Train Tracking Safety Protection Method of Stochastic Reachable Set-based Hit-Soft-Wall Moving Block

Objective Although the hit-hard-wall moving block protection mode adopted by the existing urban rail transit train control system has shortened the train tracking interval to a certain extent, it still cannot meet the operation needs during peak hours. Therefore, it is necessary to study the hit-soft-wall moving block train tracking safety protection method based on stochastic reachable set. Method Considering the random disturbance factors in the train operation process, the representation of two key parts: the full process prediction trajectory of the leading train and the safe braking trajectory of the tracking train in tracking safety protection algorithm is analyzed. Combining the probability distribution functions of the leading train and the ego train（current train）, an efficient calculation model of the collision probability is established, and the corresponding safety protection curve is generated according to the safety verification results of urban rail transit trains. The proposed method is simulated and verified based on the data of Beijing Subway Line 11 west section. Result ＆ Conclusion The experimental results show that compared with the short-time prediction, the train tracking safety protection method based on stochastic reachable sets can extend the reverse calculation starting point of the tracking train safety protection curve, and shorten the tracking interval between trains on the basis of achieving complete collision avoidance, proving the necessity and applicability of this method.