基于全局优化的列车自动驾驶实时规划算法
王凯1宋立博1华润恺2朱琴跃2
Real Time Planning Algorithm of Automatic Train Driving Based on Global Optimization
WANG Kai1SONG Libo1HUA Runkai2ZHU Qinyue2
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作者信息:1.中车青岛四方机车车辆股份有限公司,266111,青岛
2.同济大学电子与信息工程学院,201804,上海
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Affiliation:1.CRRC Qingdao Sifang Locomotive & Rolling Stock Co., Ltd., 266111, Qingdao, China
2.School of Electronic and Information Engineering, Tongji University, 201804, Shanghai, China
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关键词:
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Key words:
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DOI:10.16037/j.1007-869x.2024.06.008
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中图分类号/CLCN:U284.48
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栏目/Col:研究报告
摘要:
[目的]针对现有城市轨道交通列车自动驾驶中目标速度规划算法运算量大、运算时间长而无法实时应对突发状况时线路限速临时改变的问题,提出一种基于全局优化的目标速度实时规划算法,实时生成规划速度曲线。[方法]依据列车当前位置、当前速度、运行前方线路限速等条件,首先通过逐点计算的方式生成最短用时规划速度曲线;接着调整牵引、制动级位使列车保持匀加速/减速运行,优化列车运行的舒适度指标;并结合调整最高限速段的巡航速度减少不必要的牵引和制动时间,优化列车运行的能耗指标,最后输出列车规划速度曲线。[结果及结论]仿真结果表明,采用该算法实时生成的规划速度曲线满足了安全、准时和精准停车等基本约束条件,相比传统规划算法,提高了列车的运行舒适度,降低了列车运行能耗;同时,也可以有效应对突发状况时线路限速临时改变的情况,实现多个运行指标的优化。
Abstracts:
[Objective]The existing target speed planning algorithm for the automatic driving of urban rail transit train cannot handle in real time the temporary change of the line speed limit in case of emergency due to the large computational load and long computation time. With regard to the problem, a real-time target speed planning algorithm based on global optimization is proposed to generate the speed planning curve in real time. [Method] Based on the conditions of train current position, current speed and speed limit of the forward line, the speed planning curve is firstly generated in the shortest time through point by point calculation. Then the traction and braking levels are being adjusted to keep the train running at uniform acceleration or deceleration, optimizing the comfort index of the train running. Next, the cruising speed in the maximum speed limit section is adjusted to reduce unnecessary traction and braking time, optimizing the energy consumption index of the train running. Finally, the train speed planning curve is output. [Result & Conclusion] The simulation results show that the real-time speed planning curve generated by the proposed algorithm satisfies the basic constraints of safety, punctuality and accurate parking.Compared with the traditional algorithm, it improves the comfort level and reduces the energy consumption during train operation.Meanwhile, the proposed algorithm can effectively handle the temporary change of the line speed limit in emergency and optimize several operation indicators.