Collaborative Speed Planning Algorithm with Centralized Decision-Making for Virtual Coupling of Autonomous-Rail Rapid Tram
The virtual coupling technology for autonomous-rail rapid trams can effectively realize optimal dynamic matching between vehicle capacity and passenger flow. This paper addresses the challenges of control stability and synchronous start-stop operation at platforms during the variable-speed operation...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Control and Information Technology
2025-06-01
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| Series: | Kongzhi Yu Xinxi Jishu |
| Subjects: | |
| Online Access: | http://ctet.csrzic.com/thesisDetails#10.13889/j.issn.2096-5427.2025.03.300 |
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| _version_ | 1849224650961190912 |
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| author | HUANG Qiang LI Cheng TANG Xiang YUAN Xiwen HE Chuan HUANG Zhikun |
| author_facet | HUANG Qiang LI Cheng TANG Xiang YUAN Xiwen HE Chuan HUANG Zhikun |
| author_sort | HUANG Qiang |
| collection | DOAJ |
| description | The virtual coupling technology for autonomous-rail rapid trams can effectively realize optimal dynamic matching between vehicle capacity and passenger flow. This paper addresses the challenges of control stability and synchronous start-stop operation at platforms during the variable-speed operation of tram groups, based on in-depth analyses focusing on the traction and braking characteristics, vehicle kinematics, and dynamics models of autonomous-rail rapid trams. A collaborative speed planning algorithm with centralized decision-making was proposed for the virtual coupling of autonomous-rail rapid trams, targeting the core requirements for group operation: safety, comfort, punctuality, and efficient operation at platforms. Additionally, an optimal solution model was constructed to calculate the optimal time series for running displacements, speeds, and accelerations of trams within virtual coupling groups. Testing and verification were conducted with two autonomous-rail rapid trams on a field track, yielding impact rates of equal to or less than 0.3 m/s<sup>3</sup>, punctuality errors under 3 s, starting time differences of less than 1 s, stopping time differences of less than 2 s, and stopping control errors of less than 0.1 m during group operation. The results demonstrate that this method can effectively meet the actual operational requirements of autonomous-rail rapid trams, highlighting its excellent engineering application value and potential for popularization. |
| format | Article |
| id | doaj-art-6e5d3e69754748dcb8ba486b273ca6d3 |
| institution | Kabale University |
| issn | 2096-5427 |
| language | zho |
| publishDate | 2025-06-01 |
| publisher | Editorial Office of Control and Information Technology |
| record_format | Article |
| series | Kongzhi Yu Xinxi Jishu |
| spelling | doaj-art-6e5d3e69754748dcb8ba486b273ca6d32025-08-25T06:57:38ZzhoEditorial Office of Control and Information TechnologyKongzhi Yu Xinxi Jishu2096-54272025-06-012532113098846Collaborative Speed Planning Algorithm with Centralized Decision-Making for Virtual Coupling of Autonomous-Rail Rapid TramHUANG QiangLI ChengTANG XiangYUAN XiwenHE ChuanHUANG ZhikunThe virtual coupling technology for autonomous-rail rapid trams can effectively realize optimal dynamic matching between vehicle capacity and passenger flow. This paper addresses the challenges of control stability and synchronous start-stop operation at platforms during the variable-speed operation of tram groups, based on in-depth analyses focusing on the traction and braking characteristics, vehicle kinematics, and dynamics models of autonomous-rail rapid trams. A collaborative speed planning algorithm with centralized decision-making was proposed for the virtual coupling of autonomous-rail rapid trams, targeting the core requirements for group operation: safety, comfort, punctuality, and efficient operation at platforms. Additionally, an optimal solution model was constructed to calculate the optimal time series for running displacements, speeds, and accelerations of trams within virtual coupling groups. Testing and verification were conducted with two autonomous-rail rapid trams on a field track, yielding impact rates of equal to or less than 0.3 m/s<sup>3</sup>, punctuality errors under 3 s, starting time differences of less than 1 s, stopping time differences of less than 2 s, and stopping control errors of less than 0.1 m during group operation. The results demonstrate that this method can effectively meet the actual operational requirements of autonomous-rail rapid trams, highlighting its excellent engineering application value and potential for popularization.http://ctet.csrzic.com/thesisDetails#10.13889/j.issn.2096-5427.2025.03.300autonomous-rail rapid tramvirtual couplingcollaborative speed planningcentralized decisionsefficient operation |
| spellingShingle | HUANG Qiang LI Cheng TANG Xiang YUAN Xiwen HE Chuan HUANG Zhikun Collaborative Speed Planning Algorithm with Centralized Decision-Making for Virtual Coupling of Autonomous-Rail Rapid Tram Kongzhi Yu Xinxi Jishu autonomous-rail rapid tram virtual coupling collaborative speed planning centralized decisions efficient operation |
| title | Collaborative Speed Planning Algorithm with Centralized Decision-Making for Virtual Coupling of Autonomous-Rail Rapid Tram |
| title_full | Collaborative Speed Planning Algorithm with Centralized Decision-Making for Virtual Coupling of Autonomous-Rail Rapid Tram |
| title_fullStr | Collaborative Speed Planning Algorithm with Centralized Decision-Making for Virtual Coupling of Autonomous-Rail Rapid Tram |
| title_full_unstemmed | Collaborative Speed Planning Algorithm with Centralized Decision-Making for Virtual Coupling of Autonomous-Rail Rapid Tram |
| title_short | Collaborative Speed Planning Algorithm with Centralized Decision-Making for Virtual Coupling of Autonomous-Rail Rapid Tram |
| title_sort | collaborative speed planning algorithm with centralized decision making for virtual coupling of autonomous rail rapid tram |
| topic | autonomous-rail rapid tram virtual coupling collaborative speed planning centralized decisions efficient operation |
| url | http://ctet.csrzic.com/thesisDetails#10.13889/j.issn.2096-5427.2025.03.300 |
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