Automatic Speed Guidance Method and Simulation Evaluation for Trams at Intersections

doi:10.16182/j.issn1004731x.joss.25-0358

Abstract

Abstract:

To address the lack of speed regulation mechanism and the high dispersion of operational time in the current manual driving mode, this paper proposes an automatic speed guidance method for trams at intersections. Considering the speed disturbances caused by potential traffic conflicts at intersections, an initial decision point for safe passage speed at an intersection is established, dividing the operational curve into deterministic segments and disturbance-response segments. To verify the effectiveness of the method, a case study of Songjiang Tram Line 1 is conducted. Driving simulation experiments are performed to obtain manual driving trajectories, and a dynamic trajectory simulation model incorporating both manual driving and automatic speed guidance at intersections is developed.Evaluation is carried out under the two scenarios of free driving and stochastic signals. The experimental results show that the method enhances vehicle speed performance, absorbs operational delays, and reduces intersection stops. It significantly outperforms manual driving in terms of travel speed, time reliability, and energy efficiency. It achieves greater operational benefits on green wave-coordinated routes.

Key words: tram, speed guidance, simulation evaluation, driving simulation, intersection stochastic disturbances, speed profile

CLC Number:

TP391.9

Teng Jing, Tong Wencong, Zhang Zhongjie, Yao Xing, Li Junxian. Automatic Speed Guidance Method and Simulation Evaluation for Trams at Intersections[J]. Journal of System Simulation, 2026, 38(5): 1426-1439.

Figures/Tables 24

Fig. 1

Fig. 2

Fig. 3

Fig. 4

Fig. 5

Fig. 6

Fig. 7

Table 1

Dynamics parameters of experimental vehicle

参数	值
车辆编组	5模块，2动1拖2悬浮
列车长度/m	32.6
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	$3.004 34 + 0.055 89 v + 0.000 37 v 2$

Table 1

Fig. 8

Table 2

Statistics of measured stop time at platforms s

指标	$P 1$	$P 2$	$P 3$	$P 4$	$P 5$
平均值	18.0	19.6	19.9	18.4	19.4
标准差	3.6	3.7	5.1	3.4	3.6
中位数	17.5	19.1	18.5	17.9	19.1
极差	20.2	19.8	26.4	18.2	19.8

Table 2

Fig. 9

Table 3

Fig. 10

Table 4

Statistics of running time in section of manual driving

指标	$S 1$	$S 2$	$S 3$	$S 4$	$S 5$	$S 6$	$S 7$	全线路
平均值/s	30.59	35.88	54.15	33.65	50.76	31.85	43.2	369.12
标准差/s	1.94	3.99	4.03	2.43	4.21	2.03	3.86	16.83
最小值/s	27.6	26.4	48.7	28	41.4	28.2	37.8	331.5
中位数/s	30.2	35.25	53.45	33.1	50.05	31.6	42.3	367.35
最大值/s	41.2	50.6	76.1	42.2	62.9	39.4	54.9	427.5
离散系数/%	6.34	11.12	7.44	7.22	8.29	6.37	8.94	4.56

Table 4

Fig. 11

Fig. 12

Fig. 13

Table 5

Statistics of vehicle arrival times at intersections under the free-driving scenario

控制模式	指标	$I 2$	$I 3$	$I 4$	$I 5$	$I 6$	$I 7$	$I 8$
MD模式	均值/s	31.9	67.8	150.7	205.1	255.8	290.0	364.8
	极差/s	13.3	31.6	54.2	66.2	64.6	70.7	95
	标准差/s	2.0	5.1	8.0	9.9	12.0	12.9	16.8
	离散系数/%	6.39	7.46	5.30	4.84	4.71	4.45	4.60
ASG模式	均值/s	29.8	60.5	130.5	176.3	218.7	247.6	309.8
	极差/s	3.7	7.5	10.4	14.7	18.6	18.4	26.8
	标准差/s	0.8	1.7	2.3	3.3	4.2	4.3	5.4
	离散系数/%	2.74	2.88	1.77	1.89	1.93	1.74	1.76

Table 5

Table 6

Current intersection signal scheme

交叉口	$I 1$	$I 2$	$I 3$	$I 4$	$I 5$	$I 6$	$I 7$	$I 8$
绿灯时间	36	70	55	55	58	60	42	40
周期	140	140	140	140	140	140	140	140
相位差	61	75	71	40	40	73	63	0

Table 6

Fig. 14

Table 7

Comparison of key performance indicators of line under current signal scheme

模式	$v l i n e$ /(km/h)	$E l i n e$ /(kW·h)	$S l i n e$	$σ l i n e$
变化量/%	21.8	7.4	-30.5	-52.1
MD	15.6	12.1	4.3	63.7
ASG	19.0	13.0	2.99	30.5

Table 7

Fig. 15

Table 8

Statistics of travel speed improvement under current signal scheme

$v l i n e A S G$ / $v l i n e M D$	占方案比例
>105	66.75
>110	48.71
>120	15.26
>130	2.70
>140	0.32
>150	0.02

Table 8

Table 9

Analysis of changes in key performance indicators with average stops per vehicle at intersections

评价参数	MD模式下车均交叉口停车次数区间
评价参数	[0,1)	[1,2)	[2,3)	[3,4)	[4,5)	[5,6)	[6,7)	[7,8]	合计
$v l i n e M D$ /(km/h)	21.2	19.9	18.4	17.1	15.9	14.9	14	13.2	15.5
$v l i n e A S G$ /(km/h)	24.5	22.5	20.7	19	17.6	16.4	15.4	14.5	17.2
变化量/%	15.66	13.46	12.66	11.69	11.22	10.51	10.11	9.97	10.94
$E l i n e M D$ /( kW·h)	10.9	11.2	11.5	12.1	12.8	13.8	15	16.5	13.4
$E l i n e A S G$ /(kW·h)	12.5	12.4	12	11.4	10.7	9.8	9.1	8.3	10.3
变化量/%	14.33	10.94	4.26	-5.25	-16.22	-27.98	-39.22	-49.38	-21.70
$S l i n e M D$	0.87	1.75	2.64	3.58	4.54	5.51	6.49	7.47	4.99
$S l i n e A S G$	0.47	1.28	2.05	2.91	3.76	4.64	5.51	6.35	4.17
变化量/%	-46.48	-27.32	-22.34	-18.63	-17.12	-15.79	-15.11	-15.15	-16.82
$σ l i n e M D$	74.68	68.84	63.96	57.37	50.4	43.24	35.29	26.66	46.89
$σ l i n e A S G$	37.64	36.18	39.3	39.17	39.49	38.48	37.51	36.27	38.72
变化量/%	-49.59	-47.45	-38.56	-31.72	-21.65	-11.00	6.30	36.02	-17.43
方案数	7	331	3 686	15 788	31 314	30 950	15 054	2 870	100 000

Table 9

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描述	举例
累计运行时间/s	165.4
累计运行距离/m	1 633.1
瞬时速度/(km/h)	35.2
步长能耗/kJ	42.32