高速铁路列车运行调整与控制一体化优化模型【附代码】

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为应对高速铁路网络因设备故障、恶劣天气、突发客流等扰动导致的列车晚点问题，提升运输效率与服务质量，本研究突破了传统“先调整时刻表，后计算速度曲线”的分步优化模式，致力于构建列车运行调整（时刻表、到发线运用）与运行控制（节能速度曲线）深度耦合的一体化优化模型与高效求解算法。核心思想是在统一的数学框架下，同步优化宏观调度决策与微观控制指令，从而生成精细化、可执行性高且兼顾准点与节能的全局最优方案。

(1) 建立基于离散空间-时间映射的混合整数线性规划模型。高速铁路列车运行是一个连续的时空过程，为便于优化求解，需对其进行离散化。本研究创新性地提出一种基于“离散空间法”的建模方法。将铁路线路按照里程标划分为一系列细小的空间单元（如每100米一个单元）。列车在每一个空间单元内的运行状态（位置、速度）和时间消耗被关联起来。模型决策变量包括：列车在每个空间单元是否占用（0-1变量）、列车离开每个车站的时间（连续变量）、列车在区间内每个分段的速度等级（离散变量）。目标函数设定为最小化所有列车的总延误时间。约束条件则系统性地集成了多种实际运营规则：列车在区间内的追踪间隔约束（基于移动闭塞原理，以前车尾部和后车头部所在空间单元的安全距离来表述）、车站到发线唯一占用约束、列车最小与最大运行速度约束、列车牵引/制动性能导致的加速度约束、以及车站最小停站时间约束等。通过巧妙的线性化技巧，将列车动力学带来的非线性关系（如运行时间与速度的关系）转化为一系列线性不等式，最终形成一个大规模的混合整数线性规划模型。该模型能精确描述列车牵引计算过程，直接输出具有精细速度曲线的调度方案，保证了“所得即所能执行”。

(2) 设计考虑到发线调整与牵引能耗的双目标优化框架。在基本的一体化模型基础上，进一步引入到发线运用调整这一关键调度手段和牵引能耗这一重要经济指标，构建双目标优化模型。列车在中间站的到发线分配不再是固定的，而是可以作为优化变量，这为疏解瓶颈站场的冲突、压缩总延误提供了更大灵活性。同时，将最小化总牵引能耗作为第二个优化目标。能耗与列车的速度曲线紧密相关，通过建立单位距离能耗与运行速度、加速度的近似线性或分段线性关系，将其纳入目标函数。由此，问题转化为寻求总延误时间与总牵引能耗两个冲突目标之间的帕累托最优解集。为求解此双目标MILP模型，本研究设计了基于ε-约束法的精确求解算法，通过系统性地变换其中一个目标的上界，来生成分布均匀的帕累托前沿。此外，为提高大规模路网下的求解效率，设计了一种两阶段启发式算法：第一阶段快速生成一个可行的调度方案；第二阶段以此方案为初始解，在限定搜索空间内，使用商业求解器进行精细化局部寻优，在可接受的时间内获得高质量的解。

(3) 开发面向大规模路网与复杂扰动场景的增强求解策略。面对包含数十列列车、数百公里线路的实际大规模问题，以及区间临时封锁、临时限速等复杂扰动场景，基本MILP模型的求解可能面临组合爆炸。为此，本研究集成了多种人工智能与运筹学优化策略。首先，设计基于知识规则的可行域缩减方法。利用铁路运营经验规则（如“越行通常发生在有侧线的车站”、“列车优先级规则”）预先排除大量明显劣质的组合，缩小搜索空间。其次，开发基于拉格朗日松弛的启发式算法。通过松弛复杂的耦合约束（如到发线冲突约束），将原问题分解为多个单列车子问题，这些子问题可以并行高效求解。通过对偶迭代更新拉格朗日乘子，协调子问题的解，最终构造出一个可行的优质初始解，极大加速了后续分枝定界法的收敛过程。对于临时封锁和限速场景，通过在模型中加入相应的时空资源“禁入区”约束，使其能自然地处理这类扰动。仿真实验表明，与传统的循环迭代优化方法（即交替调整时刻表和速度曲线直至收敛）相比，本研究所提出的一体化优化方法在解的质量（总延误更少、能耗更低）和可执行性方面均有显著优势，尤其是在大规模、强扰动场景下，表现更为稳健和高效。

import numpy as np
import itertools
from typing import List, Tuple, Dict
import matplotlib.pyplot as plt

class Train:
    def __init__(self, train_id, release_time, priority=1):
        self.id = train_id
        self.release_time = release_time
        self.priority = priority

class RailwayNetwork:
    def __init__(self, num_sections, section_lengths, station_positions, num_tracks_at_station):
        self.num_sections = num_sections
        self.section_lengths = np.array(section_lengths)
        self.station_positions = station_positions
        self.num_tracks_at_station = num_tracks_at_station
        self.total_distance = np.sum(section_lengths)

class IntegratedOptimizationSolver:
    def __init__(self, network: RailwayNetwork, trains: List[Train], time_horizon, dt, dx):
        self.network = network
        self.trains = trains
        self.time_horizon = time_horizon
        self.dt = dt
        self.dx = dx
        self.num_time_slots = int(time_horizon / dt)
        self.num_space_slots = int(self.network.total_distance / dx)
        self.schedule = {}
        self.conflict_zones = self._precompute_conflict_zones()

    def _precompute_conflict_zones(self):
        zones = {}
        for pos in self.network.station_positions:
            space_slot = int(pos / self.dx)
            zones[space_slot] = 'station'
        for i in range(len(self.network.section_lengths)):
            start = int(sum(self.network.section_lengths[:i]) / self.dx)
            end = int(sum(self.network.section_lengths[:i+1]) / self.dx)
            for s in range(start, end):
                zones[s] = 'section'
        return zones

    def _train_motion_model(self, train: Train, entry_time, speed_profile):
        schedule = []
        current_time = entry_time
        current_space = 0.0
        for speed in speed_profile:
            if current_space >= self.network.total_distance:
                break
            step_time = self.dx / speed if speed > 0 else float('inf')
            current_time += step_time
            current_space += self.dx
            schedule.append((current_time, current_space))
            if self.conflict_zones.get(int(current_space/self.dx), '') == 'station':
                current_time += 60
        return schedule

    def _evaluate_conflicts(self, candidate_schedules: Dict[int, List]):
        conflict_penalty = 0
        time_space_grid = {}
        for tid, schedule in candidate_schedules.items():
            for t, s in schedule:
                time_idx = int(t / self.dt)
                space_idx = int(s / self.dx)
                key = (time_idx, space_idx)
                if key in time_space_grid:
                    conflict_penalty += 1000
                else:
                    time_space_grid[key] = tid
        return conflict_penalty

    def _evaluate_delay(self, candidate_schedules: Dict[int, List]):
        total_delay = 0
        for train in self.trains:
            if train.id in candidate_schedules:
                schedule = candidate_schedules[train.id]
                if schedule:
                    arrival_time = schedule[-1][0]
                    free_flow_time = self.network.total_distance / 80.0
                    planned_arrival = train.release_time + free_flow_time + 300
                    delay = max(0, arrival_time - planned_arrival)
                    total_delay += delay * train.priority
        return total_delay

    def _evaluate_energy(self, candidate_schedules: Dict[int, List], speed_profiles: Dict[int, List]):
        total_energy = 0
        for tid, profile in speed_profiles.items():
            for speed in profile:
                energy_rate = 2.0 + 0.05 * (speed ** 2)
                total_energy += energy_rate * (self.dx / speed) if speed > 0 else 0
        return total_energy

    def _generate_initial_solution(self):
        init_schedules = {}
        init_speeds = {}
        time_buffer = 120
        for train in self.trains:
            entry_time = train.release_time
            speed_profile = [83.0 + np.random.randn()*5 for _ in range(self.num_space_slots)]
            init_speeds[train.id] = speed_profile
            schedule = self._train_motion_model(train, entry_time, speed_profile)
            init_schedules[train.id] = schedule
        return init_schedules, init_speeds

    def _local_search(self, init_schedules, init_speeds, iterations=50):
        best_schedules = init_schedules.copy()
        best_speeds = init_speeds.copy()
        best_cost = self._evaluate_delay(best_schedules) + 0.01 * self._evaluate_energy(best_schedules, best_speeds)
        for it in range(iterations):
            new_schedules = best_schedules.copy()
            new_speeds = best_speeds.copy()
            modified_train = np.random.choice([t.id for t in self.trains])
            if np.random.rand() < 0.7:
                time_shift = np.random.randint(-180, 181)
                old_schedule = new_schedules[modified_train]
                new_schedule = [(t+time_shift, s) for t, s in old_schedule]
                new_schedules[modified_train] = new_schedule
            else:
                speed_adjust = np.random.randn() * 3.0
                old_profile = new_speeds[modified_train]
                new_profile = [max(70, min(95, s+speed_adjust)) for s in old_profile]
                new_speeds[modified_train] = new_profile
                train_obj = next(t for t in self.trains if t.id == modified_train)
                new_schedules[modified_train] = self._train_motion_model(train_obj, train_obj.release_time, new_profile)
            conflict_penalty = self._evaluate_conflicts(new_schedules)
            if conflict_penalty > 0:
                continue
            new_delay = self._evaluate_delay(new_schedules)
            new_energy = self._evaluate_energy(new_schedules, new_speeds)
            new_cost = new_delay + 0.01 * new_energy
            if new_cost < best_cost:
                best_cost = new_cost
                best_schedules = new_schedules
                best_speeds = new_speeds
        return best_schedules, best_speeds, best_cost

    def solve(self):
        print("Generating initial schedule...")
        init_schedules, init_speeds = self._generate_initial_solution()
        init_delay = self._evaluate_delay(init_schedules)
        init_energy = self._evaluate_energy(init_schedules, init_speeds)
        print(f"Initial Solution -> Total Delay: {init_delay:.2f}s, Estimated Energy: {init_energy:.2f}")
        print("Performing local search optimization...")
        final_schedules, final_speeds, final_cost = self._local_search(init_schedules, init_speeds, iterations=100)
        final_delay = self._evaluate_delay(final_schedules)
        final_energy = self._evaluate_energy(final_schedules, final_speeds)
        print(f"Optimized Solution -> Total Delay: {final_delay:.2f}s, Estimated Energy: {final_energy:.2f}")
        improvement = (init_delay - final_delay) / init_delay * 100
        print(f"Delay Improvement: {improvement:.2f}%")
        self.schedule = final_schedules
        return final_schedules, final_speeds

    def visualize_schedule(self):
        if not self.schedule:
            print("No schedule to visualize.")
            return
        fig, ax = plt.subplots(2, 1, figsize=(14, 10))
        colors = plt.cm.Set1(np.linspace(0, 1, len(self.trains)))
        for train in self.trains:
            if train.id in self.schedule:
                traj = self.schedule[train.id]
                if traj:
                    times, spaces = zip(*traj)
                    ax[0].plot(times, spaces, color=colors[train.id-1], label=f'Train {train.id}', linewidth=2)
                    ax[0].scatter(times[0], spaces[0], color=colors[train.id-1], s=50, zorder=5)
                    ax[0].scatter(times[-1], spaces[-1], color=colors[train.id-1], s=100, marker='s', zorder=5)
        for pos in self.network.station_positions:
            ax[0].axhline(y=pos, color='gray', linestyle='--', linewidth=0.8, alpha=0.7)
            ax[0].text(self.time_horizon*0.02, pos, f'Station', fontsize=9, verticalalignment='center', backgroundcolor='white')
        ax[0].set_xlabel('Time (s)')
        ax[0].set_ylabel('Distance (m)')
        ax[0].set_title('Optimized Train Trajectories in Time-Space Diagram')
        ax[0].legend(loc='upper left', fontsize='small')
        ax[0].grid(True, alpha=0.3)
        ax[0].set_xlim(0, self.time_horizon)
        ax[0].set_ylim(0, self.network.total_distance)
        arrival_times = []
        train_ids = []
        for train in self.trains:
            if train.id in self.schedule and self.schedule[train.id]:
                arrival_times.append(self.schedule[train.id][-1][0])
                train_ids.append(train.id)
        ax[1].bar(train_ids, arrival_times, color=colors[:len(train_ids)])
        ax[1].set_xlabel('Train ID')
        ax[1].set_ylabel('Terminal Arrival Time (s)')
        ax[1].set_title('Train Arrival Times at Destination')
        ax[1].grid(True, axis='y', alpha=0.3)
        plt.tight_layout()
        plt.show()

np.random.seed(42)
example_network = RailwayNetwork(
    num_sections=5,
    section_lengths=[15000, 20000, 18000, 22000, 15000],
    station_positions=[0, 15000, 35000, 53000, 90000],
    num_tracks_at_station=[2, 2, 3, 2, 2]
)
example_trains = [
    Train(train_id=1, release_time=0, priority=1),
    Train(train_id=2, release_time=300, priority=1),
    Train(train_id=3, release_time=600, priority=2),
    Train(train_id=4, release_time=900, priority=1)
]
solver = IntegratedOptimizationSolver(
    network=example_network,
    trains=example_trains,
    time_horizon=4000,
    dt=30,
    dx=1000
)
final_schedule, final_speeds = solver.solve()
solver.visualize_schedule()

如有问题，可以直接沟通

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