Train virtual formation control method, device and carriage

Abstract

The train virtual formation control method, device and carriage provided by the present invention belong to the technical field of rail transit and are applied to the on-vehicle computer of the rear carriage, including: obtaining the first state information of the front carriage; the first state information is determined based on the information collection of the front carriage by the on-vehicle sensor of the rear carriage; determining the formation state with the front carriage according to the first state information; the front headlight information in the first state information is determined based on the second state information; the second state information is determined based on the information collection of the rear carriage by the on-vehicle sensor of the front carriage. The train virtual formation control method, device and carriage provided by the present invention can, through the mutual observation and information collection between adjacent carriages, realize the virtual connection between adjacent carriages without relying on vehicle-to-vehicle communication, and then make a state judgment according to the collected information, so as to stably and reliably realize the virtual formation of the train.

Description

Technical Field

[0001] The present invention relates to the technical field of rail transit, and particularly to a method and device for controlling virtual train formation and a carriage. Background Art

[0002] In recent years, virtual formation technology has become a major research direction in urban rail transit. By using wireless communication to replace mechanical coupling, virtual formation of trains of different models can be achieved. After virtual train formation, it can be regarded as a whole train, and the headway can be greatly shortened. Moreover, flexible dynamic adjustment of the number of train formations according to the operation requirements at different times can greatly reduce energy consumption.

[0003] Currently, virtual formation technology is mainly based on the Train Autonomous Circumambulate System (TACS) based on vehicle-to-vehicle communication. The TACS system actively interacts with adjacent trains based on its own operation tasks and current position, and autonomously updates the movement authorization according to the interaction information to adjust the train operation state.

[0004] However, the virtual formation technology based on vehicle-to-vehicle communication is highly dependent on the wireless communication between the front and rear vehicles. Once the vehicle-to-vehicle communication cannot be established or the delay is too large, the virtual formation cannot be completed, resulting in poor stability and unreliability. Summary of the Invention

[0005] The method, device and carriage for controlling virtual train formation provided by the present invention are used to solve the defects of poor stability and unreliability in the prior art, and achieve stable and reliable virtual train formation.

[0006] The present invention provides a method for controlling virtual train formation, which is applied to an on-vehicle computer in a rear carriage, and includes:

[0007] Obtaining first state information of a front carriage; the first state information is determined based on information collection of the front carriage by an on-vehicle sensor in the rear carriage;

[0008] Determining the formation state with the front carriage according to the first state information;

[0009] The front headlight information in the first state information is determined based on second state information;

[0010] The second state information is determined based on information collection of the rear carriage by an on-vehicle sensor in the front carriage.

[0011] According to a method for controlling virtual train formation provided by the present invention, the first state information further includes: a first distance and a front vehicle speed; the second state information includes rear headlight information;

[0012] Determining the formation state of the front car according to the first state information includes:

[0013] When it is determined according to the rear vehicle lamp information that the rear running lamp is in the first display, and it is determined that the first distance and the speed of the vehicle in front meet the preset conditions, the front vehicle lamp information is determined;

[0014] If it is determined according to the front vehicle lamp information that the front running lamp of the front car is in the first display, a virtual formation with the front car is established.

[0015] According to a train virtual formation control method provided by the present invention, after establishing the virtual formation with the front car, it further includes:

[0016] When it is determined that both the front running lamp and the rear running lamp are in the second display, the formation state is formation maintenance;

[0017] Determine the action tendency of the front car according to the front vehicle lamp information;

[0018] Control the rear running lamp to maintain the second display according to the action tendency.

[0019] According to a train virtual formation control method provided by the present invention, after establishing the virtual formation with the front car, it further includes:

[0020] When it is determined that the front running lamp is in the third display, a display instruction is generated to control the rear running lamp to perform the third display;

[0021] Determine that the formation state is formation release.

[0022] The present invention also provides a train virtual formation control method applied to an on-vehicle computer of a front car, including:

[0023] Obtain the second state information of the rear car; the second state information is determined based on the information collection of the rear car by the on-vehicle sensor of the front car;

[0024] Determine the front vehicle lamp information of the front car according to the second state information;

[0025] The first state information of the front car includes the front vehicle lamp information, and the first state information is determined based on the information collection of the front car by the on-vehicle sensor of the rear car;

[0026] The first state information is used to determine the formation state of the rear car and the front car.

[0027] According to a train virtual formation control method provided by the present invention, the first state information further includes: a first distance and the speed of the leading vehicle; the second state information includes a second distance, the speed of the trailing vehicle, and the information of the trailing vehicle's lights;

[0028] Determining the information of the leading vehicle's lights of the front carriage according to the second state information includes:

[0029] When it is determined that the trailing running light of the rear carriage is the second display according to the information of the trailing vehicle's lights, determining that the formation state is formation maintenance;

[0030] Controlling the display of the lights of the front carriage according to a control instruction, the second distance, and the speed of the trailing vehicle.

[0031] The present invention also provides a train virtual formation control device, including:

[0032] A first acquisition module, configured to acquire the first state information of the front carriage; the first state information is determined based on the information collection of the front carriage by the on-vehicle sensors of the rear carriage;

[0033] A first determination module, configured to determine the formation state of the front carriage according to the first state information;

[0034] The information of the leading vehicle's lights in the first state information is determined based on the second state information;

[0035] The second state information is determined based on the information collection of the rear carriage by the on-vehicle sensors of the front carriage.

[0036] The present invention also provides a train virtual formation control device, including:

[0037] A second acquisition module, configured to acquire the second state information of the rear carriage; the second state information is determined based on the information collection of the rear carriage by the on-vehicle sensors of the front carriage;

[0038] A second determination module, configured to determine the information of the leading vehicle's lights of the front carriage according to the second state information;

[0039] The first state information of the front carriage includes the information of the leading vehicle's lights, and the first state information is determined based on the information collection of the front carriage by the on-vehicle sensors of the rear carriage;

[0040] The first state information is used to determine the formation state of the rear carriage and the front carriage.

[0041] The present invention also provides a carriage, comprising an onboard computer disposed in the carriage, wherein onboard sensors and running lights are disposed at both ends of the carriage; the onboard sensors are used to collect image information, point cloud data, vehicle speed, and relative speed of the opposite ends of adjacent carriages;

[0042] The onboard computer is configured to determine the light display information of the adjacent car based on the image information, determine the relative distance to the adjacent car based on the point cloud data, and determine the speed information of the adjacent car based on the own vehicle speed and the relative speed;

[0043] The carriage also includes a memory and a program or instruction stored in the memory and executable on the onboard computer. When the program or instruction is executed by the onboard computer, any of the above-mentioned train virtual formation control methods is executed.

[0044] According to a carriage provided by the present invention, the vehicle-mounted sensor includes: a laser radar, an image acquisition device and a speed measurement device;

[0045] The laser radar is used to collect the point cloud data;

[0046] The image acquisition device is used to collect the image information;

[0047] The speed measuring device includes a speed sensor and a millimeter wave radar. The speed sensor is used to collect the speed of the vehicle, and the millimeter wave radar is used to collect the relative speed.

[0048] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the train virtual formation control method as described above is implemented.

[0049] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the train virtual formation control method as described above is implemented.

[0050] The present invention also provides a computer program product, comprising a computer program, which, when executed by a processor, implements any of the above-described train virtual formation control methods.

[0051] The train virtual formation control method, device and carriage provided by the present invention can realize virtual connection between adjacent carriages by mutual observation and information collection between adjacent carriages without relying on vehicle-to-vehicle communication, and then make status judgments based on the collected information to achieve stable and reliable virtual formation of trains. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] To more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the attached drawings required for the description of the embodiments or the prior art. Obviously, the attached drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other attached drawings can also be obtained based on these attached drawings.

[0053] Figure 1 It is one of the schematic flowcharts of the train virtual formation control method provided by the present invention;

[0054] Figure 2 It is the schematic structural diagram of the virtual formation provided by the present invention;

[0055] Figure 3 It is the schematic diagram of the TACS system information interaction provided by the present invention;

[0056] Figure 4 It is the schematic structural diagram of the carriage provided by the present invention;

[0057] Figure 5 It is the front view of one end of the carriage provided by the present invention;

[0058] Figure 6 It is the schematic principle diagram of the virtual formation system provided by the present invention;

[0059] Figure 7 It is the schematic structural diagram of the formation establishment provided by the present invention;

[0060] Figure 8 It is the schematic flowchart of the leading vehicle formation establishment provided by the present invention;

[0061] Figure 9 It is the schematic flowchart of the trailing vehicle formation establishment provided by the present invention;

[0062] Figure 10 It is the schematic structural diagram of the formation maintenance provided by the present invention;

[0063] Figure 11 It is the schematic flowchart of the leading vehicle formation maintenance provided by the present invention;

[0064] Figure 12 It is the schematic flowchart of the trailing vehicle formation maintenance provided by the present invention;

[0065] Figure 13 It is the schematic structural diagram of the formation release provided by the present invention;

[0066] Figure 14 It is the schematic flowchart of the leading vehicle formation release provided by the present invention;

[0067] Figure 15It is a schematic flow chart of the disconnection of the rear train formation provided by the present invention;

[0068] Figure 16 It is the second schematic flow chart of the train virtual formation control method provided by the present invention;

[0069] Figure 17 It is the first schematic structural diagram of the train virtual formation control device provided by the present invention;

[0070] Figure 18 It is the second schematic structural diagram of the train virtual formation control device provided by the present invention;

[0071] Figure 19 It is the schematic structural diagram of the electronic device provided by the present invention. Detailed implementation manners

[0072] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments in the present invention belong to the scope of protection of the present invention.

[0073] To achieve virtual formation operation, the rear train must always know the current distance, speed and action tendency of the front train in real time, and can predict the state of the front train and the next traction and braking actions.

[0074] The train virtual formation control method, device and carriage provided by the present invention use the front running lights and signal lights and other prompts to predict the next behavior of the front train, without adding a vision-based front train state judgment for the rear train in addition to the communication means, and can be used for the comparison and confirmation of the vehicle-to-vehicle communication information and the backup mode after communication failure.

[0075] The following combines Figures 1 to 19 to describe the train virtual formation control method, device and carriage provided by the embodiments of the present invention.

[0076] Figure 1 It is the first schematic flow chart of the train virtual formation control method provided by the present invention. As Figure 1 shown, it is applied to the on-vehicle computer in the rear carriage and includes but is not limited to the following steps:

[0077] First, in step S11, obtain the first state information of the front carriage; the first state information is determined based on the information collection of the front carriage by the on-vehicle sensor in the rear carriage.

[0078] Figure 2 It is the schematic structural diagram of the virtual formation provided by the present invention. AsFigure 2 As shown, virtual formation is to enable the trailing vehicle to obtain the running state of the leading vehicle through wireless communication between vehicles, so as to control the running of the trailing vehicle. Through the virtual formation method, the leading and trailing vehicles can be regarded as being coupled, except that the physical coupling method has changed from mechanical to wireless communication.

[0079] Most modern urban rail transits adopt a Communication-Based Train Control (CBTC) system based on wireless communication. Most CBTC systems adopt moving block, and the end point of the movement authority of moving block is the safe rear end of the leading vehicle. Moving block is realized through uninterrupted two-way communication between on-vehicle equipment and trackside equipment. The area controller can calculate the maximum braking distance of the train according to the real-time speed and dynamic position of the train. The sum of the length of the train and this maximum braking distance, plus a certain protection distance behind the train, is the safety protection distance of the train.

[0080] However, with the continuous increase of train speed, the safety protection distance of the CBTC system is constantly increasing. Therefore, moving block cannot fundamentally reduce the train tracking interval.

[0081] Figure 3 It is a schematic diagram of information interaction of the TACS system provided by the present invention. As Figure 3 shown, there is vehicle-to-vehicle communication between car body A and car body B, and the dispatching system communicates with each car body bidirectionally. The vehicle-to-vehicle communication between adjacent car bodies can be utilized, and then the control of the car body can be realized through the dispatching system.

[0082] In the embodiment of the present invention, both the front car body (hereinafter referred to as: leading vehicle) and the rear car body (hereinafter referred to as: trailing vehicle) have head and tail ends. Taking the running direction of the car body as a reference, the end in the same direction as the running direction is the head, and the end in the opposite direction to the running direction is the tail. The leading vehicle and the trailing vehicle run in the same direction and on the same track. The leading vehicle collects information on the trailing vehicle through the on-vehicle sensor at the tail, and the trailing vehicle collects information on the leading vehicle through the on-vehicle sensor at the head.

[0083] Figure 4 It is a schematic diagram of the structure of the car body provided by the present invention. As Figure 4As shown, it is the left half of the carriage. There is an on-vehicle computer in the electrical cabinet inside the carriage. The on-vehicle computer is pre-set with headlight information and the meanings represented by the headlight information. There are on-vehicle sensors at both the head and the tail of the carriage. The on-vehicle sensors include: 2 lidars, 2 cameras, 2 millimeter-wave radars, a speed sensor, etc. The cameras include a long-focus camera and a short-focus camera. When the running direction of this carriage is from right to left, this carriage is the rear vehicle. The lidars, cameras, and millimeter-wave radars are facing the forward direction of the rear vehicle. The lidars and cameras are used to collect the point cloud data and image information of the tail of the vehicle in front adjacent to the head of this vehicle. The millimeter-wave radar is used to collect the relative speed between the adjacent carriage and this carriage. The speed sensor is installed on the wheels of the carriage and is used to collect the speed of the rear vehicle.

[0084] The on-vehicle computer of the rear vehicle receives the point cloud data collected by the lidar, and calculates the relative distance between the rear vehicle and the vehicle in front based on the point cloud data, and determines that this relative distance is the first distance;

[0085] The on-vehicle computer of the rear vehicle also receives the image information collected by the camera, and obtains the headlight information of the vehicle in front according to the image information;

[0086] The on-vehicle computer of the rear vehicle also receives the speed of the rear vehicle collected by the speed sensor and the relative speed collected by the millimeter-wave radar, and determines the speed of the vehicle in front of the vehicle in front according to the speed of the rear vehicle and the relative speed.

[0087] The first state information includes: headlight information of the vehicle in front, the first distance, and the speed of the vehicle in front of the vehicle in front. The first state information can be obtained after the on-vehicle sensors at the head of the rear vehicle collect information on the tail of the vehicle in front and the on-vehicle computer of the rear vehicle processes the collected information.

[0088] Figure 5 It is a front view of one end of the carriage provided by the present invention. As Figure 5 shown, it includes 2 running lights on the upper side and 2 indicator lights on the lower side. Before the carriage performs actions such as accelerating, decelerating, reversing, turning, and stopping, it will perform corresponding lighting display action tendencies through signal lights. The formation state of the carriage will perform corresponding lighting displays through the running lights. The image information captured by the camera can include the lighting conditions of all running lights and indicator lights. The signal lights can include brake lights, turn signals, and reverse lights, etc. In addition, the headlights can be modified, or dedicated lights can be added, so that more information can be obtained by adjacent carriages observing each other.

[0089] Next, in step S12, according to the first state information, determine the formation state of the carriage in front; the headlight information in the first state information is determined based on the second state information; the second state information is determined based on the information collection of the on-vehicle sensors of the carriage in front on the carriage behind.

[0090] Correspondingly, the second state information includes: rear vehicle lamp information, the second distance, and the speed of the rear vehicle. The second state information is obtained after the on-vehicle sensor at the rear of the front vehicle collects information about the front of the rear vehicle and the on-vehicle computer of the front vehicle processes the collected information. The second distance is the relative distance between the front vehicle and the rear vehicle detected by the front vehicle.

[0091] The rear vehicle lamp information may include: the running lamp state and the signal lamp state, the formation state that can be determined according to the running lamp state, and the action tendency that can be determined according to the signal lamp state. The formation state includes: formation establishment, formation maintenance, formation release, etc. The action tendency may be actions such as accelerating, decelerating, reversing, turning, and stopping that are about to be made.

[0092] Figure 6 is a schematic diagram of the principle of the virtual formation system provided by the present invention, as Figure 6 shown, through the rear vehicle collecting information about the front vehicle and the front vehicle collecting information about the rear vehicle, a virtual connection between the front vehicle and the rear vehicle is realized.

[0093] The headlamp display information is information with fixed meanings represented by the fixed running lamp display and signal lamp display preset in the on-vehicle computer. Table 1 shows the fixed meanings represented by the running lamp display provided by the present invention. As shown in Table 1, different running lamp states can represent different formation states, or the existing vehicle lamps and reverse displays can be modified. Currently, the running lamps are divided into two lamps on the left and right, one displays red light and the other displays white light. When used as the front of the vehicle, the running lamp displays white light, and when used as the rear of the vehicle, it displays red light.

[0094] Table 1 Running Lamp Display

[0095] Display meaning Operating lamp status Group establishment The operating lamp flashes alternately in red and white Group retention The operating lamp is constantly on in red and white Group release The operating lamp flashes red … …

[0096] The front vehicle uses the lidar, camera, and speed measurement equipment at the rear to collect point cloud data, image information, and speed information about the rear vehicle. The on-vehicle computer of the front vehicle performs visual recognition on the image information to obtain the rear vehicle lamp information, and parses it through the headlamp display information preset in the on-vehicle computer to obtain the formation state and action tendency of the rear vehicle, and processes the collected point cloud data and speed information to obtain the second distance and the speed of the rear vehicle, and controls the running lamp and signal lamp of the front vehicle to perform corresponding light displays according to the second distance, the speed of the rear vehicle, the formation state of the rear vehicle, and the action tendency.

[0097] Correspondingly, the following vehicle uses the lidar, camera, and speed measurement device at the front of the vehicle to collect point cloud data, image information, and speed information of the preceding vehicle. The in-vehicle computer of the following vehicle performs visual recognition on the image information to obtain the information of the preceding vehicle's headlights, and parses it through the headlight display information preset in the in-vehicle computer to obtain the formation status and action tendency of the preceding vehicle. Moreover, it processes the collected point cloud data and speed information to obtain the first distance and the speed of the preceding vehicle, and controls the running lights and signal lights of the following vehicle to perform corresponding light displays according to the first distance, the speed of the preceding vehicle, the formation status of the preceding vehicle, and the action tendency.

[0098] The preceding vehicle continuously obtains the second status information of the following vehicle. If the second distance and the speed of the following vehicle meet the preset conditions, it determines that the following vehicle meets the formation establishment conditions, and controls the running lights of the preceding vehicle to be the first display, that is, the running lights flash alternately in red and white; the following vehicle continuously obtains the first status information of the preceding vehicle. If the first distance and the speed of the preceding vehicle meet the preset conditions, and it is determined that the running lights of the preceding vehicle are the first display according to the headlight information of the preceding vehicle, it determines that the formation between the preceding vehicle and the following vehicle is established, and controls the running lights of the following vehicle to be the first display.

[0099] Among them, the preset conditions are set according to the spacing and vehicle speed required for formation establishment between trains, including that the speeds of both the preceding vehicle and the following vehicle are not greater than the speed threshold, and the distance between the preceding vehicle and the following vehicle is not greater than the spacing threshold. The higher the accuracy required for virtual formation, the smaller the speed threshold and the spacing threshold. For example, the distance threshold can be 30 meters, 15 meters, or 10 meters. If the speeds of the preceding vehicle and the following vehicle are too fast, there will be risks in the formation establishment between the front and rear vehicles. Therefore, it is necessary to monitor the speeds of the preceding vehicle and the following vehicle. For example, when the speed threshold is 0 m / h, the preceding vehicle and the following vehicle can only form a formation when they are stationary within the station. After the formation between the preceding vehicle and the following vehicle is established, the running lights of both are the second display, that is, the running lights are constantly on in red and white. If it is determined that the running lights of the preceding vehicle are the second display, and the running lights of the following vehicle are determined to be the second display according to the headlight information of the following vehicle. Before the preceding vehicle needs to perform actions such as accelerating, decelerating, turning, and stopping, it will perform corresponding light displays through the signal lights; the following vehicle continuously obtains the first status information of the preceding vehicle. If it is determined that the running lights of the preceding vehicle are the second display according to the headlight information of the preceding vehicle, and the first distance and the speed of the preceding vehicle meet the preset conditions, it controls the actions and signal lights of the following vehicle according to the light display of the signal lights of the preceding vehicle.

[0100] After the formation between the preceding vehicle and the following vehicle is established, the running lights of both are the second display. If the preceding vehicle receives a formation release instruction, it controls the running lights of the preceding vehicle to be the third display, that is, the running lights flash in red; the following vehicle continuously obtains the first status information of the preceding vehicle. When it is determined that the running lights of the in-line carriages are the third display according to the headlight information of the preceding vehicle, it determines that the formation between the preceding vehicle and the following vehicle is released, and controls the running lights of the following vehicle to be the third display.

[0101] The train virtual formation control method provided by the present invention can achieve virtual connection between adjacent carriages without relying on vehicle-to-vehicle communication by observing and collecting information between adjacent carriages, and then judge the state according to the collected information, so as to stably and reliably achieve the virtual formation of the train.

[0102] Optionally, the first state information further includes: the first distance and the speed of the preceding vehicle; the second state information includes the information of the rear vehicle's lights;

[0103] Determining the formation state with the preceding carriage according to the first state information includes:

[0104] When it is determined according to the rear vehicle's light information that the rear running light is the first display, and it is determined that the first distance and the speed of the preceding vehicle meet the preset conditions, the information of the preceding vehicle's lights is determined;

[0105] If it is determined according to the information of the preceding vehicle's lights that the front running light of the preceding carriage is the first display, a virtual formation with the preceding carriage is established.

[0106] The first distance is the distance between the rear of the preceding vehicle and the front of the rear vehicle obtained by the on-vehicle computer of the rear vehicle; the speed of the preceding vehicle is obtained by the on-vehicle computer of the rear vehicle according to the collected speed of the rear vehicle and the relative speed. The rear vehicle's light information may include: the running light state and the signal light state, and the running light state and the signal light state are obtained by visual recognition of the on-vehicle computer of the preceding vehicle according to the collected image information.

[0107] The preceding vehicle continuously obtains the second state information of the rear vehicle. If the second distance and the speed of the rear vehicle meet the preset conditions, it is determined that the rear vehicle meets the formation establishment conditions, and the running light of the preceding vehicle is controlled to be the first display, and a formation establishment state is initiated to the rear vehicle; the rear vehicle continuously obtains the first state information of the preceding vehicle. If the first distance and the speed of the preceding vehicle meet the preset conditions, and by identifying the lights of the preceding vehicle, it is determined according to the information of the preceding vehicle's lights that the running light of the preceding vehicle is the first display, and it is determined that the preceding vehicle enters the formation establishment state, then it is determined that the formation between the preceding vehicle and the rear vehicle is established, and the running light of the rear vehicle is controlled to be the first display.

[0108] Figure 7 It is a schematic structural diagram of formation establishment provided by the present invention, as Figure 7 As shown, the formation establishment is that after the preceding vehicle confirms that the speeds of the two vehicles and the distance between the two vehicles meet the preset conditions, it actively prompts the formation establishment information to the rear vehicle by controlling the display of the vehicle lights. After the rear vehicle visually recognizes the formation establishment information of the preceding vehicle, it reconfirms that the speeds of the two vehicles and the distance between the two vehicles meet the preset conditions, starts to establish the formation, and prompts the preceding vehicle of the formation establishment by controlling the display of the vehicle lights.

[0109] Figure 8 It is a schematic flow diagram of the formation establishment of the preceding vehicle provided by the present invention, asFigure 8 As shown in the figure, during the formation establishment process, if the leading vehicle wants to establish a formation with the trailing vehicle, it first needs to obtain the speed of the leading vehicle, the speed of the trailing vehicle, and the distance between the two vehicles to confirm that it can enter the virtual formation state. The leading vehicle uses the lidar, camera, and speed measurement equipment at the rear of the vehicle to collect point cloud data, image information, and speed information of the trailing vehicle. The in-vehicle computer of the leading vehicle performs vehicle recognition on the image information, and combines the collected point cloud data to obtain the vehicle point cloud of the trailing vehicle. The point cloud ranging is performed on the vehicle point cloud to obtain the second distance. At the same time, the speed of the trailing vehicle is obtained by making a speed judgment based on the speed of the leading vehicle and the relative speed in the speed information. Then, a distance judgment is made on the second distance, and a speed judgment is made on the speed of the leading vehicle and the speed of the trailing vehicle. When the second distance, the speed of the leading vehicle, and the speed of the trailing vehicle meet the preset conditions, the formation establishment is allowed. By querying the headlight display information preset in the in-vehicle computer of the leading vehicle, it is confirmed how the headlights should be displayed during the formation establishment. After confirming the headlight display, the in-vehicle computer needs to first control the headlights at the rear of the leading vehicle to light up all the headlights at the rear of the leading vehicle in a polling manner for self-check. If all the headlights at the rear of the leading vehicle are working properly, the self-check is successful, and the headlights can be controlled to display that the leading vehicle has entered the formation establishment state to prompt the trailing vehicle to enter the formation establishment state.

[0110] Figure 9 is a schematic flow chart of the trailing vehicle formation establishment provided by the present invention. As Figure 9 shown, for the trailing vehicle to achieve formation establishment, it needs to use the lidar, camera, and speed measurement equipment at the front of the vehicle to collect point cloud data, image information, and speed information of the leading vehicle. The in-vehicle computer of the trailing vehicle performs vehicle recognition on the collected image information to obtain the headlight information of the leading vehicle, and then it can determine that the leading vehicle has entered the formation establishment state. The vehicle recognition combines the collected point cloud data to obtain the vehicle point cloud of the leading vehicle. The point cloud ranging is performed on the vehicle point cloud to obtain the first distance. At the same time, the speed of the leading vehicle is obtained by making a speed judgment based on the speed of the trailing vehicle and the relative speed in the speed information. When the leading vehicle has entered the formation establishment state, and the first distance, the speed of the leading vehicle, and the speed of the trailing vehicle meet the preset conditions, the formation establishment is allowed. By querying the headlight display information preset in the in-vehicle computer of the trailing vehicle, it is confirmed how the headlights should be displayed during the formation establishment. After confirming the headlight display, the in-vehicle computer needs to first control the headlights at the front of the trailing vehicle to light up all the headlights at the front of the trailing vehicle in a polling manner for self-check. If all the headlights at the front of the trailing vehicle are working properly, the self-check is successful, and the headlights can be controlled to display to prompt the leading vehicle that the formation has been established, and the trailing vehicle has completed the formation establishment.

[0111] According to the train virtual formation control method provided by the present invention, by means of the leading vehicle and the trailing vehicle collecting data from each other, it is judged that the speed and distance of the two vehicles meet the conditions for virtual formation, and then the virtual formation of the two vehicles is established without communication, which has the characteristics of low latency and high reliability.

[0112] Optionally, after establishing the virtual formation with the front carriage, the method further includes:

[0113] When it is determined that both the front running light and the rear running light are in the second display state, the formation state is formation maintenance;

[0114] Determine the action tendency of the front carriage according to the front headlight information;

[0115] Control the rear running light to remain in the second display state according to the action tendency.

[0116] After the formation between the front vehicle and the rear vehicle is established, the running lights of both are in the second display state. The formation between the front vehicle and the rear vehicle is maintained. The front vehicle uses the lights at the rear of the vehicle to prompt the next action of the front vehicle, that is, the action tendency, to the rear vehicle. The rear vehicle determines the action tendency of the front vehicle by identifying the lights at the rear of the front vehicle, and also controls the actions and the display of the running lights of the rear vehicle by sensing the speed and the first distance of the front vehicle. Among them, the rear running light remains in the second display state. If the rear vehicle determines that the running light of the front vehicle is in the second display state and determines that the running light of the rear vehicle is in the second display state according to the rear headlight information, before the front vehicle needs to perform actions such as accelerating, decelerating, turning, and stopping, corresponding light displays will be made through the signal lights; the rear vehicle continuously obtains the first state information of the front vehicle. If it is determined according to the front headlight information that the running light of the front vehicle is in the second display state and the first distance and the speed of the front vehicle meet the preset conditions, then the actions and the signal lights of the rear vehicle are controlled according to the light display of the signal lights of the front vehicle.

[0117] Figure 10 It is a schematic structural diagram of the formation maintenance provided by the present invention, as Figure 10 shown. The front vehicle continuously confirms that the rear vehicle is in the formation maintenance state, the speeds of the two vehicles, and the distance between the two vehicles. Before the front vehicle needs to perform actions such as accelerating, decelerating, turning, and stopping, it controls the display of the lights at the rear of the front vehicle to prompt the action tendency to the rear vehicle. The rear vehicle can judge the next action of the front vehicle by visually identifying the action tendency of the front vehicle, and senses the speeds of the two vehicles and the distance between the two vehicles to maintain the formation, and controls the lights to prompt the front vehicle that it is in the formation maintenance state.

[0118] Figure 11 It is a schematic flowchart of the formation maintenance of the front vehicle provided by the present invention, as Figure 11As shown in the figure, during the formation keeping process, for the leading vehicle to achieve formation keeping, it first needs to obtain the speed of the leading vehicle, the speed of the following vehicle, and the distance between the two vehicles to confirm that the following vehicle is in the formation keeping state. Before the leading vehicle needs to perform actions such as accelerating, decelerating, turning, and stopping, it generates the information of the leading vehicle's lights and controls the display of the lights at the rear of the leading vehicle; the leading vehicle also uses the lidar, camera, and speed measurement equipment at the rear to collect point cloud data, image information, and speed information of the following vehicle. The on-vehicle computer of the leading vehicle performs vehicle recognition on the image information to achieve the recognition of the rear vehicle's lights, obtains the information of the rear vehicle's lights by querying the light display information preset in the on-vehicle computer, determines that the current following vehicle is in formation keeping, and combines the collected point cloud data to obtain the vehicle point cloud of the following vehicle. The point cloud ranging is performed on the vehicle point cloud to obtain the second distance; at the same time, the speed of the following vehicle is obtained by making a speed judgment based on the speed of the leading vehicle and the relative speed in the speed information; then, the distance judgment is performed on the second distance, and the speed judgment is performed on the speed of the leading vehicle and the speed of the following vehicle. When the second distance, the speed of the leading vehicle, and the speed of the following vehicle meet the preset conditions and it is determined that the following vehicle is in formation keeping, the light display information preset in the on-vehicle computer is queried according to the action tendency of the leading vehicle to confirm the display of the lights at the rear of the leading vehicle.

[0119] Figure 12 is a schematic flow chart of the following vehicle formation keeping provided by the present invention. As Figure 12 shown in the figure, for the following vehicle to achieve formation keeping, it needs to use the lidar, camera, and speed measurement equipment at the front to collect point cloud data, image information, and speed information of the leading vehicle. The on-vehicle computer of the following vehicle performs vehicle recognition on the collected image information to obtain the information of the leading vehicle's lights, and then the action tendency of the leading vehicle can be determined; and the vehicle recognition combines the collected point cloud data to obtain the vehicle point cloud of the leading vehicle. The point cloud ranging is performed on the vehicle point cloud to obtain the first distance; at the same time, the speed of the leading vehicle is obtained by making a speed judgment based on the speed of the following vehicle and the relative speed in the speed information; when the leading vehicle is in formation keeping and the first distance, the speed of the leading vehicle, and the speed of the following vehicle meet the preset conditions, then according to the action tendency of the leading vehicle, the next action of the leading vehicle is obtained, and the behavior of the following vehicle is controlled according to the next action of the leading vehicle.

[0120] According to the train virtual formation control method provided by the present invention, by the way that the leading vehicle and the following vehicle collect data from each other, it is judged that the speed and distance of the two vehicles meet the conditions of virtual formation, and the state is still in formation keeping. Furthermore, without communication, the actions of the following vehicle and the leading vehicle are made consistent, and the problem of communication delay is solved by real-time active perception.

[0121] Optionally, after establishing the virtual formation with the preceding carriage, it further includes:

[0122] When it is determined that the preceding running light is in the third display, a display instruction is generated to control the following running light to perform the third display;

[0123] Determine that the formation state is formation release.

[0124] After the formation between the front vehicle and the rear vehicle is established, the running lights of both are in the second display. If the front vehicle receives a formation release instruction, it controls the running light of the front vehicle to be in the third display, and uses the vehicle lights at the rear of the vehicle to prompt the rear vehicle to release the formation; the rear vehicle continuously obtains the first status information of the front vehicle, and by identifying the vehicle lights of the front vehicle, when it determines that the running light of the on-line carriage is in the third display according to the vehicle light information of the front vehicle, it controls the rear vehicle to release the formation and controls the running light of the rear vehicle to be in the third display.

[0125] Figure 13 It is a schematic structural diagram of formation release provided by the present invention, as Figure 13 shown, for the formation release of the front vehicle and the rear vehicle, the front vehicle actively controls the vehicle light display to prompt the rear vehicle to release the formation. After the rear vehicle visually recognizes the formation release information, it realizes the formation release and controls the vehicle light display at the rear of the front vehicle.

[0126] Figure 14 It is a schematic flowchart of the front vehicle formation release provided by the present invention, as Figure 14 shown, during the formation release process, if the front vehicle needs to release the formation due to changes in vehicle conditions or plans, the front vehicle queries the vehicle light display information preset in the on-vehicle computer according to the formation release information to confirm how to display the vehicle lights for formation release, and after confirmation, controls the vehicle light display to prompt the rear vehicle to release the formation.

[0127] Figure 15 It is a schematic flowchart of the rear vehicle formation release provided by the present invention, as Figure 15 shown, the rear vehicle processes the image information collected by the camera, recognizes the front vehicle and its vehicle lights, and if it confirms that the front vehicle intends to release the formation by querying the vehicle light display information preset in the on-vehicle computer, it controls the rear vehicle to perform the formation release operation.

[0128] According to the train virtual formation control method provided by the present invention, the vehicle speed and distance are sensed through lidar and speed measurement equipment to confirm whether the conditions for entering the formation are met, and the reasonable speed and spacing are controlled after entering the formation state. Through the recognition of vehicle lights, the formation establishment, maintenance and release are realized, replacing the function of vehicle-to-vehicle communication equipment.

[0129] Figure 16 It is the second schematic flowchart of the train virtual formation control method provided by the present invention, as Figure 16 shown, applied to the on-vehicle computer in the front carriage, including:

[0130] First, in step S21, obtain the second status information of the rear carriage; the second status information is determined based on the information collection of the rear carriage by the on-vehicle sensor of the front carriage.

[0131] The on-vehicle computer of the leading vehicle receives the point cloud data collected by the lidar, calculates the relative distance between the trailing vehicle and the leading vehicle based on the point cloud data, and determines this relative distance as the second distance;

[0132] The on-vehicle computer of the leading vehicle also receives the image information collected by the camera and obtains the rear vehicle light information according to the image information;

[0133] The on-vehicle computer of the leading vehicle also receives the speed of the leading vehicle collected by the speed sensor and the relative speed collected by the millimeter wave radar, and determines the speed of the trailing vehicle according to the speed of the leading vehicle and the relative speed.

[0134] The on-vehicle computer of the trailing vehicle receives the point cloud data collected by the lidar, calculates the relative distance between the trailing vehicle and the leading vehicle based on the point cloud data, and determines this relative distance as the first distance;

[0135] The on-vehicle computer of the trailing vehicle also receives the image information collected by the camera and obtains the front vehicle light information according to the image information;

[0136] The on-vehicle computer of the trailing vehicle also receives the speed of the trailing vehicle collected by the speed sensor and the relative speed collected by the millimeter wave radar, and determines the speed of the leading vehicle according to the speed of the trailing vehicle and the relative speed.

[0137] The first state information includes: front vehicle light information, the first distance, and the speed of the leading vehicle. The first state information can be obtained after the on-vehicle sensors at the front of the trailing vehicle collect information about the rear of the leading vehicle and the on-vehicle computer of the trailing vehicle processes the collected information.

[0138] Correspondingly, the second state information includes: rear vehicle light information, the second distance, and the speed of the trailing vehicle. The second state information is obtained after the on-vehicle sensors at the rear of the leading vehicle collect information about the front of the trailing vehicle and the on-vehicle computer of the leading vehicle processes the collected information. The second distance is the relative distance between the leading vehicle and the trailing vehicle monitored by the leading vehicle.

[0139] The rear vehicle light information may include: the running light state and the signal light state, the formation state that can be determined according to the running light state, and the action tendency that can be determined according to the signal light state. The formation state includes: formation establishment, formation maintenance, formation release, etc. The action tendency can be actions such as about to accelerate, decelerate, reverse, turn, and stop.

[0140] Next, in step S22, according to the second state information, determine the front vehicle light information in the front carriage; the first state information in the front carriage includes the front vehicle light information, and the first state information is determined based on the information collection of the on-vehicle sensors in the rear carriage for the front carriage; the first state information is used to determine the formation state between the rear carriage and the front carriage.

[0141] As shown Figure 6 in the figure, virtual connection between the leading vehicle and the trailing vehicle is realized by the trailing vehicle collecting information about the leading vehicle and the leading vehicle collecting information about the trailing vehicle.

[0142] The leading vehicle uses the lidar, camera and speed measurement equipment at the rear of the vehicle to collect point cloud data, image information and speed information of the trailing vehicle. The in-vehicle computer of the leading vehicle performs visual recognition on the image information to obtain the trailing vehicle's headlight information, and analyzes it through the headlight display information preset in the in-vehicle computer to obtain the formation status and action tendency of the trailing vehicle. Moreover, it processes the collected point cloud data and speed information to obtain the second distance and the trailing vehicle speed, and controls the running lights and signal lights of the leading vehicle to perform corresponding light displays according to the second distance, the trailing vehicle speed, the formation status and the action tendency of the trailing vehicle.

[0143] Correspondingly, the trailing vehicle uses the lidar, camera and speed measurement equipment at the front of the vehicle to collect point cloud data, image information and speed information of the leading vehicle. The in-vehicle computer of the trailing vehicle performs visual recognition on the image information to obtain the leading vehicle's headlight information, and analyzes it through the headlight display information preset in the in-vehicle computer to obtain the formation status and action tendency of the leading vehicle. Moreover, it processes the collected point cloud data and speed information to obtain the first distance and the leading vehicle speed, and controls the running lights and signal lights of the trailing vehicle to perform corresponding light displays according to the first distance, the leading vehicle speed, the formation status and the action tendency of the leading vehicle.

[0144] The leading vehicle continuously obtains the second status information of the trailing vehicle. If the second distance and the trailing vehicle speed meet the preset conditions, it determines that the trailing vehicle meets the formation establishment conditions, and controls the running lights of the leading vehicle to be the first display, that is, the running lights flash alternately in red and white; the trailing vehicle continuously obtains the first status information of the leading vehicle. If the first distance and the leading vehicle speed meet the preset conditions, and it determines that the running lights of the leading vehicle are the first display according to the leading vehicle's headlight information, it determines that the formation between the leading vehicle and the trailing vehicle is established, and controls the running lights of the trailing vehicle to be the first display.

[0145] Among them, the preset conditions are set according to the required spacing and vehicle speed established based on the formation between trains, including that the speeds of the leading vehicle and the trailing vehicle are both not greater than the speed threshold, and the distance between the leading vehicle and the trailing vehicle is not greater than the spacing threshold. The higher the accuracy required for the virtual formation, the smaller the speed threshold and the spacing threshold. For example, the distance threshold can be 30 meters, 15 meters, or 10 meters. If the speeds of the leading vehicle and the trailing vehicle are too fast, there will be risks in establishing the formation between the front and rear vehicles. Therefore, it is necessary to monitor the speeds of the leading vehicle and the trailing vehicle. For example, when the speed threshold is 0 m / h, the leading vehicle and the trailing vehicle can only establish the formation when they are stationary within the station. After the formation between the leading vehicle and the trailing vehicle is established, the operation lights of both are in the second display state, that is, the operation lights are constantly on in red and white. If it is determined that the operation light of the leading vehicle is in the second display state, and based on the information of the rear vehicle's lights, it is determined that the operation light of the trailing vehicle is in the second display state. Before the leading vehicle needs to perform actions such as accelerating, decelerating, turning, and stopping, corresponding light displays will be made through the signal lights; the trailing vehicle continuously obtains the first state information of the leading vehicle. If, based on the information of the leading vehicle's lights, it is determined that the operation light of the leading vehicle is in the second display state, and the first distance and the speed of the leading vehicle meet the preset conditions, then the actions and signal lights of the trailing vehicle are controlled according to the light display of the signal lights of the leading vehicle.

[0146] After the formation between the leading vehicle and the trailing vehicle is established, the operation lights of both are in the second display state. If the leading vehicle receives a formation release instruction, it controls the operation light of the leading vehicle to be in the third display state, that is, the operation light flashes in red; the trailing vehicle continuously obtains the first state information of the leading vehicle. When it is determined that the operation light of the leading vehicle in the on-line carriage is in the third display state based on the information of the leading vehicle's lights, it is determined that the formation between the leading vehicle and the trailing vehicle is released, and the operation light of the trailing vehicle is controlled to be in the third display state.

[0147] The train virtual formation control method provided by the present invention can achieve virtual connection between adjacent carriages without relying on vehicle-to-vehicle communication by observing and collecting information between adjacent carriages, and then make state judgments based on the collected information, so as to stably and reliably achieve the virtual formation of the train.

[0148] Optionally, the first state information further includes: the first distance and the speed of the leading vehicle; the second state information includes the second distance, the speed of the trailing vehicle, and the information of the rear vehicle's lights;

[0149] Determining the information of the leading vehicle's lights of the leading carriage according to the second state information includes:

[0150] When it is determined that the operation light of the trailing carriage in the trailing carriage is in the second display state based on the information of the rear vehicle's lights, it is determined that the formation state is formation maintenance;

[0151] Controlling the light display of the leading carriage according to the control instruction, the second distance, and the speed of the trailing vehicle.

[0152] After the leading vehicle and the trailing vehicle are grouped, the running lights of both are in the second display. The grouping between the leading vehicle and the trailing vehicle is maintained. The leading vehicle uses the lights at the rear of the vehicle to prompt the next action of the leading vehicle, that is, the action tendency, to the trailing vehicle. The trailing vehicle determines the action tendency of the leading vehicle by recognizing the lights at the rear of the leading vehicle, and also controls the action and the display of the running lights of the trailing vehicle by sensing the speed of the leading vehicle and the first distance. If the trailing vehicle determines that the running light of the leading vehicle is in the second display and determines that the running light of the trailing vehicle is in the second display according to the information of the trailing vehicle's lights, before the leading vehicle needs to perform actions such as accelerating, decelerating, turning, and stopping, it will perform corresponding light displays through the signal lights. The trailing vehicle continuously obtains the first status information of the leading vehicle. If it determines that the running light of the leading vehicle is in the second display according to the information of the leading vehicle's lights, and the first distance and the speed of the leading vehicle meet the preset conditions, then it controls the action and the signal lights of the trailing vehicle according to the light display of the signal lights of the leading vehicle.

[0153] As Figure 10 shown, the leading vehicle continuously confirms that the trailing vehicle is in the grouped state, the speeds of the two vehicles, and the distance between the two vehicles. Before the leading vehicle needs to perform actions such as accelerating, decelerating, turning, and stopping, it controls the display of the lights at the rear of the leading vehicle to prompt the action tendency to the trailing vehicle. The trailing vehicle can judge the next action of the leading vehicle by visually recognizing the action tendency of the leading vehicle, and senses the speeds of the two vehicles and the distance between the two vehicles to maintain the grouping, and controls the lights to prompt the leading vehicle that it is in the grouped state.

[0154] As Figure 11 shown, during the process of maintaining the grouping, for the leading vehicle to achieve the grouped state, it first needs to obtain the speed of the leading vehicle, the speed of the trailing vehicle, and the distance between the two vehicles to confirm that the trailing vehicle is in the grouped state. Before the leading vehicle needs to perform actions such as accelerating, decelerating, turning, and stopping, it generates the information of the leading vehicle's lights and controls the display of the lights at the rear of the leading vehicle; the leading vehicle also uses the lidar, camera, and speed measurement equipment at the rear to collect the point cloud data, image information, and speed information of the trailing vehicle. The in-vehicle computer of the leading vehicle performs vehicle recognition on the image information to achieve the recognition of the trailing vehicle's lights, obtains the information of the trailing vehicle's lights by querying the light display information preset in the in-vehicle computer, determines that the trailing vehicle is currently in the grouped state, and combines the collected point cloud data to obtain the vehicle point cloud of the trailing vehicle, performs point cloud ranging on the vehicle point cloud to obtain the second distance; at the same time, it performs speed judgment based on the speed of the leading vehicle and the relative speed in the speed information to obtain the speed of the trailing vehicle; then, it performs distance judgment on the second distance and speed judgment on the speed of the leading vehicle and the speed of the trailing vehicle. When the second distance, the speed of the leading vehicle, and the speed of the trailing vehicle meet the preset conditions and it is determined that the trailing vehicle is in the grouped state, it queries the light display information preset in the in-vehicle computer according to the action tendency of the leading vehicle to confirm the display of the lights at the rear of the leading vehicle.

[0155] As Figure 12As shown in the figure, for the rear vehicle to achieve formation maintenance, it is necessary to use the lidar, camera, and speed measurement equipment on the front vehicle to collect point cloud data, image information, and speed information of the front vehicle. The on-vehicle computer of the rear vehicle performs vehicle recognition on the collected image information to obtain the front vehicle headlight information, and then the action tendency of the front vehicle can be determined. Moreover, vehicle recognition is combined with the collected point cloud data to obtain the vehicle point cloud of the front vehicle, and point cloud ranging is performed on the vehicle point cloud to obtain the first distance. At the same time, speed judgment is performed based on the speed of the rear vehicle and the relative speed in the speed information to obtain the speed of the front vehicle. When the front vehicle is in formation maintenance and the first distance, the speed of the front vehicle, and the speed of the rear vehicle meet the preset conditions, then according to the action tendency of the front vehicle, the next action of the front vehicle is obtained, and the behavior of the rear vehicle is controlled according to the next action of the front vehicle.

[0156] According to the train virtual formation control method provided by the present invention, by means of the front vehicle and the rear vehicle collecting data from each other, it is judged that the speed and distance of the two vehicles meet the conditions of virtual formation, and the state is still in formation maintenance. Furthermore, without communication, the actions of the rear vehicle and the front vehicle are made consistent, and the problem of communication delay is solved by real-time active perception.

[0157] The train virtual formation control device provided by the present invention will be described below. The train virtual formation control device described below can be correspondingly referred to the train virtual formation control method described above.

[0158] Figure 17 is one of the structural schematic diagrams of the train virtual formation control device provided by the present invention, as Figure 17 shown, including:

[0159] A first acquisition module 1701, configured to acquire first state information of the front carriage; the first state information is determined based on the information collection of the front carriage by the on-vehicle sensor of the rear carriage;

[0160] A first determination module 1702, configured to determine the formation state with the front carriage according to the first state information; the front vehicle headlight information in the first state information is determined based on the second state information; the second state information is determined based on the information collection of the rear carriage by the on-vehicle sensor of the front carriage.

[0161] First, the first acquisition module 1701 acquires first state information of the front carriage; the first state information is determined based on the information collection of the front carriage by the on-vehicle sensor of the rear carriage.

[0162] As Figure 2 shown, virtual formation is to enable the rear vehicle to obtain the running state of the front vehicle through wireless communication between vehicles, so as to control the running of the rear vehicle. Through the virtual formation method, the front and rear vehicles can be regarded as being coupled, except that the physical coupling method has changed from mechanical to wireless communication.

[0163] Most modern urban rail transits adopt the Communication - Based Train Control (CBTC) system. The CBTC system mostly uses moving block, and the end point of the movement authority in moving block is the safe rear end of the leading train. Moving block realizes uninterrupted two - way communication between on - vehicle equipment and track - side equipment. The zone controller can calculate the maximum braking distance of the train according to the real - time speed and dynamic position of the train. The sum of the train length and this maximum braking distance, plus a certain protective distance behind the train, is the safety protection distance of the train.

[0164] However, with the continuous increase in train speed, the safety protection distance of the CBTC system is constantly increasing. Therefore, moving block cannot fundamentally reduce the train tracking interval.

[0165] As Figure 3 shown, there is vehicle - to - vehicle communication between car body A and car body B, and the dispatching system conducts two - way communication with each car body respectively. It can utilize the vehicle - to - vehicle communication between adjacent car bodies and then realize the control of the car body through the dispatching system.

[0166] In the embodiment of the present invention, both the front car body (hereinafter referred to as: the leading car) and the rear car body (hereinafter referred to as: the trailing car) have head and tail ends. Taking the running direction of the car body as a reference, the end in the same direction as the running direction is the head, and the end in the opposite direction to the running direction is the tail. The leading car and the trailing car run on the same track in the same direction. The leading car collects information about the trailing car through the on - vehicle sensor at its rear end, and the trailing car collects information about the leading car through the on - vehicle sensor at its head end.

[0167] As Figure 4 shown, it is the left half of the car body. There is an on - vehicle computer in the electrical cabinet inside the car body. The on - vehicle computer is pre - set with headlight information and the meaning represented by the headlight information. On - vehicle sensors are arranged at both the head and tail ends of the car body. The on - vehicle sensors include: 2 lidars, 2 cameras, 2 millimeter - wave radars, and speed sensors, etc. The cameras include long - focal - length cameras and short - focal - length cameras. When the running direction of this car body is from right to left, this car body is the trailing car. The lidars, cameras, and millimeter - wave radars are facing the forward direction of the trailing car. The lidars and cameras are used to collect point cloud data and image information of the rear end of the leading car adjacent to the head of this car body. The millimeter - wave radar is used to collect the relative speed between the adjacent car body and this car body. The speed sensor is installed on the wheels of the car body and is used to collect the speed of the trailing car.

[0168] The on - vehicle computer of the trailing car receives the point cloud data collected by the lidar and calculates the relative distance between the trailing car and the leading car based on the point cloud data, and determines this relative distance as the first distance;

[0169] The on-vehicle computer of the following vehicle also receives the image information collected by the camera and obtains the information of the headlights of the preceding vehicle according to the image information;

[0170] The on-vehicle computer of the following vehicle also receives the speed of the following vehicle collected by the speed sensor and the relative speed collected by the millimeter-wave radar, and determines the speed of the preceding vehicle according to the speed of the following vehicle and the relative speed.

[0171] The first state information includes: the information of the headlights of the preceding vehicle, the first distance, and the speed of the preceding vehicle. The first state information can be obtained after the on-vehicle sensors at the front of the following vehicle collect information about the rear of the preceding vehicle and the on-vehicle computer of the following vehicle processes the collected information.

[0172] Such as Figure 5 shown, it includes 2 running lights located on the upper side and 2 indicator lights located on the lower side. Before the carriage performs actions such as accelerating, decelerating, reversing, turning, and stopping, it will perform corresponding lighting display action tendencies through the signal lights, and the formation state of the carriage will perform corresponding lighting displays through the running lights. The image information captured by the camera can include the lighting conditions of all running lights and indicator lights. The signal lights can include brake lights, turn signals, and reverse lights, etc. In addition, the headlights can be modified or special lights can be added so that adjacent carriages can obtain more information by observing each other.

[0173] Next, the first determination module 1702 determines the formation state with the preceding carriage according to the first state information; the information of the headlights of the preceding vehicle in the first state information is determined based on the second state information; the second state information is determined based on the information collection of the following carriage by the on-vehicle sensors of the preceding carriage.

[0174] Correspondingly, the second state information includes: the information of the rear lights of the following vehicle, the second distance, and the speed of the following vehicle. The second state information is obtained after the on-vehicle sensors at the rear of the preceding vehicle collect information about the front of the following vehicle and the on-vehicle computer of the preceding vehicle processes the collected information. The second distance is the relative distance between the preceding vehicle and the following vehicle monitored by the preceding vehicle.

[0175] The information of the rear lights of the following vehicle can include: the state of the running lights and the state of the signal lights, the formation state that can be determined according to the state of the running lights, and the action tendency that can be determined according to the state of the signal lights. The formation state includes: formation establishment, formation maintenance, formation release, etc. The action tendency can be actions such as accelerating, decelerating, reversing, turning, and stopping that are about to be made.

[0176] Such as Figure 6 shown, by the following vehicle collecting information about the preceding vehicle and the preceding vehicle collecting information about the following vehicle, a virtual connection between the preceding vehicle and the following vehicle is realized.

[0177] The information of the headlight display is the information of the fixed meanings represented by the fixed running light display and the signal light display preset in the vehicle-mounted computer. Table 1 shows the fixed meanings represented by the running light display provided by the present invention. As shown in Table 1, different running light states can represent different formation states, and it can also be transformed by using the existing headlights and reverse display. Currently, the running lights are divided into two lights on the left and right, one displays red light and the other displays white light. When it is the front of the vehicle, the running light displays white light, and when it is the rear of the vehicle, it displays red light.

[0178] Table 1 Running Light Display

[0179]

[0180]

[0181] The leading vehicle uses the lidar, camera, and speed measurement equipment at the rear of the vehicle to collect point cloud data, image information, and speed information of the following vehicle. The in-vehicle computer of the leading vehicle performs visual recognition on the image information to obtain the rear headlight information, and analyzes it through the headlight display information preset in the in-vehicle computer to obtain the formation state and action tendency of the following vehicle. Moreover, it processes the collected point cloud data and speed information to obtain the second distance and the speed of the following vehicle, and controls the running lights and signal lights of the leading vehicle to perform corresponding light displays according to the second distance, the speed of the following vehicle, the formation state, and the action tendency of the following vehicle.

[0182] Correspondingly, the following vehicle uses the lidar, camera, and speed measurement equipment at the front of the vehicle to collect point cloud data, image information, and speed information of the leading vehicle. The in-vehicle computer of the following vehicle performs visual recognition on the image information to obtain the front headlight information, and analyzes it through the headlight display information preset in the in-vehicle computer to obtain the formation state and action tendency of the leading vehicle. Moreover, it processes the collected point cloud data and speed information to obtain the first distance and the speed of the leading vehicle, and controls the running lights and signal lights of the following vehicle to perform corresponding light displays according to the first distance, the speed of the leading vehicle, the formation state, and the action tendency of the leading vehicle.

[0183] The leading vehicle continuously obtains the second state information of the following vehicle. If the second distance and the speed of the following vehicle meet the preset conditions, it determines that the following vehicle meets the formation establishment conditions, and controls the running light of the leading vehicle to be the first display, that is, the running light flashes alternately in red and white; the following vehicle continuously obtains the first state information of the leading vehicle. If the first distance and the speed of the leading vehicle meet the preset conditions, and it is determined according to the front headlight information that the running light of the leading vehicle is the first display, it determines that the formation between the leading vehicle and the following vehicle is established, and controls the running light of the following vehicle to be the first display.

[0184] Among them, the preset conditions are set according to the required spacing and vehicle speed established based on the formation of trains, including that the speeds of the leading vehicle and the trailing vehicle are both not greater than the speed threshold, and the distance between the leading vehicle and the trailing vehicle is not greater than the spacing threshold. The higher the accuracy required for virtual formation, the smaller the speed threshold and the spacing threshold. For example, the distance threshold can be 30 meters, 15 meters, or 10 meters. If the speeds of the leading vehicle and the trailing vehicle are too fast, there will be risks in the formation establishment of the front and rear vehicles. Therefore, it is necessary to monitor the speeds of the leading vehicle and the trailing vehicle. For example, when the speed threshold is 0 m / h, the leading vehicle and the trailing vehicle can only establish the formation when they are stationary within the station. After the formation between the leading vehicle and the trailing vehicle is established, the operation lights of both are in the second display state, that is, the operation lights are constantly on in red and white. If it is determined that the operation light of the leading vehicle is in the second display state, and based on the information of the rear vehicle light, it is determined that the operation light of the trailing vehicle is in the second display state. Before the leading vehicle needs to perform actions such as accelerating, decelerating, turning, and stopping, corresponding light displays will be made through the signal lights; the trailing vehicle continuously obtains the first state information of the leading vehicle. If it is determined based on the information of the leading vehicle light that the operation light of the leading vehicle is in the second display state, and the first distance and the speed of the leading vehicle meet the preset conditions, then the actions and signal lights of the trailing vehicle are controlled according to the light display of the signal lights of the leading vehicle.

[0185] After the formation between the leading vehicle and the trailing vehicle is established, the operation lights of both are in the second display state. If the leading vehicle receives a formation release instruction, it controls the operation light of the leading vehicle to be in the third display state, that is, the operation light flashes in red; the trailing vehicle continuously obtains the first state information of the leading vehicle. When it is determined based on the information of the leading vehicle light that the operation light of the on-line carriage is in the third display state, it is determined that the formation between the leading vehicle and the trailing vehicle is released, and the operation light of the trailing vehicle is controlled to be in the third display state.

[0186] The train virtual formation control device provided by the present invention can achieve virtual connection between adjacent carriages without relying on vehicle-to-vehicle communication by observing and collecting information between adjacent carriages, and then make state judgments based on the collected information, so as to stably and reliably achieve the virtual formation of trains.

[0187] Figure 18 is the second structural schematic diagram of the train virtual formation control device provided by the present invention, as Figure 18 shown, including:

[0188] A second acquisition module 1801, configured to acquire the second state information of the rear carriage; the second state information is determined based on the information collection of the rear carriage by the on-vehicle sensor of the front carriage;

[0189] A second determination module 1802, configured to determine the headlight information of the front carriage according to the second status information; the first status information of the front carriage includes the headlight information, and the first status information is determined based on the information collection of the front carriage by the vehicle-mounted sensors in the rear carriage; the first status information is used to determine the formation status between the rear carriage and the front carriage.

[0190] First, a second acquisition module 1801 acquires the second status information of the rear carriage; the second status information is determined based on the information collection of the rear carriage by the vehicle-mounted sensors in the front carriage.

[0191] The on-vehicle computer of the front vehicle receives the point cloud data collected by the lidar, and calculates the relative distance between the rear vehicle and the front vehicle based on the point cloud data, and determines that the relative distance is the second distance;

[0192] The on-vehicle computer of the front vehicle also receives the image information collected by the camera, and obtains the rear light information according to the image information;

[0193] The on-vehicle computer of the front vehicle also receives the speed of the front vehicle collected by the speed sensor, and also receives the relative speed collected by the millimeter wave radar, and determines the speed of the rear vehicle according to the speed of the front vehicle and the relative speed.

[0194] The on-vehicle computer of the rear vehicle receives the point cloud data collected by the lidar, and calculates the relative distance between the rear vehicle and the front vehicle based on the point cloud data, and determines that the relative distance is the first distance;

[0195] The on-vehicle computer of the rear vehicle also receives the image information collected by the camera, and obtains the headlight information according to the image information;

[0196] The on-vehicle computer of the rear vehicle also receives the speed of the rear vehicle collected by the speed sensor, and the relative speed collected by the millimeter wave radar, and determines the speed of the front vehicle according to the speed of the rear vehicle and the relative speed.

[0197] The first status information includes: headlight information, the first distance, and the speed of the front vehicle. The first status information can be obtained after the vehicle-mounted sensors at the front of the rear vehicle collect information about the rear of the front vehicle and the on-vehicle computer of the rear vehicle processes the collected information.

[0198] Correspondingly, the second status information includes: rear light information, the second distance, and the speed of the rear vehicle. The second status information is obtained after the vehicle-mounted sensors at the rear of the front vehicle collect information about the front of the rear vehicle and the on-vehicle computer of the front vehicle processes the collected information. The second distance is the relative distance between the front vehicle and the rear vehicle detected by the front vehicle.

[0199] The rear vehicle light information may include: the running light status and the signal light status, the formation status that can be determined according to the running light status, and the action tendency that can be determined according to the signal light status. The formation status includes: formation establishment, formation maintenance, formation release, etc., and the action tendency may be actions such as about to accelerate, decelerate, reverse, turn, and stop.

[0200] Next, the second determination module 1802 determines the front vehicle light information of the front carriage according to the second status information; the first status information of the front carriage includes the front vehicle light information, and the first status information is determined based on the information collection of the front carriage by the on-vehicle sensors in the rear carriage; the first status information is used to determine the formation status of the rear carriage and the front carriage.

[0201] As Figure 6 shown, through the rear vehicle collecting information about the front vehicle, and the front vehicle collecting information about the rear vehicle, a virtual connection between the front vehicle and the rear vehicle is realized.

[0202] The front vehicle uses the lidar, camera, and speed measurement device at the rear of the vehicle to collect point cloud data, image information, and speed information of the rear vehicle. The on-vehicle computer of the front vehicle performs visual recognition on the image information to obtain the rear vehicle light information, and analyzes it through the vehicle light display information preset in the on-vehicle computer to obtain the formation status and action tendency of the rear vehicle, and processes the collected point cloud data and speed information to obtain the second distance and the speed of the rear vehicle, and controls the running lights and signal lights of the front vehicle to perform corresponding light displays according to the second distance, the speed of the rear vehicle, the formation status and action tendency of the rear vehicle.

[0203] Correspondingly, the rear vehicle uses the lidar, camera, and speed measurement device at the front of the vehicle to collect point cloud data, image information, and speed information of the front vehicle. The on-vehicle computer of the rear vehicle performs visual recognition on the image information to obtain the front vehicle light information, and analyzes it through the vehicle light display information preset in the on-vehicle computer to obtain the formation status and action tendency of the front vehicle, and processes the collected point cloud data and speed information to obtain the first distance and the speed of the front vehicle, and controls the running lights and signal lights of the rear vehicle to perform corresponding light displays according to the first distance, the speed of the front vehicle, the formation status and the action tendency of the front vehicle.

[0204] The front vehicle continuously obtains the second status information of the rear vehicle. If the second distance and the speed of the rear vehicle meet the preset conditions, it is determined that the rear vehicle meets the formation establishment conditions, and the running lights of the front vehicle are controlled to be the first display, that is, the running lights flash alternately in red and white; the rear vehicle continuously obtains the first status information of the front vehicle. If the first distance and the speed of the front vehicle meet the preset conditions, and it is determined according to the front vehicle light information that the running lights of the front vehicle are the first display, it is determined that the formation between the front vehicle and the rear vehicle is established, and the running lights of the rear vehicle are controlled to be the first display.

[0205] Among them, the preset conditions are set according to the required spacing and vehicle speed established based on the formation of trains, including that the speeds of the leading vehicle and the trailing vehicle are not greater than the speed threshold, and the distance between the leading vehicle and the trailing vehicle is not greater than the spacing threshold. The higher the accuracy required for virtual formation, the smaller the speed threshold and the spacing threshold. For example, the distance threshold can be 30 meters, 15 meters, or 10 meters. If the speeds of the leading vehicle and the trailing vehicle are too fast, there will be risks in the formation establishment of the front and rear vehicles. Therefore, it is necessary to monitor the speeds of the leading vehicle and the trailing vehicle. For example, when the speed threshold is 0 m / h, the leading vehicle and the trailing vehicle can only form a formation when they are stationary within the station. After the formation of the leading vehicle and the trailing vehicle is established, the operation lights of both are in the second display, that is, the operation lights are constantly red and white. If it is determined that the operation light of the leading vehicle is in the second display, and according to the information of the rear vehicle light, it is determined that the operation light of the trailing vehicle is in the second display. Before the leading vehicle needs to perform actions such as accelerating, decelerating, turning, and stopping, corresponding light displays will be made through the signal lights; the trailing vehicle continuously obtains the first state information of the leading vehicle. If it is determined according to the leading vehicle light information that the operation light of the leading vehicle is in the second display, and the first distance and the speed of the leading vehicle meet the preset conditions, then according to the light display of the signal lights of the leading vehicle, the actions and signal lights of the trailing vehicle are controlled.

[0206] After the formation of the leading vehicle and the trailing vehicle is established, the operation lights of both are in the second display. If the leading vehicle receives a formation release instruction, it controls the operation light of the leading vehicle to be in the third display, that is, the operation light flashes red; the trailing vehicle continuously obtains the first state information of the leading vehicle. When it is determined according to the leading vehicle light information that the operation light of the on-line carriage is in the third display, it is determined that the formation of the leading vehicle and the trailing vehicle is released, and the operation light of the trailing vehicle is controlled to be in the third display.

[0207] The train virtual formation control device provided by the present invention can achieve virtual connection between adjacent carriages without relying on vehicle-to-vehicle communication by observing and collecting information between adjacent carriages, and then make a status judgment based on the collected information, so as to stably and reliably achieve the virtual formation of the train.

[0208] As Figure 4 shown, the present invention also provides a carriage, including an on-vehicle computer arranged in the carriage, and on-vehicle sensors and operation lights are arranged at both ends of the carriage; the on-vehicle sensors are used to collect image information, point cloud data, the speed of the vehicle itself, and relative speed of the head of the opposite end of the adjacent carriage;

[0209] The on-vehicle computer is used to determine the light display information of the adjacent carriage according to the image information, determine the relative distance from the adjacent carriage according to the point cloud data, and is also used to determine the speed information of the adjacent carriage according to the speed of the vehicle itself and the relative speed;

[0210] The carriage further includes a memory and programs or instructions stored on the memory and executable on the on-vehicle computer. When the programs or instructions are executed by the on-vehicle computer, the train virtual formation control method described in any of the above embodiments is executed.

[0211] Optionally, the on-vehicle sensors include: lidar, image acquisition devices, and speed measurement devices;

[0212] The lidar is used to collect the point cloud data;

[0213] The image acquisition devices are used to collect the image information;

[0214] The speed measurement devices include a speed sensor and a millimeter-wave radar. The speed sensor is used to collect the speed of the vehicle itself, and the millimeter-wave radar is used to collect the relative speed.

[0215] First, the on-vehicle computer of the rear vehicle acquires the first state information of the front carriage; the first state information is determined based on the information collection of the front carriage by the on-vehicle sensors of the rear carriage.

[0216] As Figure 2 shown, virtual formation enables the rear vehicle to obtain the running state of the front vehicle through wireless communication between vehicles, thereby controlling the running of the rear vehicle. Through the virtual formation method, the front and rear vehicles can be regarded as being coupled, except that the physical coupling method has changed from mechanical to wireless communication.

[0217] Most modern urban rail transits adopt a communication-based train control (CBTC) system based on wireless communication. The CBTC system mostly adopts moving block, and the end of the movement authority for moving block is the safe rear end of the front vehicle. Moving block is achieved through continuous two-way communication between on-vehicle equipment and trackside equipment. The area controller can calculate the maximum braking distance of the train based on the real-time speed and dynamic position of the train. The sum of the length of the train and this maximum braking distance, plus a certain protection distance behind the train, is the safety protection distance of the train.

[0218] However, with the continuous increase in train speed, the safety protection distance of the CBTC system is constantly increasing. Therefore, moving block cannot fundamentally reduce the train tracking interval.

[0219] As Figure 3 shown, vehicle-to-vehicle communication is carried out between carriage A and carriage B, and the dispatching system communicates bidirectionally with each carriage respectively. The vehicle-to-vehicle communication between adjacent carriages can be utilized, and then the control of the carriages can be achieved through the dispatching system.

[0220] In an embodiment of the present invention, both the front carriage (hereinafter referred to as: the front vehicle) and the rear carriage (hereinafter referred to as: the rear vehicle) have two ends, the head and the tail. Taking the running direction of the carriage as a reference, the end in the same direction as the running direction is the head, and the end in the opposite direction to the running direction is the tail. The front vehicle and the rear vehicle run in the same direction on the same track. The front vehicle collects information about the rear vehicle through the on-vehicle sensor at its tail, and the rear vehicle collects information about the front vehicle through the on-vehicle sensor at its head.

[0221] As Figure 4 shown, it is the left half of the carriage. An on-vehicle computer is provided in the electrical cabinet inside the carriage. The on-vehicle computer is pre-set with headlight information and the meaning represented by the headlight information. On-vehicle sensors are provided at both the head and tail ends of the carriage. The on-vehicle sensors include: 2 lidars, 2 cameras, 2 millimeter-wave radars, a speed sensor, etc. The cameras include a long-focus camera and a short-focus camera. When the running direction of this carriage is from right to left, this carriage is the rear vehicle. The lidars, cameras, and millimeter-wave radars are facing the forward direction of the rear vehicle. The lidars and cameras are used to collect point cloud data and image information of the tail of the front vehicle adjacent to the head of this vehicle. The millimeter-wave radar is used to collect the relative speed between the adjacent carriage and this carriage. The speed sensor is installed on the wheels of the carriage and is used to collect the speed of the rear vehicle.

[0222] The on-vehicle computer of the rear vehicle receives the point cloud data collected by the lidar and calculates the relative distance between the rear vehicle and the front vehicle based on the point cloud data, and determines that this relative distance is the first distance;

[0223] The on-vehicle computer of the rear vehicle also receives the image information collected by the camera and obtains the headlight information of the front vehicle according to the image information;

[0224] The on-vehicle computer of the rear vehicle also receives the speed of the rear vehicle collected by the speed sensor and the relative speed collected by the millimeter-wave radar, and determines the speed of the vehicle in front of the front vehicle according to the speed of the rear vehicle and the relative speed.

[0225] The first status information includes: headlight information, the first distance, and the speed of the vehicle in front of the front vehicle. The first status information can be obtained after the on-vehicle sensor at the head of the rear vehicle collects information about the tail of the front vehicle and the on-vehicle computer of the rear vehicle processes the collected information.

[0226] As Figure 5As shown, it includes two running lights on the upper side and two indicator lights on the lower side. Before the carriage performs actions such as accelerating, decelerating, reversing, turning, and stopping, corresponding lighting display action tendencies will be shown through signal lights, and the formation state of the carriage will be shown through corresponding lighting of the running lights. The image information captured by the camera can include the lighting status of all running lights and indicator lights. The signal lights can include brake lights, turn signals, and reverse lights, etc. In addition, the vehicle lights can be modified or special lights can be added so that adjacent carriages can obtain more information by observing each other.

[0227] Next, the on-vehicle computer of the following vehicle determines the formation state with the preceding carriage based on the first state information; the information of the front vehicle lights in the first state information is determined based on the second state information; the second state information is determined based on the information collection of the following vehicle by the on-vehicle sensors of the preceding carriage.

[0228] Correspondingly, the second state information includes: information of the rear vehicle lights, the second distance, and the speed of the following vehicle. The second state information is obtained after the on-vehicle computer of the preceding vehicle processes the information collected by the on-vehicle sensors at the rear of the preceding vehicle's tail for the front of the following vehicle. The second distance is the relative distance detected by the preceding vehicle between it and the following vehicle.

[0229] The information of the rear vehicle lights can include: the running light state and the signal light state, the formation state that can be determined according to the running light state, and the action tendency that can be determined according to the signal light state. The formation state includes: formation establishment, formation maintenance, formation release, etc. The action tendency can be actions such as about to accelerate, decelerate, reverse, turn, and stop.

[0230] As Figure 6 shown, through the following vehicle collecting information about the preceding vehicle and the preceding vehicle collecting information about the following vehicle, a virtual connection between the preceding vehicle and the following vehicle is achieved.

[0231] The information of the vehicle light display is the information of the fixed meanings represented by the fixed running light display and signal light display preset in the on-vehicle computer. Table 1 shows the fixed meanings represented by the running light display provided by the present invention. As shown in Table 1, different running light states can represent different formation states, and the existing vehicle lights and reverse display can also be used for transformation. Currently, the running lights are divided into two lights on the left and right, one shows red light and the other shows white light. When it is the front of the vehicle, the running light shows white light, and when it is the rear of the vehicle, it shows red light.

[0232] Table 1 Running Light Display

[0233] Display meaning Operating lamp status Group establishment The operating lamp flashes alternately in red and white Group retention The operating lamp is constantly on in red and white Group release The operating lamp flashes red … …

[0234] The leading vehicle uses the lidar, camera, and speed measurement equipment at the rear of the vehicle to collect point cloud data, image information, and speed information of the following vehicle. The in-vehicle computer of the leading vehicle performs visual recognition on the image information to obtain the rear vehicle's headlight information, and analyzes it through the headlight display information preset in the in-vehicle computer to obtain the formation status and action tendency of the following vehicle. It also processes the collected point cloud data and speed information to obtain the second distance and the speed of the following vehicle, and controls the running lights and signal lights of the leading vehicle to perform corresponding light displays according to the second distance, the speed of the following vehicle, the formation status, and the action tendency of the following vehicle.

[0235] Correspondingly, the following vehicle uses the lidar, camera, and speed measurement equipment at the front of the vehicle to collect point cloud data, image information, and speed information of the leading vehicle. The in-vehicle computer of the following vehicle performs visual recognition on the image information to obtain the leading vehicle's headlight information, and analyzes it through the headlight display information preset in the in-vehicle computer to obtain the formation status and action tendency of the leading vehicle. It also processes the collected point cloud data and speed information to obtain the first distance and the speed of the leading vehicle, and controls the running lights and signal lights of the following vehicle to perform corresponding light displays according to the first distance, the speed of the leading vehicle, the formation status, and the action tendency of the leading vehicle.

[0236] The leading vehicle continuously obtains the second status information of the following vehicle. If the second distance and the speed of the following vehicle meet the preset conditions, it determines that the following vehicle meets the formation establishment conditions and controls the running lights of the leading vehicle to be the first display, that is, the running lights flash alternately in red and white. The following vehicle continuously obtains the first status information of the leading vehicle. If the first distance and the speed of the leading vehicle meet the preset conditions, and it is determined that the running lights of the leading vehicle are the first display according to the leading vehicle's headlight information, it determines that the formation between the leading vehicle and the following vehicle is established and controls the running lights of the following vehicle to be the first display.

[0237] Among them, the preset conditions are set according to the required spacing and vehicle speed established based on the formation between trains, including that the speeds of the leading vehicle and the trailing vehicle are both not greater than the speed threshold, and the distance between the leading vehicle and the trailing vehicle is not greater than the spacing threshold. The higher the accuracy required for virtual formation, the smaller the speed threshold and the spacing threshold. For example, the distance threshold can be 30 meters, 15 meters, or 10 meters. If the speeds of the leading vehicle and the trailing vehicle are too fast, there will be risks in establishing the formation between the front and rear vehicles. Therefore, it is necessary to monitor the speeds of the leading vehicle and the trailing vehicle. For example, when the speed threshold is 0 m / h, the leading vehicle and the trailing vehicle can only establish the formation when they are stationary within the station. After the formation between the leading vehicle and the trailing vehicle is established, the operation lights of both are in the second display state, that is, the operation lights are constantly red and white. If it is determined that the operation light of the leading vehicle is in the second display state, and based on the information of the rear vehicle light, it is determined that the operation light of the trailing vehicle is in the second display state. Before the leading vehicle needs to perform actions such as accelerating, decelerating, turning, and stopping, corresponding light displays will be made through the signal lights; the trailing vehicle continuously obtains the first state information of the leading vehicle. If it is determined based on the information of the leading vehicle light that the operation light of the leading vehicle is in the second display state, and the first distance and the speed of the leading vehicle meet the preset conditions, then the actions and signal lights of the trailing vehicle are controlled according to the light display of the signal lights of the leading vehicle.

[0238] After the formation between the leading vehicle and the trailing vehicle is established, the operation lights of both are in the second display state. If the leading vehicle receives a formation release instruction, it controls the operation light of the leading vehicle to be in the third display state, that is, the operation light flashes red; the trailing vehicle continuously obtains the first state information of the leading vehicle. When it is determined based on the information of the leading vehicle light that the operation light of the in-line carriage is in the third display state, it is determined that the formation between the leading vehicle and the trailing vehicle is released, and the operation light of the trailing vehicle is controlled to be in the third display state.

[0239] The carriage provided by the present invention can achieve virtual connection between adjacent carriages without relying on vehicle-to-vehicle communication by observing and collecting information between adjacent carriages, and then make state judgments based on the collected information, so as to stably and reliably achieve virtual formation of trains.

[0240] Figure 19 is a schematic structural diagram of the electronic device provided by the present invention, as Figure 19As shown, the electronic device may include: a processor 1910, a communications interface 1920, a memory 1930, and a communication bus 1940. Among them, the processor 1910, the communications interface 1920, and the memory 1930 communicate with each other through the communication bus 1940. The processor 1910 can call the logical instructions in the memory 1930 to execute the train virtual formation control method, which includes: obtaining first state information of the front carriage; the first state information is determined based on the information collection of the front carriage by the on-vehicle sensors of the rear carriage; determining the formation state of the front carriage according to the first state information; the headlight information in the first state information is determined based on second state information; the second state information is determined based on the information collection of the rear carriage by the on-vehicle sensors of the front carriage;

[0241] and / or,

[0242] obtaining second state information of the rear carriage; the second state information is determined based on the information collection of the rear carriage by the on-vehicle sensors of the front carriage; determining the headlight information of the front carriage according to the second state information; the first state information of the front carriage includes the headlight information, and the first state information is determined based on the information collection of the front carriage by the on-vehicle sensors of the rear carriage; the first state information is used to determine the formation state of the rear carriage and the front carriage.

[0243] In addition, when the logical instructions in the above-mentioned memory 1930 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0244] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the train virtual formation control method provided by the above-mentioned various methods. The method includes:

[0245] Obtain the first state information of the front carriage; the first state information is determined based on the information collection of the front carriage by the on-vehicle sensors of the rear carriage; according to the first state information, determine the formation state of the front carriage; the front headlight information in the first state information is determined based on the second state information; the second state information is determined based on the information collection of the rear carriage by the on-vehicle sensors of the front carriage;

[0246] and / or,

[0247] Obtain the second state information of the rear carriage; the second state information is determined based on the information collection of the rear carriage by the on-vehicle sensors of the front carriage; according to the second state information, determine the front headlight information of the front carriage; the first state information of the front carriage includes the front headlight information, and the first state information is determined based on the information collection of the front carriage by the on-vehicle sensors of the rear carriage; the first state information is used to determine the formation state of the rear carriage and the front carriage.

[0248] In another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it realizes the train virtual formation control method provided by the above-mentioned various methods. The method includes:

[0249] Obtain the first state information of the front carriage; the first state information is determined based on the information collection of the front carriage by the on-vehicle sensors of the rear carriage; according to the first state information, determine the formation state of the front carriage; the front headlight information in the first state information is determined based on the second state information; the second state information is determined based on the information collection of the rear carriage by the on-vehicle sensors of the front carriage;

[0250] and / or,

[0251] Obtain the second state information of the rear carriage; the second state information is determined based on the information collection of the rear carriage by the vehicle-mounted sensors in the front carriage; determine the headlight information of the front carriage according to the second state information; the first state information of the front carriage includes the headlight information, and the first state information is determined based on the information collection of the front carriage by the vehicle-mounted sensors in the rear carriage; the first state information is used to determine the formation state of the rear carriage and the front carriage.

[0252] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative work.

[0253] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course also by hardware. Based on this understanding, the above technical solutions, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0254] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or equivalently replace some of the technical features. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling virtual formation of trains, characterized in that, An on-vehicle computer applied to the rear compartment, comprising: Obtain the first status information of the front compartment; the first status information is determined based on the information collection of the front compartment by the on-vehicle sensors in the rear compartment; Determine the formation status with the front compartment according to the first status information; The front headlight information in the first status information is determined based on the second status information; The second status information is determined based on the information collection of the rear compartment by the on-vehicle sensors in the front compartment; The first status information further includes: the first distance and the speed of the vehicle in front; the second status information includes the rear headlight information; The determining the formation status with the front compartment according to the first status information includes: When it is determined according to the rear headlight information that the rear running light is the first display, and it is determined that the first distance and the speed of the vehicle in front meet the preset conditions, determine the front headlight information; If it is determined according to the front headlight information that the front running light of the front compartment is the first display, establish a virtual formation with the front compartment; After establishing the virtual formation with the front compartment, it further includes: When it is determined that both the front running light and the rear running light are the second display, the formation status is formation maintenance; Determine the action tendency of the front compartment according to the front headlight information; Control the rear running light to maintain the second display according to the action tendency.

2. The train virtual formation control method according to claim 1, characterized in that, After establishing the virtual formation with the front compartment, it further includes: When it is determined that the front running light is the third display, generate a display instruction to control the rear running light to perform the third display; Determine that the formation status is formation release.

3. A train virtual formation control method, characterized in that, An on-vehicle computer applied to the front compartment, comprising: Obtain the second status information of the rear compartment; the second status information is determined based on the information collection of the rear compartment by the on-vehicle sensors in the front compartment; Determine the front headlight information of the front compartment according to the second status information; The first status information of the front compartment includes the front headlight information, and the first status information is determined based on the information collection of the front compartment by the on-vehicle sensors in the rear compartment; The first status information is used to determine the formation status of the rear compartment and the front compartment; The first status information further includes: the first distance and the speed of the vehicle in front; the second status information includes the second distance, the speed of the vehicle behind and the rear headlight information; The determining the front headlight information of the front compartment according to the second status information includes: When it is determined according to the rear headlight information that the rear running light of the rear compartment is the second display, determine that the formation status is formation maintenance; 4. A train virtual formation control device, characterized in that, Control the headlight display of the front compartment according to the control instruction, the second distance and the speed of the vehicle behind. Comprising: A first acquisition module for acquiring the first status information of the front compartment; The first status information is determined based on the information collection of the front compartment by the on-vehicle sensors in the rear compartment; A first determination module for determining the formation status with the front compartment according to the first status information; The front headlight information in the first state information is determined based on the second state information; The second state information is determined based on the information collection of the rear carriage by the in-vehicle sensors in the front carriage; The first state information further includes: a first distance and the speed of the leading vehicle; the second state information includes rear headlight information; The first determination module is specifically configured to: When it is determined according to the rear headlight information that the rear running light is in the first display, and it is determined that the first distance and the speed of the leading vehicle meet the preset conditions, determine the front headlight information; If it is determined according to the front headlight information that the front running light in the front carriage is in the first display, establish a virtual formation with the front carriage; After establishing the virtual formation with the front carriage, the first determination module is further specifically configured to: When it is determined that both the front running light and the rear running light are in the second display, the formation state is formation maintenance; Determine the action tendency of the front carriage according to the front headlight information; Control the rear running light to maintain the second display according to the action tendency.

5. A train virtual formation control device, characterized in that, It includes: A second acquisition module for acquiring the second state information of the rear carriage; The second state information is determined based on the information collection of the rear carriage by the in-vehicle sensors in the front carriage; A second determination module for determining the front headlight information of the front carriage according to the second state information; The first state information of the front carriage includes the front headlight information, and the first state information is determined based on the information collection of the front carriage by the in-vehicle sensors in the rear carriage; The first state information is used to determine the formation state between the rear carriage and the front carriage; The first state information further includes: a first distance and the speed of the leading vehicle; the second state information includes a second distance, the speed of the following vehicle, and rear headlight information; The second determination module is specifically configured to: When it is determined according to the rear headlight information that the rear running light of the rear carriage is in the second display, determine that the formation state is formation maintenance; Control the headlight display of the front carriage according to the control instruction, the second distance, and the speed of the following vehicle.

6. A carriage, characterized in that, It includes an in-vehicle computer arranged in the carriage, and in-vehicle sensors and running lights are arranged at both ends of the carriage; the in-vehicle sensors are used to collect image information, point cloud data, the speed of the vehicle itself, and relative speed of the opposite ends of adjacent carriages; The in-vehicle computer is used to determine the headlight display information of the adjacent carriage according to the image information, determine the relative distance from the adjacent carriage according to the point cloud data, and is also used to determine the speed information of the adjacent carriage according to the speed of the vehicle itself and the relative speed; The carriage further includes a memory and a program or instruction stored on the memory and executable on the in-vehicle computer, and when the program or instruction is executed by the in-vehicle computer, it executes the train virtual formation control method according to any one of claims 1-3.

7. The carriage according to claim 6, characterized in that, The in-vehicle sensors include: LiDAR, image acquisition devices, and speed measurement devices; The LiDAR is used to collect the point cloud data; The image acquisition device is used to collect the image information; The speed measurement device includes a speed sensor and a millimeter-wave radar. The speed sensor is used to collect the vehicle speed of the vehicle itself, and the millimeter-wave radar is used to collect the relative speed.

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