Fig 1.
Passenger flow of Chongqing Rail Transit Line 3.
Fig 2.
Vehicle braking mode, (A)absolute distance braking mode, ADBM, (B)relative distance braking mode, RDBM.
Table 1.
Classification comparison of research related to virtual coupling (VC).
Fig 3.
Virtual coupling (VC) model for rail transit.
Fig 4.
The VC process state flow of MRT vehicles.
Fig 5.
MRT vehicles entry coupling scene.
Fig 6.
MRT vehicles acceleration coupling scene.
Fig 7.
MRT vehicles deceleration coupling scene.
Fig 8.
MRT vehicles exit the decoupling scene.
Fig 9.
Passive decoupling scene with excessively long spacing.
Fig 10.
Active disconnection scene with insufficient spacing.
Fig 11.
Collision avoidance diagram for MRT vehicles in VC mode.
Fig 12.
The scene of a collision involving MRT vehicles accelerating out of the station.
Fig 13.
The scene of a collision involving MRT vehicles accelerating out of the station.
Fig 14.
The scene where MRT vehicles collide with an obstacle during operation.
Fig 15.
Architecture of a virtual connected distributed model predictive control algorithm.
Fig 16.
Architecture of the collision avoidance active model predictive control algorithm.
Table 2.
Initial conditions for the in-station coupling scene.
Fig 17.
Simulation results of the station entry coupling process, (A) speed variations, (B) displacement variations.
Table 3.
Initial conditions for the accelerated coupling scenario.
Fig 18.
Simulation results of the accelerated coupling process, (A) speed variations, (B) displacement variations.
Table 4.
Initial conditions for deceleration coupling scenarios.
Fig 19.
Simulation results of the deceleration coupling process, (A) speed variations, (B) displacement variations.
Fig 20.
Schematic diagram for setting the safety distance of the virtual formation MRT vehicles' collision avoidance system.
Fig 21.
Curve of braking and parking speed and distance of MRT vehicles, (A) braking stop speed curve, (B) braking stop distance curve.
Table 5.
Initial Conditions for Accelerating Exit Collision Avoidance Scenarios.
Fig 22.
MRT vehicles' acceleration exit collision avoidance process (empty vehicle status), (A) velocity curve, (B) distance curve.
Fig 23.
Change in distance between trains during the collision avoidance process (empty vehicle status), (A) leading vehicle-following vehicle 1 spacing, (B) following vehicle 1-following vehicle 2 spacing.
Fig 24.
MRT vehicles' acceleration and exit collision avoidance process (passenger state), (A) velocity curve, (B) distance curve.
Fig 25.
Change in distance between trains during the collision avoidance process (passenger state), (A) leading vehicle-following vehicle 1 spacing, (B) following vehicle 1-following vehicle 2 spacing.
Table 6.
Initial conditions for deceleration entry Collision Avoidance Scenarios.
Fig 26.
MRT vehicles deceleration enter the collision avoidance process (empty vehicle status), (A) velocity curve, (B) distance curve.
Fig 27.
Change in distance between trains during the collision avoidance process (empty vehicle status), (A) leading vehicle-following vehicle 1 spacing, (B) following vehicle 1-following vehicle 2 spacing.
Fig 28.
MRT vehicles' acceleration enter collision avoidance process (passenger state), (A) velocity curve, (B) distance curve.
Fig 29.
Change in distance between trains during the collision avoidance process (passenger state), (A) leading vehicle-following vehicle 1 spacing, (B) following vehicle 1-following vehicle 2 spacing.
Table 7.
Initial Conditions for Obstacle Avoidance Scenarios.
Fig 30.
The process of avoiding collisions of MRT vehicles encountering obstacles (empty vehicle state), (A) velocity curve, (B) distance curve.
Fig 31.
Changes in the distance between trains during collision avoidance (empty vehicle state), (A) leading vehicle-following vehicle 1 spacing, (B) following vehicle 1-following vehicle 2 spacing.
Fig 32.
The process of avoiding collisions of MRT vehicles encountering obstacles (passenger state), (A) velocity curve, (B) distance curve.
Fig 33.
Changes in the distance between trains during collision avoidance (passenger state), (A) leading vehicle-following vehicle 1 spacing, (B) following vehicle 1-following vehicle 2 spacing.