Tracking and collision avoidance of virtual coupling train control system

摘要

In rail transit systems, improving transportation efficiency has become a research hotspot. In recent years, a new method of train control system based on virtual coupling has attracted the attention of many scholars. And the train operation control method is not only the key to realize the virtual coupling train operation control system but also the key to prevent accidents. To this end, a virtual coupling implementation scheme based on local leader-follower method is proposed in this paper. Then, a dynamic model of virtual coupling is established. Based on the dynamics model, the minimum tracking distance and the expected tracking distance which are used to prevent accidents are calculated. The recursive least square method based on the train operation process data is used to identify the model parameters of the virtual coupling train formation operation process. A controller based on generalized model predictive and mixed artificial potential field are used to perform cooperative control and preventing collision of the virtual coupling train. Finally, a section of Beijing-Shanghai high-speed railway is used as the background to verify the validity of the method.