# Research on active collision avoidance control technology for intelligent connected monorail transit trains in the virtual coupling environment

## TL;DR

This paper develops a collision avoidance control system for intelligent monorail trains using virtual coupling technology to improve safety and efficiency.

## Contribution

A novel Model Predictive Control algorithm is introduced for active collision avoidance in virtual coupling environments.

## Key findings

- A control model was developed to manage virtual coupling between monorail trains.
- The MPC algorithm improved coordination and collision avoidance in simulated scenarios.
- The system demonstrated enhanced flexibility and safety in real-world conditions.

## Abstract

The development of an intelligent connected monorail transit system offers an effective solution to the mismatch between passenger flow and system capacity at various time intervals within urban rail networks. As the core of such a system lies the virtual coupling (VC) technology, which dynamically adjusts train configurations in response to real-time passenger demand, thereby improving resource utilization. However, during VC operations, severe communication delays between vehicles or the sudden emergence of obstacles ahead may still result in rear-end collisions among coupled vehicles, posing significant safety risks. To address these challenges, this paper focuses on the active collision avoidance control of intelligent connected monorail vehicles operating within the VC environment. At the modeling level, a control model is developed to facilitate VC between leading and following vehicles, and the dynamic characteristics of typical operational scenarios—including station approach coupling, tracking coupling, and departure decoupling—are thoroughly analyzed. Building upon this foundation, the train’s behaviors under collision avoidance during accelerated departures, decelerated arrivals, and unexpected obstacle encounters are further investigated. In terms of control strategy, a Model Predictive Control (MPC) algorithm is introduced to enable efficient coordination and proactive collision avoidance among trains. Ultimately, a simulation platform based on Chongqing Rail Transit Line 3 is established for validating the proposed model and algorithm under representative operating scenarios. The evaluation demonstrates gains in system flexibility and safety and technical foundation for the practical implementation of intelligent rail transit systems.