EP3760513B1 - Multi-train cooperative controlling method and system using virtual coupling - Google Patents

Multi-train cooperative controlling method and system using virtual coupling Download PDF

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Publication number
EP3760513B1
EP3760513B1 EP18920691.5A EP18920691A EP3760513B1 EP 3760513 B1 EP3760513 B1 EP 3760513B1 EP 18920691 A EP18920691 A EP 18920691A EP 3760513 B1 EP3760513 B1 EP 3760513B1
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European Patent Office
Prior art keywords
train
controlled
adjacent
acceleration
distance
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German (de)
English (en)
French (fr)
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EP3760513A4 (en
EP3760513A1 (en
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Ling Liu
Wei Wei
Bo Zhang
Youbing Zhang
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CRSC Research and Design Institute Group Co Ltd
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CRSC Research and Design Institute Group Co Ltd
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Priority to HRP20220662TT priority Critical patent/HRP20220662T1/hr
Priority to RS20220517A priority patent/RS63263B1/sr
Publication of EP3760513A1 publication Critical patent/EP3760513A1/en
Publication of EP3760513A4 publication Critical patent/EP3760513A4/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/34—Control, warning or like safety means along the route or between vehicles or trains for indicating the distance between vehicles or trains by the transmission of signals therebetween
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/30—Trackside multiple control systems, e.g. switch-over between different systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0018—Communication with or on the vehicle or train
    • B61L15/0027—Radio-based, e.g. using GSM-R
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0062—On-board target speed calculation or supervision

Definitions

  • the present disclosure relates to a field of rail transit technology, and more particularly, to a multi-train cooperative controlling method and system using virtual coupling.
  • tracking control is usually carried out by blocking, that is, it is a technical method of sectioning by using a signal or a certificate to ensure trains to operate in such a way that a certain distance must be maintained between a preceding train and a tracking train (a block-based system).
  • a front controlled train is tracked according to a block section, which has a relatively large tracking interval, and relatively low control efficiency as affected by more control hierarchies; in addition, the two trains are managed as independent individuals, respectively occupying a train number and a planned line, and thus, transportation capacity of a single train cannot be flexibly adjusted.
  • Patent Application No. CN201710686257.0 discloses a virtual coupling small-group train control method; in the method, point-to-point communication is implemented between controlled trains based on a vehicle-mounted device, to further constitute a virtual coupling small-group. Since coupling is implemented in a virtual mode, higher requirements are put forward for multi-train cooperative control in the trains; a tracking strategy of a controlled train to an immediately preceding train in the above-described patent is that: the main train follows operating states, i.e., accelerating, cruising and decelerating of the immediately preceding train; a control model is for closed-loop feedback control based on acceleration, with distance deviation and speed deviation as input; and meanwhile, a relative safety distance is calculated in real time according to a current speed as a safety restrictive condition of the control model.
  • DE 19824013A1 discloses a method of controlling rail vehicles, e.g. calculating a target speed and a target acceleration of a vehicle.
  • the present disclosure proposes a multi-train cooperative controlling method using virtual coupling.
  • multiple trains are no longer physically connected by a device such as a coupler, but implement multi-train virtual coupling by means of wireless communication such as train-to-train communication.
  • a distance between the trains or relative positions thereof will change during operation of the trains.
  • FIG. 1 exemplarily shows a diagram of a positional relationship between multiple trains under cooperative control in the virtual coupling system.
  • virtual coupling multi-train cooperation are controlled, and according to a front-rear relationship of multi-train positions, the consecutive multiple trains are regarded as a virtual coupling train group; when controlling a certain train in the train group, the train may be regarded as a controlled train, and according to a state of the controlled train and an operating state of an adjacent train thereof, control acceleration of the controlled train is determined, so as to adjust a speed of the controlled train.
  • the multiple trains include train 1...train i -1, train i ...train N, where, train 1 may be taken as a pilot train.
  • train i and train i -1 are in a front-rear adjacent relationship among the multiple trains as an example.
  • Train i as a controlled train, has a certain distance from train i -1, which is an immediately preceding train adjacent thereto.
  • x i and x i- 1 respectively represent positions where heads of train i and train i -1 are located;
  • v i and v i -1 respectively represent current driving speeds of train i and train i -1;
  • D ( v i , v i -1 ) is an ideal distance that needs to be maintained between the two trains when the driving speed of train i is v i, and the driving speed of train i-1 is v i -1 ; and the ideal distance is affected by a speed of the controlled train.
  • the distance D(v i , v i -1 ) between train i and train i-1 is a relatively ideal distance; and when the two trains maintain the ideal distance for operation, efficient operation of the trains can be ensured, without safety issues such as collision.
  • the above-described ideal distance D ( v i , v i -1 ) is also related to a safety distance d 0 , a train length L, a common braking distance Sc i ( v i ) of train i , and an urgent braking distance Su i - 1 ( v i - 1 ) of train i -1.
  • the common braking distance Sc i ( v i ) of train i depends on the current speed v i of train i, and may be obtained by querying actual train parameters; and the urgent braking distance Su i - 1 ( v i - 1 ) of train i -1 depends on the current speed v i- 1 of train i -1, and may be obtained by querying actual train parameters.
  • d 0 is the safety distance reserved between the head of the controlled train and a tail of the immediately preceding train when the two trains stop after the controlled train adopts common braking, in a case where the immediately preceding train adopts urgent braking.
  • the operation process of the multi-train system based on virtual coupling is divided into different operating states based on a distance relationship and a speed relationship between the controlled train and the immediately preceding train; and by control means such as train speed accelerating or decelerating, the train may switch between different operating states, to finally achieve a balanced operating state where the controlled train and the immediately preceding train have consistent speeds and a stable distance.
  • a table below shows 9 operating states.
  • Distance relationship Speed relationship Operating states Accelerating/decelerating trend analysis x ⁇ ⁇ x i- 1 -D ( v i , v i- 1 ) v i > v i- 1
  • Controlled train decelerates, entering operating state 5.
  • v i v i -1 2
  • Controlled train firstly accelerates, entering operating state 1; then decelerates, entering operating state 5.
  • v ⁇ ⁇ v i- 1 3 Controlled train firstly accelerates, entering operating state 2; further accelerates, entering operating state 1; and then decelerates, entering operating state 5.
  • x i x i- 1 -D ( v i , v i -1 )
  • Controlled train operates at a constant speed, to enter operating state 7.
  • v i v i -1 5
  • Controlled train maintains a current operating state. If it accelerates, it will enter operating state 7; and if it decelerates, it will enter operating state 3.
  • Controlled train operates at a constant speed, to enter operating state 3.
  • v i > v i- 1 7 Controlled train firstly decelerates, entering operating state 8; further decelerates, entering operating state 9; and finally accelerates, entering operating state 5.
  • v i v i -1 8
  • Controlled train firstly decelerates, entering operating state 9; then accelerates, entering operating state 5.
  • v ⁇ ⁇ v i- 1 9 Controlled train accelerates, entering operating state 5.
  • the operating states of the train are set to 9 types.
  • a speed of the controlled train may be controlled, for example, the speed may be increased or decreased through acceleration, so that the controlled train enters from one operating state into another operating state; and it should be well known to those skilled in the art that, acceleration is a positive number when increasing the speed; while deceleration is a negative number when decreasing the speed.
  • the distance between the controlled train and the immediately preceding train is the ideal distance D ( v i , v i -1 ), and operating speeds of the two are also the same, that is, the two enter a stable operating state. If all the trains in the train group (except the pilot train) are near the stable operating state 5, the entire train group may achieve efficient and safe operation.
  • FIG. 2 shows a schematic flow chart that the controlled train switches between different operating states.
  • the front train and the rear train have consistent relative speeds and maintain a certain ideal distance, for example, the trains are in a stopped operating state or a high-speed stable operating state.
  • train i the controlled train
  • train i when train i is in stable operating state 5, a front train is about to arrive at the station, at this time, train i -1 decelerates, and the speed v i- 1 thereof decreases, causing the speed v i of train i to be greater than the speed v i- 1 of the immediately preceding train, at this time, train i enters from operating state 5 into operating state 4, and further enters into operating state 7; when the train leaves the station, the speed v i- 1 of train i -1 increases, causing the speed v i of train i to be less than the speed v i- 1 of train i -1, at this time, the train enters from operating state 5 into operating state 6, and further enters into operating state 3.
  • train i may increase the speed, at this time, the train enters from operating state 5 into operating state 3; and if the line condition is poor, train i needs to pass through at a reduced speed, and at this time, the train enters from operating state 5 into operating state 7.
  • train i After train i enters into operating state 3 or operating state 7 as described above, as shown in the above table and FIG. 2 , it may continue to change the operating state by control means of acceleration and deceleration and reach a stable operating state.
  • a control force (a combined force of a driving force, a braking force, resistance, etc.) reasonably exerted on the controlled train may accelerate or decelerate the latter, so that the controlled train may switch between different operating states, and finally switch to stable operating state 5, that is, when all trains in the train group are operating at a high speed, it is guaranteed that the respective trains track one after another at a same high speed with a suitable safety distance, or all trains in the train group stop.
  • the immediately preceding train may send information such as position information, speed information, and acceleration information thereof to the controlled train in real time.
  • the controlled train may also actively detect information such as position, speed and acceleration of the immediately preceding train in real time through a detecting apparatus, or obtain information such as position, speed and acceleration of the immediately preceding train through a train control system.
  • train i may switch between different operating states by control means of speed increasing or decreasing through certain acceleration.
  • train i dynamically adjusts its own acceleration a i based on a redundancy distance ⁇ x i and a relative speed v ⁇ i between the controlled train and the immediately preceding train.
  • train i adjusts the acceleration of train i according to the acceleration of train i -1, to further change the operating state of the train; and the control acceleration of train i is as shown in Formula (3).
  • a i ⁇ a i + a ⁇ i ⁇ 1
  • an embodiment of the present disclosure further provides a multi-train cooperative controlling system using virtual coupling.
  • a control center implements data transmission with respective trains through a train communicating unit; and data transmission between the respective trains may be implemented through the train communicating unit.
  • the cooperative controlling system includes an information obtaining unit, an acceleration calculating unit, and a speed adjusting unit, wherein, the information obtaining unit is configured to obtain acceleration of an immediately preceding train, a speed difference value between the immediately preceding train and a controlled train, and a redundancy distance between the immediately preceding train and the controlled train; the acceleration calculating unit is configured to determine control acceleration of the controlled train according to the acceleration of the immediately preceding train, the speed difference value between the immediately preceding train and the controlled train, and the redundancy distance between the immediately preceding train and the controlled train; and the speed adjusting unit is configured to adjust a speed of the controlled train according to the determined control acceleration of the controlled train.
  • the cooperative controlling system further includes a communicating unit; and the communicating unit is configured to implement data transmission between trains and between the trains and the control center.
  • the embodiment of the present disclosure is exemplarily described by taking the rear train as a controlled train that follows the front train. Yet not claimed, it is also applicable that the front train is taken as a controlled train that makes adjustment according to an operating state of the rear train.
  • multiple adjacent trains operating on a same line in a same direction are organized as a whole, and the trains are no longer independent individuals but have an internal association relationship established, thereby breaking the concept of block section, and improving train control efficiency;
  • the acceleration of the rear train is determined according to the acceleration parameter of the front train, the parameter of the speed difference value between the front train and the rear train, and the parameter of the redundancy distance between the front train and the rear train, thereby making the virtual coupling trains safer and more reliable, and further reducing a tracking distance between two adjacent trains among multiple trains; there is no physical connection between the trains, and flexibility thereof is greatly improved.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
EP18920691.5A 2018-05-31 2018-08-13 Multi-train cooperative controlling method and system using virtual coupling Active EP3760513B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
HRP20220662TT HRP20220662T1 (hr) 2018-05-31 2018-08-13 Metoda i sustav za kooperativno upravljanje više vlakova korištenjem virtualne spojke
RS20220517A RS63263B1 (sr) 2018-05-31 2018-08-13 Postupak i sistem za kooperativno kontrolisanje više vozova pomoću virtuelnog spajanja

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201810551198.0A CN108791366B (zh) 2018-05-31 2018-05-31 一种采用虚拟耦合的多列车协同控制方法及系统
PCT/CN2018/100192 WO2019227674A1 (zh) 2018-05-31 2018-08-13 一种采用虚拟耦合的多列车协同控制方法及系统

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EP3760513A1 EP3760513A1 (en) 2021-01-06
EP3760513A4 EP3760513A4 (en) 2021-05-12
EP3760513B1 true EP3760513B1 (en) 2022-05-18

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EP (1) EP3760513B1 (hu)
CN (1) CN108791366B (hu)
HR (1) HRP20220662T1 (hu)
HU (1) HUE059390T2 (hu)
RS (1) RS63263B1 (hu)
WO (1) WO2019227674A1 (hu)

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RS63263B1 (sr) 2022-06-30
HRP20220662T1 (hr) 2022-06-24
HUE059390T2 (hu) 2022-11-28
EP3760513A4 (en) 2021-05-12
WO2019227674A1 (zh) 2019-12-05
CN108791366B (zh) 2020-02-14
CN108791366A (zh) 2018-11-13
EP3760513A1 (en) 2021-01-06

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