基于路侧标识的有轨电车交叉口制动引导方法

doi:10.16182/j.issn1004731x.joss.23-1293

系统仿真学报 ›› 2024, Vol. 36 ›› Issue (12): 2926-2936.doi: 10.16182/j.issn1004731x.joss.23-1293

• 论文 • 上一篇

基于路侧标识的有轨电车交叉口制动引导方法

童文聪¹^,², 滕靖¹^,³, 李君羡¹, 姚幸⁴, 张中杰⁴

^1.同济大学交通运输工程学院，上海 201804
^2.上海市轨道交通结构耐久与系统安全重点实验室，上海 201804
^3.上海市多网多模式轨道交通协同创新中心，上海 201804
^4.上海市城市建设设计研究总院，上海 200125

收稿日期:2023-10-27 修回日期:2023-11-30 出版日期:2024-12-20 发布日期:2024-12-20
通讯作者: 滕靖
第一作者简介:童文聪(1983-)，男，工程师，博士生，研究方向为城市轨道交通设计与系统控制。
基金资助:
国家重点研发计划(2021YFB1600100)

Intersection Braking Guidance for Trams Based on Lineside Signs

Tong Wencong¹^,², Teng Jing¹^,³, Li Junxian¹, Yao Xing⁴, Zhang Zhongjie⁴

^1.College of Transportation Engineering, Tongji University, Shanghai 201804, China
^2.Shanghai Key Laboratory of Rail Infrastructure Durability and System Safety, Shanghai 201804, China
^3.Shanghai Collaborative Innovation Research Center for Multi-network & Multi-modal Rail Transit, Shanghai 201804, China
^4.Shanghai Urban Construction Design & Research Institute, Shanghai 200125, China

Received:2023-10-27 Revised:2023-11-30 Online:2024-12-20 Published:2024-12-20
Contact: Teng Jing

摘要/Abstract

摘要：

受信号控制和安全限速的影响，有轨电车在交叉口需要频繁制动。由于距离判断的不准确，有轨电车司机倾向于在交叉口预留一定冗余制动距离，以较低的制动系数制动，导致运行车速的下降。为减少冗余制动距离，提高车速，提出一种基于路侧固定标识的有轨电车交叉口制动引导方法，通过轨旁固定标识标记有轨电车起始制动位置和速度，从而引导司机以最短制动距离进行制动。开发了基于车辆动力学模型的有轨电车驾驶模拟系统，基于VISSIM实现仿真场景的创建。实验表明：该方法规范了司机的制动行为，提高了制动效率并减少了制动操作的随机性，对提高有轨电车的运行速度，改善运行时间的稳定性具有正面效用。

关键词: 有轨电车, 制动效率, 车速引导, 驾驶模拟, 驾驶决策

Abstract:

Trams need to brake frequently due to signal control and safety speed limits at intersections. Due to the inaccuracy of distance judgment, tram drivers tend to reserve extra braking distance at intersections, resulting in lower braking coefficients and a decrease in speed. An intersection braking guidance method using lineside signs is proposed for trams to reduce braking distance redundancy and improve running speed. Drivers are guided to brake with the shortest possible distance by marking the initial braking position and speed of trams with fixed lineside signs. A tram driving simulation system was developed based on a vehicle dynamics model. Simulation scenarios were then created using VISSIM. The driving simulation experiments show that this method standardizes the driver's braking behavior, improves braking efficiency, reduces the randomness of braking operations, and therefore has a positive effect on speed improvement and time stability.

Key words: tram, braking efficiency, speed guidance, driving simulation, driving decision

中图分类号:

TP391.9

童文聪,滕靖,李君羡等 . 基于路侧标识的有轨电车交叉口制动引导方法[J]. 系统仿真学报, 2024, 36(12): 2926-2936.

Tong Wencong,Teng Jing,Li Junxian,et al . Intersection Braking Guidance for Trams Based on Lineside Signs[J]. Journal of System Simulation, 2024, 36(12): 2926-2936.

图/表 17

图1

图2

图3

图4

图5

图6

图7

图8

表1

实验车辆动力学参数

参数	值
列车长度/m	32.6
车辆编组	5模块(2动1拖2悬浮)
空车质量/kg	41 693
最大运行速度/(km/h)	70
最大加速度/(m/s²)	1.3
最大减速度/(m/s²)	1.2
牵引反应延迟/ms	800
制动反应延迟/ms	400
基本阻力公式	$3.004 34 + 0.558 9 v + 0.000 37 v 2$

表1

图9

表2

表3

表4

图10

图11

图12

表5

参考文献 16

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载客工况	载客数	荷载/kg
AW0-空载	0	41 693
AW1-满座	50	44 767
AW2-额定荷载(6人/m²)	300	60 140
AW3-超员荷载(8人/m²)	386	65 151

速度/(km/h)	车辆荷载
速度/(km/h)	AW0	AW1	AW2	AW3
15	15.2	15.2	15.2	15.4
25	34.3	34.3	34.3	35.2
35	60.2	60.2	60.2	62.3
45	92.7	92.7	92.7	96.6
55	131.9	131.9	131.9	138

场景	交叉口通过方式	制动引导方式
Ⅰ	停车通过	无引导
Ⅱ	停车通过	有引导
Ⅲ	减速通过	无引导
Ⅳ	减速通过	有引导

区间	场景	区间运行速度/(km/h)			引导后速度提升/%	引导后标准差减少/%
区间	场景	平均值	中位数	标准差	引导后速度提升/%	引导后标准差减少/%
区间A	停车通过-无引导	25.9	26.1	2.18	14.3	65.6
	停车通过-有引导	29.6	29.8	0.75	14.3	65.6
	减速通过-无引导	32.5	32.7	1.37	4.9	24.8
	减速通过-有引导	34.1	34.1	1.03	4.9	24.8
区间B	停车通过-无引导	30.1	30.2	2.13	15.3	67.6
	停车通过-有引导	34.7	35.1	0.69	15.3	67.6
	减速通过-无引导	36.2	36.3	1.61	7.5	30.4
	减速通过-有引导	38.9	38.9	1.12	7.5	30.4
区间C	停车通过-无引导	34.8	35.1	1.97	11.8	52.3
	停车通过-有引导	38.9	39.2	0.94	11.8	52.3
	减速通过-无引导	40.3	40.4	1.33	5.0	13.5
	减速通过-有引导	42.3	42.4	1.15	5.0	13.5

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基于路侧标识的有轨电车交叉口制动引导方法

Intersection Braking Guidance for Trams Based on Lineside Signs

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