自动闭塞区段重载列车自动驾驶运行决策研究  

Research on Decision-Making for Automatic Operation of Heavy-Haul Trains in Automatic Block Sections

作　　者：张征方 熊佳远 舒泉粼 罗源 蒋杰 ZHANG Zhengfang;XIONG Jiayuan;SHU Quanlin;LUO Yuan;JIANG Jie(Zhuzhou CRRC Times Electric Co.,Ltd.,Zhuzhou,Hunan 412001,China)

机构地区：[1]株洲中车时代电气股份有限公司,湖南株洲412001

出　　处：《控制与信息技术》2024年第4期11-18,共8页CONTROL AND INFORMATION TECHNOLOGY

基　　金：中国国家铁路集团有限公司科技研究开发计划项目(K2022J032)。

摘　　要：重载列车编组长、载重大,且自动闭塞区段信号动态多变,导致列车操纵频繁停车、线路通行效率低下。所以,重载列车自动驾驶系统在进行自动闭塞区段操纵决策规划时,既需要考虑按计划通行又需要考虑动态停车的情况。为此,文章分析重载列车的动力学特性以及自动闭塞区段信号变化的特点,提出同时满足通行效率和平稳停车的双层协同重载列车自动驾驶运行决策模型。该双层模型通过运行耦合点连接,其中上层模型以图定时间为约束,以节能、平稳运行为目标,优化操纵曲线,计算节能、平稳最优目标下的耦合状态区间;下层模型考虑最不利信号(停车)约束,引入上层模型的最优耦合状态为优化始端,以安全、平稳停车为目标,优化操纵曲线。在朔黄东线的自动驾驶试验中,该模型实现了列车全程零接管,并能够在保证列车运行通过效率的同时,提升列车运行的安全性及平稳性。The operation of heavy-haul trains requires frequent stopping,resulting in low traffic efficiency,due to their long formations and high loads,as well as dynamic signaling changes in automatic block sections.Therefore,both scheduled traffic and dynamic stopping need to be taken into account in the decision programming of automatic operation systems for the control of heavy-haul trains in automatic block sections.This paper proposes a double-layer collaborative decision-making model for the automatic operation of heavy-haul trains,based on an analysis of their dynamics characteristics and the characteristics of signaling changes under automatic blocking,to simultaneously ensure traffic efficiency and smooth stopping.This two-layer model is interconnected through coupling points in operation.The upper-layer model takes schedules based on train graphs as constraints to optimize control curves,aiming for energy saving and stable operation,while calculating coupling state intervals under these desired conditions.The lower-layer model incorporates the most unfavorable signaling(stopping)constraints and uses optimal coupling states from the upper model as its starting point for the optimization of control curves,with the goal of ensuring safe and stable stopping.In the automatic operation experiments conducted on the Suozhou-Huanghua East Line,the proposed model achieved zero takeovers throughout the entire journey.Experimental data showed that its effectiveness in improving both the safety and stability of train operation,while ensuring operational efficiency.

关 键 词：重载列车 双层优化模型 动态规划 自动驾驶 自动闭塞 蒙特卡洛采样 

分 类 号：U292.92[交通运输工程—交通运输规划与管理]