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🚄 Virtual Coupling Railway Simulation Tool RV4565

A Safe and Robust Control System Architecture for Virtual Coupling

License Conference

📘 Overview

This repository provides the official simulation framework and validation environment for the research presented in:

A Safe and Robust Control System Architecture for Virtual Coupling
Mario Terlizzi, Luigi Glielmo, Davide Liuzza
🏆 Awarded in collaboration with [Rete Ferroviaria Italiana (RFI)] 🎤 Presented at the World Congress on High-Speed Rail 2025, July 2025 . Session 5.1 - Signalling & control systems - 8 July

The tool supports the development, testing, and safety validation of a next-generation control architecture that facilitates the transition from ETCS Level 3 to Virtual Coupling (VC) operations — a key concept for ETCS Level 4. The parameters used for the simulation for the aforementioned paper are reported in "Table I - Simulation parameters.png".

✨ Features

✅ Modular simulation framework for two-train VC scenarios
✅ Full support for parametric uncertainty and non-ideal communication
✅ Certified safety via Control Barrier Functions (CBFs)
✅ Emergency and cruise control strategies for robust train platooning
✅ Real-time Delay Estimator Module
✅ Extendable for future research in multi-train convoys and hybrid control

🧠 System Architecture

This tool implements a composable, safety-centric architecture with the following key blocks:

🧩 Leader RLP Predictor

Estimates the Robust Lower Proxy (RLP) of the leader’s trajectory under worst-case (emergency braking) assumptions. Ensures the follower can predict a minimum safe trajectory in the absence of fresh data.

🛡️ Safety Control Block

Implements a Control Barrier Function-based safety supervisor.
Triggers emergency braking of the follower if predicted trajectories violate safety guarantees.

🚦 Cruise Virtual Coupling Block

Predictive controller that regulates the follower’s position during normal operations, optimizing speed tracking and spacing with real-time adaptation based on communication health.

⏱️ Delay Estimator Block (Optional)

Estimates packet delay distributions and updates a safety horizon dynamically.
Mitigates unnecessary braking due to transient communication issues.

📂 Repository Structure

virtual-coupling-tool/ ├── src/ │ ├── controller/ # Control logic (cruise, emergency, switching) │ ├── dynamics/ # Train longitudinal models + uncertainties │ ├── safety/ # CBF computation and safe set definitions │ ├── communication/ # Delay modeling and estimator │ └── simulation/ # Scenario definitions and run scripts ├── data/ # Train and line parameter sets ├── results/ # Output logs and plots ├── docs/ # Methodology documentation and architecture diagrams ├── tests/ # Unit tests

📈 Use Cases

This simulation tool is intended for advanced experimentation and scientific validation in the following domains:

  • 📊 Academic research in train control and railway safety
  • 🚄 Benchmarking of virtual coupling (VC) control algorithms
  • 🛠️ Prototyping of ETCS Level 4 control architectures
  • 📡 Validation of delay-tolerant controllers under communication uncertainty
  • 🧮 Safety enforcement via Control Barrier Functions (CBFs)

📝 License

This project is licensed under the terms of the GNU General Public License v3.0.

You are free to use, modify, and distribute this software, provided that:

  • Source code remains open and freely available.
  • Any derivative work is also distributed under the GPL-3.0 license.
  • Proper attribution to the original authors is maintained.

📄 See the LICENSE file for full details, or visit
🔗 https://www.gnu.org/licenses/gpl-3.0.en.html

© 2025 Mario Terlizzi, Luigi Glielmo, and Davide Liuzza
Developed in collaboration with Rete Ferroviaria Italiana (RFI S.p.A.)