列车自动驾驶规划与控制技术研究  

Research on Planning and Control Technology of Automatic Train Operation

作　　者：杜凯冰 张征方 DU Kaibing;ZHANG Zhengfang(Zhuzhou CRRC Times Electric Co.,Ltd.,Zhuzhou 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：《铁道车辆》2025年第1期36-41,共6页Rolling Stock

摘　　要：文章研究了货运列车自动驾驶控制技术,提出了一种具备感知、规划与控制的自动驾驶控制系统,该系统深度融合了列车已有的网络与信号系统。基于列车信号、线路信息数据与列车模型等,提出了一种符合列车驾驶特点的目标曲线规划方法,实时规划列车运行工况与目标力、目标空气制动减压量等信息。以目标曲线信息为控制前馈,采用带运行条件约束的前馈控制技术实时控制列车的运行。同时为了提高控制的精准性,采用基于卡尔曼滤波的参数辨识技术,以速度和加速度信息作为状态量,进行列车参数辨识。根据提出的规划-控制-参数辨识的列车自动驾驶控制框架,在试验列车上成功开展了零速启动至加速、区间运行、减速停车到零的全线路列车自动驾驶试验,试验结果表明,文章提出的控制方法实用性强,符合应用的要求。This paper studies the automatic driving control technology of freight trains and proposes an automatic driving control system with perception,planning and control that integrates the existing network and signal system.A target curve planning method is proposed based on the train signal,line information data,and train model.The information about train running conditions,target force,target air brake decompression,and so on is planned in real time.With the target curve information as the control feedforward,the feedforward control technology with operating condition constraints is used to control the train operation in real time.In order to improve the accuracy of control,the parameter identification technology based on the Kalman filter is adopted.Speed and acceleration information are used as state quantities to identify train parameters.According to the proposed train automatic driving control framework of planning-control-parameter identification,the whole-line train automatic driving test from zero speed activate to acceleration,interval operation,deceleration and stop has been successfully carried out on the test train.The test results indicate that the control method proposed in this paper is practical and meets application requirements.

关 键 词：铁路货车 自动驾驶 运动规划 前馈控制 参数辨识 卡尔曼滤波 

分 类 号：U272[机械工程—车辆工程]