Research on Cooperative Velocity Planning Technology for Urban Rail Train Virtual Coupling

Abstract

The virtual coupling technology of urban rail trains offers an effective solution to unbalanced temporal and spatial distribution of passenger flow. Based on the key requirements for urban rail trains, namely punctuality, comfort and sufficient time for platform operations, this study proposed a cooperative speed planning algorithm for virtual coupling, featuring information centralized decision-making, following an investigation into train traction and braking characteristics, vehicle kinematics and dynamics models. This algorithm was further devised to incorporate constraint conditions, objective functions, and optimal solutions, and then used to calculate the planning sequence of displacements, speeds, accelerations, traction or braking forces, jerks and operating conditions during the operation of two coupled trains over time. In subsequent field experiments, the arrival time differences of the coupled trains were less than 3 s, stopping time differences between the preceding and following trains were less than 2 s, jerks were maintained at less than 0.1 m/s3, and smooth switching was achieved between traction and braking conditions, demonstrating the efficacy of the proposed algorithm in facilitating safe, punctual, comfortable and efficient operation of coupled trains. The study outcomes lay a solid foundation for future engineering applications.

Keywords

• urban rail train
• virtual coupling
• speed planning
• optimal control
• centralized decision-making