Multi-train short-spacing platoon following control method and device

Abstract

The embodiment of the specification provides a multi-train short-interval platoon following control method and device, wherein the method comprises the following steps: determining a train operation line and an operation trajectory, acquiring a train operation diagram, acquiring train operation parameter information according to the train operation diagram, obtaining position range information of a multi-train platoon following operation on the basis of the operation trajectory of the multi-train, analyzing train operation constraint conditions according to the position range information, constructing train multi-agent state variables of train position and speed on the basis of switching among three states of train marshalling, platoon following operation and train unmarshalling and the train operation constraint conditions, comprehensively analyzing and determining train marshalling conditions and the like, and if the marshalling conditions are met under the control of a traditional train operation control system, the train realizes marshalling; if interval platoon following conditions are met in the marshalling scene, the train realizes platoon following; and in the platoon following scene, the train realizes station entry following.

Description

Technical Field

[0001] This document relates to the field of computer technology, and in particular to a method and device for controlling short-distance platooning and following of multiple trains. Background Technology

[0002] By employing flexible formation and collaborative formation technologies, coordinated control among multiple trains in rail transit can be achieved, improving train operation efficiency and flexibility. To meet the demands of increasing local train density and other requirements, and to satisfy diverse matching needs for transport capacity and passenger demand, ultimately improving the control efficiency of the train operation control system and enhancing the line's transport capacity is a crucial development direction for future train operation control systems. Summary of the Invention

[0003] The purpose of this invention is to provide a method and apparatus for controlling the short-distance convoy following of multiple trains, in order to solve the above-mentioned problems in the prior art.

[0004] This invention provides a method for controlling short-distance convoy following of multiple trains, comprising:

[0005] Determine the train's route and trajectory, obtain the train timetable, obtain train operation parameter information based on the train timetable, and obtain the position range information of multiple trains that can be convoyed and followed based on the trajectories of multiple trains. When the distance between any two trains is less than D1, it indicates that multiple trains have entered the convoy influence range and can generate convoy association.

[0006] Analyze the train operation constraints based on the location range information;

[0007] Based on the switching between three states—train formation, convoy following, and train decoupling—and train operation constraints, train position and speed multi-agent state variables are constructed. Whether the relative braking distance (RBD) satisfies the three state switching conditions is used as a condition. Based on the multi-agent state variables, the train formation conditions, convoy following conditions, and decoupling conditions are comprehensively analyzed and determined.

[0008] In traditional train operation control systems, trains are assembled if the formation conditions are met (i.e., the relative braking distance between the two trains is less than the distance the lead train travels within the time required for the train to complete platooning). In the formation scenario, trains follow the lead train in a section if the section formation following conditions are met (i.e., the following train maintains a speed lower than the lead train while meeting the formation conditions). In the platoon following scenario, if station entry following is selected, trains follow the lead train in a station if both the section formation following conditions and speed limit conditions are met (i.e., both trains enter the station with the same speed-distance curve and reduce speed in stages). If detachment before entering the station is selected, the lead train stops at the station, while the following train continues at its original speed, thus achieving station entry detachment.

[0009] This invention provides a multi-train short-interval platooning following control device, comprising:

[0010] The determination module is used to determine the train's operating route and trajectory, obtain the train operation diagram, obtain train operation parameter information based on the train operation diagram, and obtain the position range information of multiple trains that can be convoyed and followed based on the operating trajectories of multiple trains. When the distance between any two trains is less than D1, it indicates that multiple trains have entered the convoy influence distance range and can generate convoy association.

[0011] The analysis module is used to analyze the train operation constraints based on the location range information;

[0012] The integrated module is used to construct train multi-agent state variables of train position and speed based on the switching between three states: train formation, convoy following operation, and train disassembly, as well as train operation constraints. Based on whether the relative braking distance (RBD) satisfies the three state switching conditions, the module comprehensively analyzes and determines the train formation conditions, convoy following conditions, and disassembly conditions based on the multi-agent state variables.

[0013] The judgment module is used in traditional train operation control system scenarios. If the formation conditions are met, i.e., the relative braking distance between the two trains is less than the distance traveled by the lead train within the time required for the train to complete formation, the train will form a formation. In the formation scenario, if the section formation following conditions are met, i.e., on the basis of meeting the formation conditions, the following train maintains a speed less than that of the lead train, the train will form a formation and follow. In the formation following scenario, if the train chooses to follow into the station, if the section formation following conditions are met and the speed limit conditions are met, i.e., both trains enter the station with the same speed-distance curve and reduce speed in stages, the train will enter the station and follow. If the train chooses to disassemble before entering the station, the lead train enters the station and stops, while the following train continues to move at the original speed, and the train enters the station and disassembles.

[0014] This invention also provides a multi-train short-distance platooning following control device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the steps of the above-described multi-train short-distance platooning following control method.

[0015] This invention also provides a computer-readable storage medium storing an information transmission implementation program, which, when executed by a processor, implements the steps of the above-described multi-train short-distance convoy following control method.

[0016] By employing the embodiments of the present invention, a train formation following control method based on safety constraints and cooperative formation technology can be used to achieve short-distance multi-train formation following control during high-speed train operation while ensuring safe train operation, thereby significantly improving the efficiency of line traffic. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in one or more embodiments of this specification or in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart of a multi-train short-distance platooning following control method according to an embodiment of the present invention;

[0019] Figure 2 This is a detailed schematic diagram of the multi-train short-distance platooning following control method according to an embodiment of the present invention;

[0020] Figure 3 This is a schematic diagram of a multi-train short-interval platooning and following control device according to an embodiment of the present invention. Figure 1 ;

[0021] Figure 4 This is a schematic diagram of a multi-train short-interval platooning and following control device according to an embodiment of the present invention. Figure 2 . Detailed Implementation

[0022] To enable those skilled in the art to better understand the technical solutions in one or more embodiments of this specification, the technical solutions in one or more embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of the embodiments. Based on one or more embodiments of this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this document.

[0023] According to embodiments of the present invention, a method for controlling short-distance convoy following of multiple trains is provided. Figure 1 This is a flowchart of a multi-train short-interval platooning following control method according to an embodiment of the present invention, such as... Figure 1 As shown, the multi-train short-interval platooning following control method according to an embodiment of the present invention specifically includes:

[0024] Step 101: Determine the train route and trajectory, obtain the train timetable, and acquire train operation parameter information based on the train timetable. Using the trajectories of multiple trains as a basis, obtain the position range information where multiple trains can form a convoy and follow each other. When the distance between any two trains is less than D1, it indicates that the multiple trains have entered the convoy influence distance range and can form a convoy association. Specifically, determining the train route and acquiring the train timetable in step 101 includes:

[0025] Acquire line parameter information, electronic track map data information, and train control data information; determine the train operation route based on the line parameter information, electronic track map data information, and train control data information, and obtain the train operation diagram.

[0026] Step 102: Analyze train operation constraints based on the location range information; wherein, the train operation constraints specifically include: safety constraints and speed constraints; Step 102 specifically includes: analyzing train operation constraints based on the train operation parameter information, specifically including:

[0027] Determine the tracking distance and safety constraints according to Formula 1:

[0028]

[0029] Where, x i Let x be the displacement of the i-th vehicle. j Let be the displacement of the j-th car, and D1 be the distance parameter used to determine the formation relationship between two adjacent trains, i and j. Let i be the preceding train, j be the following train, T be the reaction time for the following train to trigger emergency braking via ATP, and v be the displacement of the j-th car. j (t) represents the speed of train j at time t, and L represents the speed of train i at time t. i(t) is the distance between the tail of train i and the head of train j after train j stops.

[0030] Determine the dynamic and velocity constraints according to Formula 2:

[0031]

[0032] Among them, v lim-low (t) represents the lower limit of the velocity at time t; v i (t) represents the speed of the i-th train at time t; v lim-up (t) represents the upper limit of the velocity at time t; S z (t) represents the velocity v at time t. i Braking distance at (t); S k S represents the distance traveled without moving. e The effective braking distance is represented by v1 and v2, which represent the initial and final velocities of the speed interval, respectively. a is the braking deceleration, λ is the braking deceleration coefficient, and a0 is the initial braking deceleration.

[0033] Step 103: Based on the switching between the three states of train formation, convoy following, and train disassembly, and the train operation constraints, construct train multi-agent state variables for train position and speed. Using whether the relative braking distance (RBD) satisfies the three state switching conditions as a condition, comprehensively analyze and determine the train formation conditions, convoy following conditions, and disassembly conditions based on the multi-agent state variables. Step 103 specifically includes: determining the train formation conditions, convoy following conditions, and disassembly conditions according to Formula 3.

[0034] RBD = max(EoA) VC ,0)+SM+d SB

[0035] EoA VC =L i-break -L (i-1)-break Formula 3;

[0036] Wherein, RBD is the minimum safe following distance between adjacent trains in relative distance braking mode; EoA VC The relative movement authorization interval in formation operation scenarios; SM represents the safety margin; d sB To ensure safe train operation, L (i-1)-break L is the braking distance corresponding to the current operating speed of the train ahead. i-break The braking distance corresponding to the current operating speed of the train.

[0037] Step 104: In the traditional train operation control system's train operation scenario, if the formation conditions are met (i.e., the relative braking distance between the two trains is less than the distance the lead train travels within the time required for the train to complete formation), the train achieves formation. In the formation scenario, if the section formation following conditions are met (i.e., on the basis of meeting the formation conditions, the following train maintains a speed less than the lead train), the train achieves formation following. In the formation following scenario, if station entry following is selected, if the section formation following conditions are met and the speed limit conditions are met (i.e., both trains enter the station with the same speed-distance curve and reduce speed in stages), the train achieves station entry following. If station entry disassembly is selected, the lead train enters the station and stops, while the following train continues to travel at the original speed, and the train achieves station entry disassembly.

[0038] The technical solutions of the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0039] like Figure 2 As shown, according to this invention, by integrating train route information, train timetable, train safety constraints, and formation switching rules, multi-train short-distance formation following control is achieved. According to this invention, the method for achieving following control between two trains includes the following steps:

[0040] S1: Acquire route parameter information, electronic track map data, and train control data to confirm the route. This includes information such as train running position, running speed, station location, track gradient, track speed, bridge and tunnel location, track occupancy, temporary speed limits, and target distance.

[0041] S2: Based on the train timetable, compare the overlapping parts of the two trains' routes and speeds, analyze the route information and station locations, and obtain the positions where the trains can be convoyed and followed.

[0042] S3: Train operation must meet the following constraints to ensure safe train operation:

[0043] 1) Tracking distance and safety constraints:

[0044]

[0045] 2) Dynamics and velocity constraints:

[0046]

[0047] S4: Based on the train formation switching rules, the multi-agent state variables of train position and speed are established using the resistance and traction parameters during train operation. Based on whether the RBD (Relative Braking Distance) meets the formation switching conditions, the conditions for train formation, formation following, and de-formation are comprehensively analyzed.

[0048] RBD = max(EoA) VC,0)+SM+d SB

[0049] EoA VC =L i-break -L (i-1)-break

[0050] Wherein, RBD is the minimum safe following distance between adjacent trains in relative distance braking mode; EoA VC The relative movement authorization interval in formation operation scenarios; SM represents the safety margin; d SB To ensure safe train operation, L (i-1)-break L is the braking distance corresponding to the current operating speed of the train ahead. i-break The braking distance corresponding to the current operating speed of the train.

[0051] S5: In the traditional train operation control system's train control operation scenario, if the following grouping conditions are met, RBD AB ≤t c ·v A That is, the relative braking distance between the two cars is less than the distance the lead car travels in the time required for the train to complete the formation, and the train can be formed.

[0052] S6: In grouping scenarios, if the interval grouping following condition is met |v B -v A |≤th v 、|RδD AB |≤t c ·v A That is, under the premise of meeting the formation conditions, the train can achieve convoy following by keeping the speed of the following car lower than that of the lead car;

[0053] S7: In formation following scenarios, if station entry following is selected, and the conditions for interval formation following are met, and the speed limit condition v is also met... A >v A ′、v B >v B ′ means that the two trains enter the station by reducing their speed in stages according to the same speed-distance curve, and the train can enter the station and follow each other; if the train chooses to be detached before entering the station, the lead train enters the station and stops, and the following train continues to move at the original speed, and the train can enter the station and detach.

[0054] By employing the embodiments of the present invention, while ensuring the safe operation of trains, short-distance multi-train convoy following control is achieved during high-speed train operation, significantly improving the efficiency of line traffic.

[0055] Device Example 1

[0056] According to embodiments of the present invention, a multi-train short-interval platooning following control device is provided. Figure 3This is a schematic diagram of a multi-train short-interval platooning and following control device according to an embodiment of the present invention, as shown below. Figure 3 As shown, the multi-train short-distance platooning following control device according to an embodiment of the present invention specifically includes:

[0057] Module 30 is used to determine the train's operating route and trajectory, obtain the train timetable, acquire train operating parameter information based on the train timetable, and obtain the position range information of multiple trains that can form a convoy based on the trajectories of multiple trains. When the distance between any two trains is less than D1, it indicates that the multiple trains have entered the convoy influence distance range and can form a convoy association. Module 30 is specifically used for:

[0058] Acquire route parameter information, electronic track map data information, and train control data information;

[0059] The train route is determined based on the route parameter information, electronic track map data information, and train control data information, and a train timetable is obtained.

[0060] Analysis module 32 is used to analyze train operation constraints based on the location range information; the train operation constraints specifically include: safety constraints and speed constraints;

[0061] The analysis module 32 is specifically used for:

[0062] Determine the tracking distance and safety constraints according to Formula 1:

[0063]

[0064] Where, x i Let x be the displacement of the i-th vehicle. j Let be the displacement of the j-th car, and D1 be the distance parameter used to determine the formation relationship between two adjacent trains, i and j. Let i be the preceding train, j be the following train, T be the reaction time for the following train to trigger emergency braking via ATP, and v be the displacement of the j-th car. j (t) represents the speed of train j at time t, and L represents the speed of train i at time t. i (t) is the distance between the tail of train i and the head of train j after train j stops.

[0065] Determine the dynamic and velocity constraints according to Formula 2:

[0066]

[0067] Among them, v lim-low (t) represents the lower limit of the velocity at time t; v i (t) represents the speed of the i-th train at time t; v lim-up (t) represents the upper limit of the velocity at time t; S z(t) represents the velocity v at time t. i Braking distance at (t); S k S represents the distance traveled without moving. e The effective braking distance is represented by v1 and v2, which represent the initial and final velocities of the speed interval, respectively. a is the braking deceleration, λ is the braking deceleration coefficient, and a0 is the initial braking deceleration.

[0068] The integrated module 34 is used to construct train multi-agent state variables of train position and speed based on the switching between three states: train formation, convoy following, and train disassembly, as well as train operation constraints. It uses whether the relative braking distance (RBD) satisfies the three state switching conditions as a condition, and comprehensively analyzes and determines the train formation conditions, convoy following conditions, and disassembly conditions based on the multi-agent state variables. Specifically, the integrated module 34 is used for:

[0069] The train formation conditions, convoy following conditions, and de-formation conditions are determined according to Formula 3:

[0070] RBD = max(EoA) VC ,0)+SM+d SB

[0071] EoA VC =L i-break -L (i-1)-break Formula 3;

[0072] Wherein, RBD is the minimum safe following distance between adjacent trains in relative distance braking mode; EoA VC The relative movement authorization interval in formation operation scenarios; SM represents the safety margin; d SB To ensure safe train operation, L (i-1)-break L is the braking distance corresponding to the current operating speed of the train ahead. i-break The braking distance corresponding to the current operating speed of the train.

[0073] The judgment module 36 is used in the traditional train operation control system to determine the following conditions in the train operation scenario: If the formation conditions are met, i.e., the relative braking distance between the two trains is less than the distance traveled by the lead train within the time required for the train to complete the formation, the train will form a formation. In the formation scenario, if the section formation following condition is met, i.e., on the basis of meeting the formation conditions, the following train maintains a speed less than that of the lead train, the train will form a formation and follow. In the formation following scenario, if the train chooses to follow into the station, and if the section formation following condition is met and the speed limit condition is met, i.e., the two trains enter the station with the same speed-distance curve and reduce speed in stages, the train will enter the station and follow. If the train chooses to disassemble before entering the station, the lead train enters the station and stops, while the following train continues to move at the original speed, and the train enters the station and disassembles.

[0074] The embodiments of the present invention are system embodiments corresponding to the above method embodiments. The specific operation of each module can be understood by referring to the description of the method embodiments, and will not be repeated here.

[0075] Device Example 2

[0076] This invention provides a multi-train short-interval platooning following control device, such as... Figure 4 As shown, it includes: a memory 40, a processor 42, and a computer program stored in the memory 40 and executable on the processor 42, wherein the computer program, when executed by the processor 42, performs the steps as described in the method embodiment.

[0077] Device Example 3

[0078] This invention provides a computer-readable storage medium storing an information transmission implementation program, which, when executed by a processor 42, performs the steps described in the method embodiment.

[0079] The computer-readable storage media described in this embodiment include, but are not limited to, ROM, RAM, disk, or optical disk.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling the short-interval convoy following of multiple trains, characterized in that, include: Determine the train's route and trajectory, obtain the train timetable, obtain train operation parameter information based on the train timetable, and obtain the position range information of multiple trains that can be convoyed and followed based on the trajectories of multiple trains. When the distance between any two trains is less than D1, it indicates that multiple trains have entered the convoy influence range and can generate convoy association. Analyze the train operation constraints based on the location range information; Based on the switching between three states—train formation, convoy following, and train decoupling—and train operation constraints, a train multi-agent state variable is constructed representing train position and speed. Whether the relative braking distance (RBD) satisfies the three state switching conditions is used as a condition. Based on the comprehensive analysis of these multi-agent state variables, the train formation conditions, convoy following conditions, and decoupling conditions are determined; specifically including: The train formation conditions, convoy following conditions, and de-formation conditions are determined according to Formula 3: RBD=max(EoA VC ,0)+SM+d SB EoA VC =L i-break -L (i-1)-break Formula 3; Wherein, RBD is the minimum safe following distance between adjacent trains in relative distance braking mode; EoA VC The relative movement authorization interval in formation operation scenarios; SM represents the safety margin; d SB To ensure safe train operation, L (i-1)-break L is the braking distance corresponding to the current operating speed of the train ahead. i-break The braking distance corresponding to the current operating speed of the train; In traditional train operation control systems, trains are assembled if the formation conditions are met (i.e., the relative braking distance between the two trains is less than the distance the lead train travels within the time required for the train to complete platooning). In the formation scenario, trains follow the lead train in a section if the section formation following conditions are met (i.e., the following train maintains a speed lower than the lead train while meeting the formation conditions). In the platoon following scenario, if station entry following is selected, trains follow the lead train in a station if both the section formation following conditions and speed limit conditions are met (i.e., both trains enter the station with the same speed-distance curve and reduce speed in stages). If detachment before entering the station is selected, the lead train stops at the station, while the following train continues at its original speed, thus achieving station entry detachment.

2. The method according to claim 1, characterized in that, Determining train routes and trajectories, and obtaining train timetables, specifically includes: Acquire route parameter information, electronic track map data information, and train control data information; The train route is determined based on the route parameter information, electronic track map data information, and train control data information, and a train timetable is obtained.

3. The method according to claim 1, characterized in that, The train operation constraints specifically include: safety constraints and speed constraints; The specific train operation constraints analyzed based on the aforementioned location range information include: Determine the tracking distance and safety constraints according to Formula 1: Where, x i Let x be the displacement of the i-th vehicle. j Let D1 be the displacement of the j-th car, D1 be the distance parameter used to determine the formation relationship between two adjacent trains i and j; i is the preceding train, j is the following train, T is the reaction time of the following train's ATP to trigger emergency braking, and v is the displacement of the j-th car. j (t) represents the speed of train j at time t, L ij For train i at time t, v i (t) is the distance between the tail of train i and the head of train j after train j stops. Determine the dynamic and velocity constraints according to Formula 2: Among them, v lim-low (t) represents the lower limit of the velocity at time t; v i (t) represents the speed of the i-th train at time t; v lim-up (t) represents the upper limit of the velocity at time t; S z (t) represents the velocity v at time t. i Braking distance at (t); S k S represents the distance traveled without moving. e The effective braking distance is represented by v1 and v2, which represent the initial and final velocities of the speed interval, respectively. a is the braking deceleration, λ is the braking deceleration coefficient, and a0 is the initial braking deceleration.

4. A multi-train short-interval platooning following control device, characterized in that, include: The determination module is used to determine the train's operating route and trajectory, obtain the train operation diagram, obtain train operation parameter information based on the train operation diagram, and obtain the position range information of multiple trains that can be convoyed and followed based on the operating trajectories of multiple trains. When the distance between any two trains is less than D1, it indicates that multiple trains have entered the convoy influence distance range and can generate convoy association. The analysis module is used to analyze the train operation constraints based on the location range information; The integrated module is used to construct train multi-agent state variables of train position and speed based on the switching between three states: train formation, convoy following, and train disassembly, as well as train operation constraints. It uses whether the relative braking distance (RBD) satisfies the three state switching conditions as a condition, and comprehensively analyzes and determines the train formation conditions, convoy following conditions, and disassembly conditions based on these multi-agent state variables. Specifically, it is used for: The train formation conditions, convoy following conditions, and de-formation conditions are determined according to Formula 3: RBD=max(EoA VC ,0)+SM+d SB EoA VC =L i-break -L (i-1)-break Formula 3; Wherein, RBD is the minimum safe following distance between adjacent trains in relative distance braking mode; EoA VC The relative movement authorization interval in formation operation scenarios; SM represents the safety margin; d SB To ensure safe train operation, L (i-1)-break L is the braking distance corresponding to the current operating speed of the train ahead. i-break The braking distance corresponding to the current operating speed of the train; The judgment module is used in traditional train operation control system scenarios. If the formation conditions are met, i.e., the relative braking distance between the two trains is less than the distance traveled by the lead train within the time required for the train to complete formation, the train will form a formation. In the formation scenario, if the section formation following conditions are met, i.e., on the basis of meeting the formation conditions, the following train maintains a speed less than that of the lead train, the train will form a formation and follow. In the formation following scenario, if the train chooses to follow into the station, if the section formation following conditions are met and the speed limit conditions are met, i.e., both trains enter the station with the same speed-distance curve and reduce speed in stages, the train will enter the station and follow. If the train chooses to disassemble before entering the station, the lead train enters the station and stops, while the following train continues to move at the original speed, and the train enters the station and disassembles.

5. The apparatus according to claim 4, characterized in that, The determining module is specifically used for: Acquire route parameter information, electronic track map data information, and train control data information; The train route is determined based on the route parameter information, electronic track map data information, and train control data information, and a train timetable is obtained.

6. The apparatus according to claim 4, characterized in that, The train operation constraints specifically include: safety constraints and speed constraints; The analysis module is specifically used for: Determine the tracking distance and safety constraints according to Formula 1: Where, x i Let x be the displacement of the i-th vehicle. j Let D1 be the displacement of the j-th car, D1 be the distance parameter used to determine the formation relationship between two adjacent trains i and j; i is the preceding train, j is the following train, T is the reaction time of the following train's ATP to trigger emergency braking, and v is the displacement of the j-th car. j (t) represents the speed of train j at time t, L ij For train i at time t, v i (t) is the distance between the tail of train i and the head of train j after train j stops. Determine the dynamic and velocity constraints according to Formula 2: Among them, v lim-low (t) represents the lower limit of the velocity at time t; v i (t) represents the speed of the i-th train at time t; v lim-up (t) represents the upper limit of the velocity at time t; S z (t) represents the velocity v at time t. i Braking distance at (t); S k S represents the distance traveled without moving. e The effective braking distance is represented by v1 and v2, which represent the initial and final velocities of the speed interval, respectively. a is the braking deceleration, λ is the braking deceleration coefficient, and a0 is the initial braking deceleration.

7. A multi-train short-interval platooning following control device, characterized in that, include: The memory, the processor, and the computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the multi-train short-distance platooning following control method as described in any one of claims 1 to 3.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores an implementation program for information transmission, which, when executed by a processor, implements the steps of the multi-train short-distance platooning following control method as described in any one of claims 1 to 3.

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