CN-121990022-A - Virtual marshalling control method, device, equipment and storage medium for heavy-duty truck

CN121990022ACN 121990022 ACN121990022 ACN 121990022ACN-121990022-A

Abstract

The application relates to a method, a device, a computer readable storage medium and a computer program product for controlling virtual marshalling of a heavy-duty truck. The method comprises the steps of obtaining running state and inherent information of a front vehicle, respectively determining vehicle length compensation data and head-tail speed compensation data by combining physical characteristics of a heavy-duty truck, calculating the shortest emergency braking distance of the front vehicle based on front vehicle braking parameters, front vehicle running speed and head-tail speed compensation data, determining a target driving permission position, obtaining braking deceleration of the front vehicle, forcedly pressing the maximum emergency braking deceleration of the front vehicle to generate a relative braking distance curve when the braking deceleration is larger than the maximum emergency braking deceleration of the front vehicle, and finally controlling the tracking operation of the train based on the target driving permission position and the relative braking distance curve. The special space deformation and the instantaneous speed deviation of the long marshalling are converted into the bottom layer parameter compensation, and the train tracking interval of the virtual marshalling is compressed to the maximum degree on the premise of ensuring the safe running of the train.

Inventors

HE YUQIANG
DENG HAO
XIAO ZHIMING
WANG JIANHUA
ZHANG BIN
LI SHUAI
CHEN JIANHUI

Assignees

国能朔黄铁路发展有限责任公司
卡斯柯信号有限公司

Dates

Publication Date: 20260508
Application Date: 20260402

Claims (10)

1. A virtual consist control method for a heavy duty truck, the method comprising: Acquiring vehicle inherent information and real-time running state information of a front vehicle, wherein the vehicle inherent information at least comprises a static vehicle length and a front vehicle braking parameter of the front vehicle, and the running state information at least comprises a running speed of the front vehicle and a position of a tail end of the front vehicle; according to the physical characteristics of the heavy-duty truck, combining the static length of the front truck with the running speed of the front truck, respectively determining corresponding length compensation data and head-tail speed compensation data, and calculating the shortest emergency braking distance of the front truck based on the front truck braking parameters, the running speed of the front truck and the head-tail speed compensation data; Determining a target driving permission position based on the position of the tail end of the front vehicle, the static vehicle length of the front vehicle, the vehicle length compensation data and the shortest emergency braking distance of the front vehicle, and generating a relative braking distance curve according to the maximum emergency braking deceleration of the front vehicle under the condition that the acquired braking deceleration of the front vehicle is greater than the maximum emergency braking deceleration of the front vehicle in the front vehicle braking parameters; And controlling the vehicle to track the front vehicle based on the target driving permission position and the relative braking distance curve.
2. The method of claim 1, wherein the determining the corresponding length compensation data and the head-to-tail speed compensation data according to the physical characteristics of the heavy truck in combination with the front static length and the front running speed respectively comprises: according to deformation physical quantity of non-rigid connection between heavy-duty truck carriages which are stressed and stretched in movement, determining a difference value between the static length of the front truck and the dynamic length of the front truck, and taking the difference value as the length compensation data; and determining the speed variation of the preceding train in the movement process according to the instantaneous running deviation of the long marshalling train crossing different gradient sections, and taking the speed variation as the head-to-tail speed compensation data.
3. The method of claim 1, wherein the estimating a front truck shortest emergency braking distance based on the front truck braking parameter, the front truck operating speed, and the head-to-tail speed compensation data comprises: Performing difference calculation on the front vehicle running speed and the head-tail speed compensation data to obtain a corrected initial speed; dividing a braking process of the front vehicle from the corrected initial speed to zero into a plurality of preset speed intervals, and extracting initial speeds and final speeds corresponding to the preset speed intervals; Based on the front vehicle braking parameters and the speed squared differences of the initial speed and the final speed, respectively measuring and calculating the section braking distance of each preset speed interval; and accumulating and summing the braking distances of the sections to obtain the shortest emergency braking distance of the front vehicle.
4. The method of claim 3, wherein the determining a target allowable drive location based on the leading end position, the leading static length, the length compensation data, and the leading shortest emergency braking distance comprises: Acquiring a static safety protection distance preset by a system; adding and summing the tail end position of the front vehicle, the static vehicle length of the front vehicle, the vehicle length compensation data and the shortest emergency braking distance of the front vehicle to obtain a basic dynamic safety distance; subtracting the static safety protection distance from the basic dynamic safety distance to obtain the target driving permission position.
5. The method according to any one of claims 1-4, further comprising: and generating the relative braking distance curve according to the vehicle braking deceleration when the acquired vehicle braking deceleration is not greater than the maximum emergency braking deceleration of the front vehicle in the front vehicle braking parameters.
6. The method of claim 1, wherein controlling the host vehicle to track the lead vehicle based on the target allowable driving location and the relative braking distance profile comprises: Comparing the dynamic distance between the current position of the vehicle and the target driving permission position in real time; Outputting a cut-off traction instruction or a braking instruction to an underlying actuator to control the host vehicle to track the lead vehicle if the dynamic distance touches a protective boundary of the relative braking distance curve.
7. A virtual consist control device for a heavy duty truck, the device comprising: The information acquisition module is used for acquiring vehicle inherent information and real-time running state information of the front vehicle, wherein the vehicle inherent information at least comprises a static vehicle length of the front vehicle and a front vehicle braking parameter, and the running state information at least comprises a running speed of the front vehicle and a position of the tail end of the front vehicle; The parameter compensation module is used for respectively determining corresponding vehicle length compensation data and head-to-tail speed compensation data according to the physical characteristics of the heavy-duty truck and combining the front vehicle static vehicle length and the front vehicle running speed, and calculating the shortest emergency braking distance of the front vehicle based on the front vehicle braking parameters, the front vehicle running speed and the head-to-tail speed compensation data; the position generation module is used for determining a target driving permission position based on the position of the tail end of the front vehicle, the static vehicle length of the front vehicle, the vehicle length compensation data and the shortest emergency braking distance of the front vehicle, and generating a relative braking distance curve according to the maximum emergency braking deceleration of the front vehicle under the condition that the acquired braking deceleration of the front vehicle is greater than the maximum emergency braking deceleration of the front vehicle in the front vehicle braking parameters; And the tracking control module is used for controlling the vehicle to track the front vehicle based on the target driving permission position and the relative braking distance curve.
8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 6 when the computer program is executed.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.
10. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.

Description

Virtual marshalling control method, device, equipment and storage medium for heavy-duty truck Technical Field The present application relates to the field of railway communication signals, and in particular, to a method, an apparatus, a computer device, a computer readable storage medium and a computer program product for controlling virtual consist of a heavy duty truck. Background With the development of technology in the field of railway communication signals, virtual marshalling train operation control technology is developed. The technology realizes dynamic grouping and ungrouping of trains through train-to-train communication and distributed control, and is characterized in that the technology obtains front and rear train states by means of real-time train-to-train communication and monitors train operation by adopting a relative braking distance curve, thereby achieving the purposes of shortening train operation interval and improving grouping operation efficiency. In the prior art, the virtual marshalling control method is mainly applied to urban rail transit and urban rail transit, and by acquiring the real-time position and speed of a front vehicle and combining the braking performance of a rear vehicle, the safety protection distance is planned to control the rear vehicle to follow the front vehicle to run, and a braking instruction is triggered to maintain the safe formation of a train workshop when an emergency situation occurs. However, the current virtual consist control method cannot be directly transplanted and applied to the heavy haul railway. The train running on the heavy haul railway has the characteristics of large load, long marshalling, large longitudinal impulse and the like, and the length of the train in the static and moving processes can be dynamically changed. The traditional method is not fully combined with the complex dynamic characteristics of the heavy-load train to carry out the protection distance compensation, so that potential safety hazards of too short distance between two trains are extremely easy to occur in the braking process, and the application requirements of the virtual marshalling technology of the heavy-load truck cannot be met. Disclosure of Invention Based on the above, it is necessary to provide a control method, device, computer equipment, computer readable storage medium and computer program product for virtual marshalling of heavy-duty trucks, which combines dynamic characteristics of heavy-duty trucks to design a protection distance, so that physical characteristics such as specific space deformation, speed deviation and braking retardation of heavy-duty trucks can be directly converted into control parameters of a bottom layer, tracking safety of long marshalling heavy-duty trains under dynamic operation and emergency braking working conditions is effectively ensured, and on the premise of meeting physical limits of heavy-duty trucks, train tracking interval is obviously shortened and overall operation efficiency of virtual marshalling is improved. In a first aspect, the present application provides a virtual marshalling control method for a heavy duty truck, including: Acquiring vehicle inherent information and real-time running state information of a front vehicle, wherein the vehicle inherent information at least comprises a static vehicle length and a front vehicle braking parameter of the front vehicle, and the running state information at least comprises a running speed of the front vehicle and a position of a tail end of the front vehicle; according to the physical characteristics of the heavy-duty truck, combining the static length of the front truck with the running speed of the front truck, respectively determining corresponding length compensation data and head-tail speed compensation data, and calculating the shortest emergency braking distance of the front truck based on the front truck braking parameters, the running speed of the front truck and the head-tail speed compensation data; Determining a target driving permission position based on the position of the tail end of the front vehicle, the static vehicle length of the front vehicle, the vehicle length compensation data and the shortest emergency braking distance of the front vehicle, and generating a relative braking distance curve according to the maximum emergency braking deceleration of the front vehicle under the condition that the acquired braking deceleration of the front vehicle is greater than the maximum emergency braking deceleration of the front vehicle in the front vehicle braking parameters; And controlling the vehicle to track the front vehicle based on the target driving permission position and the relative braking distance curve. In one embodiment, the determining the corresponding length compensation data and the head-to-tail speed compensation data according to the physical characteristics of the heavy-duty truck and by combining the front-truck static length an