Development of a software platform for automatic train operation: Integrating meso- and microscopic layers

This article presents a comprehensive study on the development and integration of the mesoscopic and microscopic layers within the control architecture of railway systems, enabling autonomous operation. A key outcome of this research is developing a software platform that provides the foundation for improving autonomous train control algorithms. The mesoscopic layer, defined as the high-level component of the automatic train operation (ATO) subsystem, focuses on generating setpoints to control the traction system, which are subsequently transmitted to the low-level component of the ATO subsystem. A simplified model is employed in the mesoscopic layer to enhance planning capabilities and facilitate efficient decision-making processes, while a detailed model represents the physical system. Simulations evaluate the effectiveness of this integrated system, considering various disturbances to thoroughly assess the performance of the mesoscopic layer algorithm and the microscopic layer control system. The results confirm that by successfully integrating these layers, precise and efficient control of train motion is achieved while considering all constraints imposed by the macroscopic layer. Furthermore, this software platform is set for future development, including implementing intelligent control techniques to enhance autonomous train control. • Automatic train control software, integrating mesoscopic and microscopic layers. • The planning algorithm generates setpoints to meet the defined control objectives. • A windup mitigation technique is developed to improve system performance. • The functioning of the developed software platform is tested through simulations.