Research on Intelligent Formation Operation Performance of Straddle-Type Rapid Transit Vehicles based on Model Predictive Control

The high construction and operation costs of urban rail transit have prompted scholars to explore new urban rail transit systems and operating modes. Based on the new straddle-type rapid transit system proposed by our team, the collaborative control of intelligent formation vehicles is discussed in this paper. The mathematical formulation of straddle-type rapid transit vehicle (SRTV) operating in intelligent formation operation mode (IFOM) was first constructed, and then the formation vehicle safety protection strategy based on limited speed difference (LSD) was analyzed. Subsequently, based on the Model Predictive Control (MPC) algorithm, a formation collaborative operation controller was established for IFOM operation. Based on the typical operating scenarios of formation vehicles exiting, cruising, and entering the station, formation performance evaluation indicators were adopted, with a focus on optimizing the time for formation vehicles to exit and enter the station. The simulation results show that the formation operates well and the vehicles in the formation can safely and stably travel in formation, proving that the use of LSD speed limitation strategy and MPC formation controller can ensure the safety and stability of SRTV vehicle formation.