result is provided, train operation data can be accurately acquired and analyzed, a target curve is generated for testing, the performance and the optimization direction of the cooperative control algorithm are objectively evaluated for the subsequent analysis of the test result, and the guidance is provided for the improvement of the virtual marshalling technology of the urban rail train.

Fig. 3 is a schematic flow chart of outputting a test result provided by the present invention, according to the operation curve of the target rear vehicle and the operation curve of the preset rear vehicle, outputting a test result of a cooperative control algorithm under a virtual group, including:

step 301, outputting a front vehicle cooperative test result according to the operation curve of the target front vehicle and the operation curve of the preset front vehicle;

step 302, outputting a rear vehicle cooperative test result according to the operation curve of the target rear vehicle and the operation curve of the preset rear vehicle;

and 303, outputting a test result of the cooperative control algorithm under the virtual marshalling according to the front vehicle cooperative test result and the rear vehicle cooperative test result.

In step 301, test verification is performed on the front vehicles of the cooperative control algorithm under the virtual train consist, specifically, the outputting a front vehicle cooperative test result according to the operation curve of the target front vehicle and the operation curve of the preset front vehicle includes:

Optionally, the operation curve of the target front vehicle and the preset front vehicle operation curve are adjusted to the same curve scale, including but not limited to adjusting the measurement unit in the transverse axis direction and the measurement unit in the vertical axis direction in the preset front vehicle operation curve to be consistent with the measurement unit of the operation curve of the target front vehicle.

Further, the preset distance may be 250 meters, that is, on the horizontal axis of the operation curve, the speed in the vertical axis direction in the operation curve of the target front vehicle is taken every 250 meters, and the speed in the vertical axis direction in the operation curve of the preset front vehicle is taken, for example, every 250 meters, the speeds of the operation curve of the target front vehicle are respectively obtained to be 40km/h, 56km/h, 58km/h and 46km/h, and the speeds of the operation curve of the preset front vehicle are obtained to be 42km/h, 50km/h, 60km/h and 44km/h.

Optionally, the speed measured by the preset distance of each interval of the front vehicle is determined, and the speed difference value of each front vehicle of the speed preset by the preset distance of each interval in the preset front vehicle running curve is respectively 2km/h, 6km/h, 2km/h and 2km/h.

Optionally, the front vehicle cooperative error value is determined according to the average value of all the front vehicle speed difference values, and the front vehicle cooperative error value is 3km/h.

Optionally, if the first preset error value is 1.5km/h, outputting the front vehicle cooperation test result as failed under the condition that the front vehicle cooperation error value is 3km/h.

Optionally, if the first preset error value is 4km/h, the front vehicle cooperative test result is output to pass under the condition that the front vehicle cooperative error value is 3km/h, and the first preset error value may be set according to actual requirements, which is not described herein.

The invention can rapidly test and verify the virtual marshalling cooperative control algorithm of the urban rail train, output the cooperative test result of the front vehicle, and compared with the traditional laboratory simulation and simulation, the invention can perform the field test in the actual operation scene, save time and cost and improve the test efficiency.

In step 302, outputting a rear vehicle cooperative test result according to the operation curve of the target rear vehicle and the operation curve of the preset rear vehicle, including:

Further, the preset distance adopted in outputting the cooperative test result of the rear vehicle may be the same as or different from the preset distance adopted in outputting the cooperative test result of the front vehicle, for example, the preset distance may be 150 meters, that is, the speed in the vertical axis direction of the operation curve of the target rear vehicle is taken every 150 meters on the horizontal axis of the operation curve, the speed in the vertical axis direction of the operation curve of the preset rear vehicle is taken, for example, the speed of the operation curve of the target rear vehicle is respectively obtained every 150 meters and is 32km/h, 50km/h, 52km/h and 44km/h, and the speed of the operation curve of the preset rear vehicle is obtained and is 31km/h, 49km/h, 51km/h and 43km/h.

Optionally, the speed measured by each preset distance of the rear vehicle is determined to be 1km/h, 1km/h and 1km/h respectively, and the speed difference value of each rear vehicle of the speed preset by each preset distance in the preset rear vehicle running curve.

Optionally, the rear vehicle cooperative error value is determined according to the average value of all the rear vehicle speed differences, and the rear vehicle cooperative error value is 1km/h.

Optionally, if the second preset error value is 1.5km/h, outputting the result of the post-vehicle cooperative test as passing under the condition that the post-vehicle cooperative error value is 1km/h.

Optionally, if the second preset error value is 0.5km/h, the post-vehicle cooperative test result is output as failed if the post-vehicle cooperative error value is 1km/h, and the second preset error value may be set according to actual requirements, which is not described herein.

The invention can rapidly test and verify the virtual marshalling cooperative control algorithm of the urban rail train, outputs the cooperative test result of the rear vehicle, and can perform field test in the actual operation scene, save time and cost and improve the test efficiency compared with the traditional laboratory simulation and simulation.

In step 303, the outputting a test result of the cooperative control algorithm under the virtual consist according to the front vehicle cooperative test result and the rear vehicle cooperative test result includes:

Optionally, when the front vehicle cooperative test result is passing and the rear vehicle cooperative test result is passing, the comprehensive test and verification of the cooperative control algorithm are considered, the validity and stability of the cooperative control algorithm in actual operation can be ensured, and the test result of the cooperative control algorithm under the virtual grouping is output to pass.

When the front vehicle cooperative test result is not passed and the rear vehicle cooperative test result is passed, outputting a test result of a cooperative control algorithm under the virtual marshalling to be not passed; outputting a test result of a cooperative control algorithm under the virtual marshalling as not passing under the condition that the front vehicle cooperative test result is passing and the rear vehicle cooperative test result is not passing; and outputting a test result of the cooperative control algorithm under the virtual marshalling to be failed under the condition that the front vehicle cooperative test result is failed and the rear vehicle cooperative test result is failed.

The invention provides a reliable means for testing and verifying the virtual marshalling cooperative control algorithm of the urban rail train by outputting the test result of the virtual marshalling cooperative control algorithm, and can simulate the running state and interaction condition of the marshalling train more truly and accurately by testing the actual running scene, thereby ensuring the accuracy and reliability of the test result.

The invention aims to solve the problem of relatively lacking of a method and tools for testing a virtual train grouping collaborative control algorithm in the technical field of the virtual marshalling of the current urban rail train, and outputs a test result of the collaborative control algorithm under the virtual marshalling according to the running curve of the target rear vehicle and the running curve of the preset rear vehicle, so that the application level of the virtual marshalling technology of the urban rail train is improved, the effectiveness and the stability of the collaborative control algorithm in actual running are ensured through comprehensive test and verification of the collaborative control algorithm, and the collaborative running capability among marshalling trains can be enhanced.

Optionally, after the test result of the cooperative control algorithm under the output virtual consist is failed, the method further includes:

After the test result of the virtual-group cooperative control algorithm is output, the problem and the defect of the cooperative control algorithm are found, the control parameters of the virtual-group cooperative control algorithm are adjusted, the control parameters of the virtual-group cooperative control algorithm at least comprise acceleration parameters in the process of the cooperative operation of the rear vehicle under the virtual group, after the control parameters of the virtual-group cooperative control algorithm are adjusted, the front vehicle operation data and the rear vehicle operation data of the virtual-group train in each test scene are acquired again under different test scenes, the test result of the virtual-group cooperative control algorithm is finally output, if the test result of the virtual-group cooperative control algorithm is output, the control parameters of the virtual-group cooperative control algorithm are adjusted again, and if the test result of the virtual-group cooperative control algorithm is output, the adjustment is stopped.

Fig. 8 is a schematic flow chart of a test method of a cooperative control algorithm under virtual marshalling, which is provided by the invention, according to analysis of test results, the cooperative control algorithm of a virtual marshalling system of a urban rail train is adjusted and improved so as to improve the effectiveness of the cooperative control algorithm.

As shown in fig. 8, the present invention performs test result evaluation based on test result data, confirms that the cooperative control algorithm is available in the case of passing, determines a problem of the cooperative control algorithm in the case of not passing, analyzes data points with excessive deviation according to a test result curve, modifies a model parameter of the cooperative control algorithm, and repeats the test, or determines that other problems exist in the case of not passing.

According to the invention, through analyzing the deviation value of the test result data, the cooperative control function of the virtual marshalling train can be optimized and adjusted, the test result of each test of the virtual marshalling train cooperative control algorithm can output the comparison condition of the actual running curve and the target curve of the train, the actual effect of the virtual marshalling cooperative control algorithm can be judged to meet the expectations according to the comparison information of the actual running curve and the target curve, otherwise, the virtual marshalling cooperative control parameters can be continuously adjusted, repeated tests are carried out until the expected control effect is obtained, and the test method shown in fig. 8 can provide reliable technical support for the application of the urban rail train virtual marshalling cooperative control technology and promote the wide application of the urban rail traffic system.

The invention can promote technical innovation and improvement by adjusting the control parameters of the cooperative control algorithm under the virtual marshalling, provides a basis for further innovation and improvement of the virtual marshalling cooperative control technology of the urban rail train, can find problems and defects of the cooperative control algorithm through analysis of test results, and can pertinently improve and optimize the problems and defects, thereby promoting the continuous development and innovation of the virtual marshalling cooperative control technology of the urban rail train.

Fig. 9 is a second flow chart of a test method of a cooperative control algorithm under virtual marshalling, firstly, making target curve data, inputting to-be-tested vehicle-mounted equipment to determine an expected operation reference curve of a marshalling train, then designing a test scene, namely, the test scene comprises a marshalling scene, a marshalling operation scene, a marshalling platform operation scene and a marshalling turn-back operation scene, and then setting a test device, wherein the test device comprises a data acquisition module, a data analysis module, a curve generation module and a test result output module.

After the train is started, the train is enabled to enter a virtual marshalling mode to operate, and the virtual marshalling mode is sequentially operated in a marshalling building scene, a marshalling operation scene, a marshalling platform operation scene and a marshalling return operation scene. The test device is used for collecting test data, analyzing and processing the collected data in real time, generating an actual running curve of the marshalling train by using the curve generating module, generating the actual running curve of the marshalling train and a target curve in the data by the test device according to the curve generating module, analyzing the effectiveness of a virtual marshalling train cooperative control algorithm, and automatically outputting a test result.

Fig. 10 is a third flow chart of a test method of a cooperative control algorithm under virtual marshalling, which is provided by the invention, wherein the test device comprises a data acquisition module, a data analysis module, a curve generation module and a test result output module, wherein the data acquisition module is used for receiving and acquiring operation data of a marshalling train, including parameter information such as speed, position and acceleration; the data analysis module is used for carrying out real-time analysis and preprocessing on the collected operation data and extracting key information; the curve generation module is used for generating an actual running curve of the train by combining the running data obtained by the analysis module; the test result output module is used for automatically outputting test results according to the target curve which is manufactured in advance and the actual running curve of the train which is generated by the curve generation module, and comprises validity assessment and performance analysis of a cooperative control algorithm.

Fig. 11 is a schematic structural diagram of a test device for a virtual-grouped cooperative control algorithm according to the present invention, and the present invention provides a test device for a virtual-grouped cooperative control algorithm, which includes an acquiring unit 1, configured to acquire, for each test scenario, front car operation data and rear car operation data of a virtual-grouped train, where the working principle of the acquiring unit 1 may refer to the foregoing step 101 and is not described herein.

The test device of the cooperative control algorithm under the virtual grouping further includes a construction unit 2, the construction unit is configured to construct an operation curve of the target front vehicle according to the front vehicle operation data, and construct an operation curve of the target rear vehicle according to the rear vehicle operation data, and the working principle of the construction unit 2 may refer to the foregoing step 102 and will not be described herein.

The test device of the cooperative control algorithm under the virtual group further comprises an output unit 3, the output unit is configured to output a test result of the cooperative control algorithm under the virtual group according to the operation curve of the target front vehicle and the operation curve of the preset front vehicle and according to the operation curve of the target rear vehicle and the operation curve of the preset rear vehicle, and the working principle of the output unit 3 may refer to the foregoing step 103 and will not be described herein.

Fig. 12 is a schematic structural diagram of an electronic device provided by the present invention. As shown in fig. 12, the electronic device may include: processor 110, communication interface (Communications Interface) 120, memory 130, and communication bus 140, wherein processor 110, communication interface 120, memory 130 communicate with each other via communication bus 140. Processor 110 may invoke logic instructions in memory 130 to perform a method of testing a cooperative control algorithm under a virtual consist, the method comprising: for each test scene, front car running data and rear car running data of the virtual marshalling train are obtained; constructing an operation curve of a target front vehicle according to the front vehicle operation data, and constructing an operation curve of a target rear vehicle according to the rear vehicle operation data; outputting a test result of a cooperative control algorithm under virtual grouping according to the operation curve of the target front vehicle and the operation curve of the preset front vehicle and the operation curve of the target rear vehicle and the operation curve of the preset rear vehicle; the test scene comprises a building grouping scene, a grouping operation scene, a grouping platform operation scene and a grouping turn-back operation scene; the operating curve is determined from the speed measured at each preset distance of the train.

In addition, the logic instructions in the memory 130 may be implemented in the form of software functional units and stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

In another aspect, the present invention also provides a computer program product, where the computer program product includes a computer program, where the computer program can be stored on a non-transitory computer readable storage medium, and when the computer program is executed by a processor, the computer can execute a method for testing a cooperative control algorithm under virtual grouping provided by the above methods, where the method includes: for each test scene, front car running data and rear car running data of the virtual marshalling train are obtained; constructing an operation curve of a target front vehicle according to the front vehicle operation data, and constructing an operation curve of a target rear vehicle according to the rear vehicle operation data; outputting a test result of a cooperative control algorithm under virtual grouping according to the operation curve of the target front vehicle and the operation curve of the preset front vehicle and the operation curve of the target rear vehicle and the operation curve of the preset rear vehicle; the test scene comprises a building grouping scene, a grouping operation scene, a grouping platform operation scene and a grouping turn-back operation scene; the operating curve is determined from the speed measured at each preset distance of the train.

In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform a method of testing a virtual grouped cooperative control algorithm provided by the above methods, the method comprising: for each test scene, front car running data and rear car running data of the virtual marshalling train are obtained; constructing an operation curve of a target front vehicle according to the front vehicle operation data, and constructing an operation curve of a target rear vehicle according to the rear vehicle operation data; outputting a test result of a cooperative control algorithm under virtual grouping according to the operation curve of the target front vehicle and the operation curve of the preset front vehicle and the operation curve of the target rear vehicle and the operation curve of the preset rear vehicle; the test scene comprises a building grouping scene, a grouping operation scene, a grouping platform operation scene and a grouping turn-back operation scene; the operating curve is determined from the speed measured at each preset distance of the train.

The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. The method for testing the cooperative control algorithm under the virtual grouping is characterized by comprising the following steps of:

2. The method for testing a cooperative control algorithm under a virtual consist according to claim 1, wherein the constructing an operation curve of a target front car according to the front car operation data and constructing an operation curve of a target rear car according to the rear car operation data comprises:

3. The method for testing the cooperative control algorithm under virtual consist according to claim 1, wherein the outputting the test result of the cooperative control algorithm under virtual consist according to the operation curve of the target front car and the operation curve of the preset front car and the operation curve of the target rear car and the operation curve of the preset rear car comprises:

4. The method for testing the cooperative control algorithm under virtual consist according to claim 3, wherein outputting the cooperative test result of the front vehicle according to the operation curve of the target front vehicle and the operation curve of the preset front vehicle comprises:

5. The method for testing the cooperative control algorithm under virtual consist according to claim 3, wherein outputting the cooperative test result of the rear vehicle according to the operation curve of the target rear vehicle and the operation curve of the preset rear vehicle comprises:

6. The method for testing the virtual-group cooperative control algorithm according to claim 3, wherein outputting the test result of the virtual-group cooperative control algorithm according to the front-vehicle cooperative test result and the rear-vehicle cooperative test result comprises:

7. The method for testing the virtual under-consist cooperative control algorithm according to claim 6, wherein after outputting the test result of the virtual under-consist cooperative control algorithm as failed, the method further comprises:

8. The utility model provides a testing arrangement of cooperative control algorithm under virtual marshalling which characterized in that includes:

9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements a method of testing a virtual marshalling cooperative control algorithm as defined in any one of claims 1-7 when the program is executed.

10. A non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor implements a method of testing a virtual under-consist cooperative control algorithm as claimed in any of claims 1 to 7.