Modular vehicle assembly assembly status identification and detection method and system

Abstract

This invention relates to the field of modular vehicle assembly technology, and more particularly to a method and system for identifying and detecting the assembly status of a modular vehicle assembly group. The method includes: the current vehicle in the group identifies the serial numbers of the preceding and / or following vehicles based on received serial number identification signals from the preceding and / or following vehicles; determining the current vehicle's serial number based on the preceding vehicle's serial number, and transmitting the current vehicle's serial number identification signal to the preceding and / or following vehicles via a digital signal line; the current vehicle sends current vehicle information to a first CAN bus, the current vehicle information including the current vehicle's serial number and online vehicle information as a node on the first CAN bus; a preset master control vehicle in the group detects all vehicle information on the first CAN bus, and upon detecting an interruption in the current vehicle's online information, determines that the current vehicle has been lost as a node. This invention can achieve the identification and detection of the assembly status of a modular vehicle assembly group.

Description

Technical Field

[0001] This invention relates to the field of modular vehicle assembly technology, and in particular to a method and system for identifying and detecting the assembly status of modular vehicle assembly groups. Background Technology

[0002] Traditional ground equipment, such as launch vehicles, radar vehicles, command vehicles, and power supply vehicles, are mostly custom-designed for specific applications. Once their form is determined, their purpose is fixed, making them unable to adapt to complex and ever-changing application environments. The same applies to other types of heavy-duty vehicles; they can only operate independently and cannot be combined with other vehicles to expand their uses. Currently, my country's demand for modular vehicles—which can be expanded in function and performance through assembly and can also operate independently—is surging in the military, logistics, and chemical industries. Reliable and intelligent modular vehicle assembly technology still has significant room for improvement in my country.

[0003] Existing technologies provide modular vehicle splicing techniques, such as using electromagnetic devices. One vehicle in a vehicle group receives a request from another vehicle. After determining that the environmental information meets preset conditions, the first vehicle requests the speed and other parameters of the other vehicle. When the electromagnetic device is detected to be connected, the splicing is completed.

[0004] Existing technologies do not identify the position of each vehicle within a modular assembly vehicle group, making it difficult to further identify and detect the assembly status of the vehicle group. The assembly status can include vehicle online status, communication status, etc. However, by identifying and detecting the assembly status of the vehicle group, further control over the operation of the vehicle group can be achieved. Summary of the Invention

[0005] Based on the above analysis, the present invention aims to provide a method and system for identifying and detecting the splicing status of modular vehicle assembly, so as to solve the technical problem in the prior art that it is difficult to identify and detect the splicing status of modular vehicle assemblies.

[0006] The technical solution provided by this invention is:

[0007] On one hand, the present invention provides a method for identifying and detecting the splicing status of a modular vehicle assembly group, wherein each vehicle in the group is connected to a first CAN bus; the method includes:

[0008] The current vehicle in the train group identifies the serial number of the preceding vehicle and / or the following vehicle based on the received serial number identification signal of the preceding vehicle and / or the following vehicle; determines the current vehicle's serial number based on the serial number of the preceding vehicle, and sends the current vehicle's serial number identification signal to the preceding and / or following vehicle through a digital signal line.

[0009] The current vehicle sends current vehicle information to the first CAN bus, and the current vehicle information includes: the current vehicle serial number and the vehicle online information as a node of the first CAN bus;

[0010] The pre-set master control vehicle in the vehicle group detects all vehicle information on the first CAN bus. After detecting that the current vehicle's online information is interrupted, it determines that the current vehicle is the lost node.

[0011] Preferably, the process of the current vehicle sending current vehicle information to the first CAN bus includes:

[0012] The current vehicle uses a pre-assigned first-type CAN ID corresponding to the current vehicle serial number to send the current vehicle information;

[0013] The online information includes: the life information of the first type of CAN ID.

[0014] Preferably, the main control vehicle is the last vehicle in the vehicle group.

[0015] Preferably, after determining that the vehicle indicated by the corresponding vehicle serial number is the lost node, the method further includes:

[0016] The master control vehicle will reset the power torque of vehicles that are lost as nodes to zero, determine that the number of vehicles that are lost as nodes is within a preset range, and instruct other vehicles that are not lost as nodes to coordinate the operation of the train set; or, determine that the number of vehicles that are lost as nodes exceeds a preset range, and instruct the train set not to move.

[0017] Preferably, the process by which the current vehicle in the vehicle group identifies the sequence number of the preceding vehicle and / or the sequence number of the following vehicle based on the received sequence number identification signal of the preceding vehicle and / or the sequence number identification signal of the following vehicle includes:

[0018] If the vehicle sequence number identification signal of the preceding vehicle and / or the vehicle sequence number identification signal of the following vehicle changes within a preset time period after being received, no identification is performed. If the vehicle sequence number identification signal of the preceding vehicle and / or the vehicle sequence number identification signal of the following vehicle does not change within the next preset time period after the change ends, the vehicle sequence number of the preceding vehicle and / or the vehicle sequence number of the following vehicle is identified.

[0019] Preferably, after transmitting the current vehicle serial number identification signal to the preceding vehicle and / or following vehicle via a digital signal line, the method further includes:

[0020] If the current vehicle detects whether the preceding vehicle's serial number has changed, and / or whether the following vehicle's serial number is incorrect, then the corresponding serial number status information is sent to the first CAN bus.

[0021] Preferably, after sending the corresponding sequence number status information to the first CAN bus, the method further includes:

[0022] The master vehicle sets corresponding processing instructions based on the sequence number status information obtained from the first CAN bus and the monitored operating status of the vehicle group, and sends the processing instructions to the first CAN bus using a pre-assigned second type CAN ID.

[0023] Preferably, the determination of whether the preceding vehicle's serial number has changed and / or whether the following vehicle's serial number is incorrect includes:

[0024] The current vehicle determines that it is not the last vehicle based on the received vehicle serial number identification signal of the following vehicle, and detects that the vehicle serial number of the following vehicle is incorrect, and that the vehicle serial number of the following vehicle is the same as the vehicle serial number of the vehicle preceding the following vehicle.

[0025] The sequence number status information includes: the following vehicle has an incorrect sequence number and cannot be driven;

[0026] The corresponding processing instructions include:

[0027] The main control vehicle is configured to prevent the vehicle group from driving;

[0028] Alternatively, whether the preceding vehicle's serial number detected by the current vehicle has changed, and / or whether the following vehicle's serial number is incorrect, includes:

[0029] The current vehicle determines that it is not the last vehicle based on the received vehicle serial number identification signal of the following vehicle, and detects that the serial number of the following vehicle is incorrect and that the serial number of the following vehicle is greater than the serial number of the current vehicle plus one.

[0030] The sequence number status information includes: the following vehicle is faulty but can still be driven;

[0031] The corresponding processing instructions include:

[0032] The main control vehicle is configured to allow the vehicle group to drive;

[0033] Alternatively, the current vehicle detection identifies a change in the sequence number of the preceding vehicle;

[0034] The corresponding processing instructions include:

[0035] After the master control vehicle detects that the vehicle group is in operation or powered on, it sets the vehicle group to be unable to move.

[0036] On the other hand, embodiments of the present invention provide a modular vehicle assembly group splicing status identification and detection system, applied to the aforementioned modular vehicle assembly group splicing status identification and detection method, including:

[0037] A vehicle group composed of multiple modular vehicles, multiple digital signal lines, and a first CAN bus;

[0038] Each vehicle in the train set includes a vehicle controller, which includes an input module, an output module, a CAN bus communication interface, and a control processor.

[0039] The input module of each vehicle can be connected to the output module of the preceding vehicle and / or the following vehicle via the digital signal line, and the output module of each vehicle can be connected to the input module of the preceding vehicle and / or the following vehicle via the digital signal line; and each vehicle is connected to the first CAN bus via its own CAN bus communication interface.

[0040] The control processor of each vehicle is adapted to identify the vehicle number of the preceding vehicle and / or the vehicle number of the following vehicle based on the preceding vehicle number identification signal and / or the following vehicle number identification signal received by the input module; determine the current vehicle number based on the preceding vehicle number; and send the current vehicle number identification signal to the preceding vehicle and / or the following vehicle through the output module via a digital signal line.

[0041] The control processor of each vehicle is further adapted to send current vehicle information to the first CAN bus, the current vehicle information including: the current vehicle number and the vehicle online information as a node of the first CAN bus;

[0042] The vehicle group has a pre-set control processor for the master vehicle, which is further adapted to detect all vehicle information on the first CAN bus. After detecting that the current vehicle's online information is interrupted, it determines that the current vehicle is the lost node.

[0043] Preferably, the input module includes: a first input interface and a second input interface;

[0044] The output module includes: a first output interface and a second output interface;

[0045] The first input interface of each vehicle can be connected to the first output interface of the preceding vehicle via the digital signal line; the second input interface of the current vehicle can be connected to the second output interface of the following vehicle via the digital signal line; the first output interface of the current vehicle can be connected to the first input interface of the following vehicle via the digital signal line; and the second output interface of the current vehicle can be connected to the second input interface of the preceding vehicle via the digital signal line.

[0046] The control processor of each vehicle is connected to the first input interface, the second input interface, the first output interface, the second output interface, and the CAN bus communication interface of each vehicle.

[0047] In the technical solution provided by this invention, digital signal lines are used to electrically connect the front and rear vehicles to identify the vehicle serial numbers. By using a first CAN bus to connect all vehicles in the modular vehicle group, each vehicle reports its own vehicle serial number and online information to the first CAN bus, enabling all vehicles in the vehicle group to identify themselves and other vehicles. Subsequently, the master control vehicle can perform online detection of the online information of other vehicles in the vehicle group based on the identified vehicle information to confirm communication status and other processing, thereby effectively solving the problem of identifying and detecting the splicing status of each vehicle in the vehicle group, so as to facilitate further control processing of the vehicle group's operation.

[0048] Furthermore, in this embodiment of the invention, each vehicle also detects changes or errors in the vehicle sequence number of its preceding or following vehicle, so that the master control vehicle can promptly obtain the splicing status of each vehicle in the trainset and make timely adjustments to the trainset's operation. Moreover, the technical solution provided by this embodiment of the invention can splice vehicles into a trainset without significant changes to the vehicle's hardware and software, and does not require an additional dispatch center or mobile network, demonstrating excellent practicality and ease of implementation.

[0049] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained from what is particularly pointed out in the description and drawings. Attached Figure Description

[0050] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0051] Figure 1 This is a flowchart of the modular vehicle assembly assembly status identification and detection method provided in this embodiment of the invention;

[0052] Figure 2 This is a schematic diagram of the modular vehicle assembly group splicing status identification and detection system in an embodiment of the present invention;

[0053] Figure 3 This is an example diagram of the modular vehicle assembly group splicing status identification and detection system in this invention.

[0054] Figure 4 This is an embodiment of the present invention. Figure 3 The diagram shows an example of the electrical connections between the current vehicle and the vehicles in front and behind.

[0055] Figure 5This is a flowchart in an embodiment of the present invention for processing changes or errors in the vehicle sequence number before and after the current vehicle is detected when the vehicle group is in a powered-on or driving state;

[0056] Figure 6 This is an example flowchart of the main control vehicle's handling of faults occurring within the trainset in an embodiment of the present invention;

[0057] Figure 7 This is a flowchart illustrating the process of a slave vehicle taking over from a master vehicle in an embodiment of the present invention;

[0058] Figure 8 This is another structural schematic diagram of the modular vehicle assembly group splicing status identification and detection system in this embodiment of the invention. Detailed Implementation

[0059] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and, together with the embodiments of the present invention, serve to illustrate the principles of the present invention.

[0060] This invention provides a method for identifying and detecting the splicing status of modular vehicle assembly units. See [link to relevant documentation]. Figure 1 , Figure 1 This is a flowchart of the modular vehicle assembly group splicing status identification and detection method provided in the embodiments of the present invention. Figure 1 In this method, each vehicle within the vehicle group is connected to the same Controller Area Network (CAN) bus. The method may include:

[0061] Step 101: The current vehicle in the vehicle group identifies the serial number of the preceding vehicle and / or the serial number of the following vehicle based on the received serial number identification signal of the preceding vehicle and / or the serial number identification signal of the following vehicle; determines the serial number of the current vehicle based on the serial number of the preceding vehicle, and sends the current vehicle serial number identification signal to the preceding vehicle and / or the following vehicle through the digital signal line.

[0062] When the current vehicle is the first vehicle, the digital signal used to identify the preceding vehicle's serial number is preset and can be identified according to a preset identification strategy; when the current vehicle is the last vehicle, the digital signal used to identify the following vehicle's serial number is preset and can be identified according to a preset identification strategy.

[0063] In this embodiment of the invention, the vehicle serial number identification signal can be a high / low level indication signal compiled from digital signal lines.

[0064] Step 102: The current vehicle sends current vehicle information to the first CAN bus. The current vehicle information includes: the current vehicle serial number and the vehicle online information of the node on the first CAN bus.

[0065] In this embodiment of the invention, the current vehicle transmits its information using a pre-assigned first type of Controller Area Network Identifier (CAN ID) corresponding to its current vehicle serial number. The vehicle's online information includes the life information of the first type of CAN ID.

[0066] Step 103: The preset master control vehicle in the vehicle group detects all vehicle information on the first CAN bus. After detecting that the current vehicle's online information is interrupted, it determines that the current vehicle is a lost node.

[0067] In this embodiment of the invention, digital signal lines are used to electrically connect the front and rear vehicles to identify vehicle serial numbers. By connecting all vehicles in the modular vehicle group using a first CAN bus, each vehicle reports its own vehicle serial number and online information to the first CAN bus. This enables all vehicles in the vehicle group to identify their own serial numbers and those of other vehicles. Subsequently, the master control vehicle can perform online detection of the online information of other vehicles in the vehicle group based on the identified vehicle information to confirm communication status and other processing. This effectively solves the problem of identifying the splicing status of each vehicle in the vehicle group, so as to facilitate further control processing of the vehicle group's operation.

[0068] In practical applications, after the master vehicle detects a node loss, it can further reset the power torque of the vehicle that is the node to zero. If it is determined that the number of vehicles that are the nodes is within a preset range, it instructs other vehicles that are not the nodes to coordinate the operation of the train set; or, if it is determined that the number of vehicles that are the nodes is beyond a preset range, it instructs the train set not to move.

[0069] The above preset range can be set according to the actual situation, such as the power of the vehicle. If the vehicle has greater power, the range can be set larger; otherwise, the range can be set smaller.

[0070] In this embodiment of the invention, the preset master control vehicle can be the last vehicle in the vehicle group. Using the last vehicle as the preset master control vehicle makes it convenient to monitor all vehicles before the last vehicle. For example, after all the preceding vehicles identify their vehicle serial numbers and report to the first CAN bus, the last vehicle can then detect the vehicle serial numbers.

[0071] In this embodiment of the invention, a first CAN bus is used to realize communication between vehicles. Therefore, for each vehicle, a first type of CAN ID is pre-assigned as required for the vehicle to be a node on the first CAN bus. Furthermore, for the master vehicle, a second type of CAN ID is also assigned, so the master vehicle has two CAN IDs. The master vehicle will detect the life information of the CAN IDs of other vehicles (or slave vehicles). Specifically, slave vehicles will periodically send the life information of the CAN ID corresponding to their own vehicle serial number, such as a CAN ID sequentially sending its life information from 0 to 255. If the master vehicle detects that the life information of a CAN ID is no longer being updated, it determines that the vehicle corresponding to that CAN ID has been lost as a node.

[0072] See Table 1, which is the CAN ID allocation and communication table for the assembled vehicle group. Table 1 uses a vehicle group consisting of four modular vehicles as an example. In actual applications, the number of modular vehicles in the vehicle group may be larger.

[0073]

[0074] Table 1

[0075] In Table 1 above, CAN IDs 1 to CAN ID 4 are the first type of CAN IDs, which are assigned to each vehicle. CAN ID 0 is the second type of CAN ID, which is a dedicated CAN ID assigned to the master vehicle. Each vehicle, as a node on the first CAN bus, uses its assigned CAN ID to report or send information to the first CAN bus, which is then received by other vehicles.

[0076] This invention also provides a modular vehicle assembly assembly splicing status recognition and detection system, applied to the modular vehicle assembly splicing status recognition and detection method provided in this invention. See also... Figure 2 , Figure 2 This is a schematic diagram of the modular vehicle assembly group splicing status identification and detection system in an embodiment of the present invention. The system may include:

[0077] A vehicle group composed of multiple modular vehicles, multiple digital signal lines, and a first CAN bus;

[0078] Each vehicle in the train set includes a vehicle controller, which may include: an input module, an output module, a CAN bus communication interface, and a control processor;

[0079] Each vehicle's input module can be connected to the output module of the preceding and / or following vehicle via the digital signal line, and each vehicle's output module can be connected to the input module of the preceding and / or following vehicle via the digital signal line; and each vehicle is connected to the first CAN bus via its own CAN bus communication interface.

[0080] The control processor of each vehicle is adapted to identify the vehicle number of the preceding vehicle and / or the vehicle number of the following vehicle based on the preceding vehicle number identification signal and / or the following vehicle number identification signal received by the input module; determine the current vehicle number based on the preceding vehicle number; and send the current vehicle number identification signal to the preceding vehicle and / or the following vehicle through the output module via the digital signal line.

[0081] The control processor of each vehicle is further adapted to send current vehicle information to the first CAN bus, the current vehicle information including: the current vehicle number and the vehicle online information as a node of the first CAN bus;

[0082] The vehicle group has a pre-set control processor for the master vehicle, which is further adapted to detect all vehicle information on the first CAN bus. After detecting that the current vehicle's online information is interrupted, it determines that the current vehicle is the lost node.

[0083] See Figure 3 , Figure 3 This is an example diagram of the modular vehicle assembly group splicing status identification and detection system in this invention. Figure 3 In this system, each vehicle's input module may include: a first input interface and a second input interface; each vehicle's output module may include: a first output interface and a second output interface.

[0084] The first input interface of each vehicle can be connected to the first output interface of the preceding vehicle via the digital signal line; the second input interface of the current vehicle can be connected to the second output interface of the following vehicle via the digital signal line; the first output interface of the current vehicle can be connected to the first input interface of the following vehicle via the digital signal line; and the second output interface of the current vehicle can be connected to the second input interface of the preceding vehicle via the digital signal line.

[0085] The control processor of each vehicle is connected to the first input interface, the second input interface, the first output interface, the second output interface, and the CAN bus communication interface of each vehicle.

[0086] See Figure 4 , Figure 4 This is an embodiment of the present invention. Figure 3 This diagram illustrates the electrical connections between the current vehicle and the vehicles in front and behind. See also... Figure 4In this embodiment of the invention, for example, eight digital signal lines are allocated to each vehicle. Four digital signal lines are used as digital signal input lines, and the other four are used as digital signal output lines. Of the four digital signal input lines, three are allocated for the current vehicle to receive a preceding vehicle's vehicle number identification signal, indicating the preceding vehicle's number; one is allocated for the current vehicle to receive a following vehicle's vehicle number identification signal, indicating the following vehicle's number. Of the four digital signal output lines, three are allocated for the current vehicle to send a following vehicle's current vehicle number identification signal, indicating the current vehicle's number; and one is allocated for the current vehicle to send the preceding vehicle's current vehicle number identification signal. Since the three allocated digital signal input lines can represent eight binary digits (000-111), the maximum number of vehicles that can be included in this vehicle group is eight. In practical applications, the number of digital signal lines can be allocated as needed.

[0087] In this embodiment of the invention, for the first vehicle in the train, the digital signal received by its first input interface can be preset to 000. When the first vehicle is the current vehicle, after receiving the 000 digital signal, the vehicle controller, according to a preset identification strategy, knows that it is the first vehicle and the default vehicle number is 1. The vehicle controller then sets the level of the three digital signal output lines connected to the first output interface to output a vehicle number identification signal 001 indicating vehicle number 1 to the following vehicle. For the last vehicle in the train, the digital signal received by its second input interface is at a low level for a preset duration. When the last vehicle is the current vehicle, according to the preset identification strategy, it knows that it is the last vehicle. Its vehicle controller raises the level of the digital signal output line connected to the second output interface eight times to send a tail vehicle number identification signal indicating the tail vehicle's vehicle number to the preceding vehicle. For intermediate vehicles, as the current vehicle, the vehicle controller can identify the preceding vehicle's vehicle number based on the received preceding vehicle number identification signal and send the current vehicle number to the preceding and following vehicles through the corresponding digital signal lines.

[0088] In practical applications, the electrical connection between the preceding vehicle and the current vehicle can also be achieved using a single digital signal input line. The number of times the preceding vehicle's sequence number is pulled high represents the preceding vehicle's sequence number. Since pulling the high level takes time, the current vehicle can wait for the preceding vehicle's sequence number recognition signal and / or the following vehicle's sequence number recognition signal to stabilize before identifying the preceding vehicle's sequence number and / or the following vehicle's sequence number. This can include:

[0089] If the vehicle sequence number identification signal of the preceding vehicle and / or the vehicle sequence number identification signal of the following vehicle changes within a preset time period after being received, no identification is performed. If the vehicle sequence number identification signal of the preceding vehicle and / or the vehicle sequence number identification signal of the following vehicle does not change within the next preset time period after the change ends, the vehicle controller will identify the vehicle sequence number of the preceding vehicle and / or the vehicle sequence number of the following vehicle.

[0090] Based on the above Figure 4 Taking the electrical connection between the vehicles as an example, the time required for the vehicle controller of the rear vehicle to raise the digital signal input line 4 level is set as T1, and the waiting time is T2. T2 is greater than T1. If the level changes within the T2 time, no recognition is made, and the system waits for the next T1+T2. If the level does not change within the T2 time, the number of times the level is raised within the T1 time is taken as the vehicle number of the rear vehicle.

[0091] In this embodiment of the invention, if the current vehicle is not the last vehicle, its vehicle controller can also detect whether the sequence number of the following vehicle is correct based on its own identified vehicle sequence number; if the current vehicle is not the first vehicle, its vehicle controller can monitor changes in the sequence number of the preceding vehicle.

[0092] See Figure 5 , Figure 5 This is a flowchart illustrating how to handle changes or errors in vehicle serial numbers before and after detection when the vehicle group is powered on or in motion, as described in this embodiment of the invention. The flowchart may include the following steps:

[0093] Step 501: The current vehicle controller identifies the serial number of the preceding vehicle and / or the serial number of the following vehicle.

[0094] Step 502a: The current vehicle controller detects whether the serial number of the preceding vehicle has changed. If yes, proceed to step 503; otherwise, proceed to step 505.

[0095] Step 502b: The current vehicle controller detects whether the serial number of the following vehicle is incorrect. If yes, proceed to step 503; otherwise, proceed to step 505.

[0096] The execution of steps 502a and 502b above can be done in any order, depending on the actual situation.

[0097] Step 503: The current vehicle controller sends the corresponding serial number status information to the first CAN bus.

[0098] In practice, the sequence status information can be a status code indicating the corresponding status. For example, the sequence status code 1 indicates that the following vehicle has an incorrect sequence number and cannot drive; the sequence status code 2 indicates that the following vehicle has an incorrect sequence number and can drive; the sequence status code 3 indicates that the preceding vehicle's sequence number has changed; and so on.

[0099] Step 504: The main vehicle controller sets corresponding processing instructions based on the sequence number information obtained from the first CAN bus and the monitored vehicle group operating status, and sends the processing instructions to the first CAN bus using the pre-assigned first type CAN ID, thus ending the process.

[0100] Step 505: The current train assembly status is normal.

[0101] Specifically, if the current vehicle controller detects a change in the preceding vehicle's serial number, the main vehicle controller, based on the known serial number status code 3, will set corresponding processing instructions after detecting that the vehicle group is in operation or powered on, including: the vehicle group cannot move. If the vehicle group is in operation, but the preceding vehicle's serial number has changed, this is an abnormal situation, requiring the serial number status code to be reported for further processing by the main vehicle controller to prevent subsequent control errors in the overall vehicle group's operation.

[0102] The situation regarding whether the vehicle serial number of the vehicle following the current vehicle is incorrect can be divided into the following two types:

[0103] The current vehicle controller, based on the received vehicle sequence number identification signal, determines that it is not the last vehicle and detects that the following vehicle's sequence number is incorrect, and that the following vehicle's sequence number is the same as the vehicle's sequence number preceding it. Therefore, the current vehicle can report sequence number status code 1, indicating that the following vehicle's sequence number is incorrect and it cannot proceed. The master control vehicle, based on the monitored vehicle group's operating status (running, standby, or powered on), sets corresponding processing instructions, including: the vehicle group cannot proceed; or...

[0104] The current vehicle controller determines that it is not the last vehicle based on the received vehicle serial number identification signal and detects that the serial number of the last vehicle is incorrect and that the serial number of the last vehicle is greater than the current vehicle's serial number plus one. The current vehicle can then report serial number status code 2, indicating that the serial number of the last vehicle is incorrect but it can still drive. The main vehicle controller sets corresponding processing instructions based on the monitored vehicle group's operating status, whether it is running, standby, or powered on, including: the vehicle group can drive.

[0105] Let the preceding vehicle's serial number be X, then the current vehicle's serial number is N = X + 1, and the following vehicle's serial number is M = N + 1, with M = 0 pre-set to indicate that the current vehicle is the last vehicle. The difference between the two cases is:

[0106] In the first case, the vehicle number of the following vehicle is the same as or overlaps with the vehicle number of the preceding vehicle, i.e., M≠0 and M<N+1; in the second case, the vehicle number of the following vehicle is different from the vehicle number of the preceding vehicle, but it is not equal to the correct vehicle number, i.e., M≠0 and M>N+1. As mentioned earlier, in this embodiment of the invention, each vehicle is assigned a CAN ID corresponding to its vehicle serial number. If the serial number of a subsequent vehicle is the same as that of a preceding vehicle, the same CAN ID will be assigned, resulting in two identical CAN IDs on the first CAN bus and information transmitted using these two identical CAN IDs, leading to an unrecognizable situation. To avoid more serious errors, in the former case, the master vehicle is required to control the operation of the vehicle group, i.e., the vehicle group cannot move. In the latter case, although the serial number of the subsequent vehicle is incorrect, it is different from the serial numbers of the preceding vehicles. Therefore, the assigned CAN ID will not overlap with the CAN ID of the preceding vehicles, and the problem in the former case will not occur. Therefore, to minimize unnecessary waste of time or energy, the master vehicle can be set not to process the operating status of the vehicle group. For vehicle groups that are in motion, they can be allowed to continue moving, reducing the intervention of the master vehicle and achieving the operating goal of the vehicle group as soon as possible.

[0107] See Figure 6 , Figure 6 This is an example flowchart of the main control vehicle's handling of faults occurring within the train crew, as described in an embodiment of the present invention. The process may include:

[0108] Step 601: The main vehicle controller checks the information on the first CAN bus for any drivability faults. If yes, proceed to step 602; otherwise, proceed to step 603.

[0109] Step 602: The main vehicle controller sends a message on CAN ID 0 indicating whether the vehicle group is in standby mode or not, and the process ends.

[0110] Step 603: The main vehicle controller determines whether all vehicles as nodes on the first CAN bus are online. If yes, proceed to step 604; otherwise, proceed to step 605.

[0111] Step 604: The main vehicle controller sends a message on CAN ID 0 indicating that the vehicle group's standby status is "yes", and then proceeds to step 611.

[0112] Step 605: The main vehicle controller determines whether the vehicle group is in a non-driving state. If yes, proceed to step 606; otherwise, proceed to step 607.

[0113] Step 606: The main vehicle controller sends a vehicle assembly fault message on the vehicle controller CAN ID 0, which is then checked for the fault. The process ends.

[0114] Step 607: The master vehicle controller determines whether the number of slave vehicles lost as nodes is greater than a preset value. If yes, proceed to step 608; otherwise, proceed to step 609.

[0115] Step 608: The main vehicle controller determines a fatal fault in the vehicle group and instructs all vehicles to reset their power torque to zero, thus ending the process.

[0116] Step 609: The main vehicle controller sends the serial number of the inoperable vehicle on the first CAN bus.

[0117] Step 610: The main vehicle controller instructs other relevant vehicles to provide power to the non-movable vehicle, and the process ends.

[0118] Step 611: The main vehicle controller coordinates and controls all slave vehicles to provide power, and the process ends.

[0119] In the above embodiments of the invention, the last car is the master control vehicle. In practical applications, when the master control vehicle malfunctions, a slave control vehicle can be set to take over from the original master control vehicle and become the new master control vehicle to manage the trainset. See also Figure 7 , Figure 7 This is a flowchart of the process of a slave vehicle taking over from a master vehicle in an embodiment of the present invention. The process may include:

[0120] Step 701: Each vehicle in the vehicle group sends its vehicle information to the first CAN bus. The vehicle information may include: the vehicle serial number and the vehicle online information.

[0121] Step 702: The main control vehicle in the vehicle group further sends main control vehicle information to the first CAN bus. The main control vehicle information includes: main control vehicle serial number and main control vehicle online information.

[0122] In this embodiment of the invention, a top-level control source can be preset for each vehicle, and each vehicle is connected to the top-level control source via a second CAN bus.

[0123] In this embodiment of the invention, the preset selection strategy may include: designating the master control vehicle by a preset master control top-level control source;

[0124] Specific master vehicle selection schemes may include: the master top-level control source sends the master vehicle serial number specified by the master vehicle setting instruction to the corresponding vehicle through the second CAN bus, and the corresponding vehicle sends the master vehicle serial number to the first CAN bus;

[0125] Each vehicle receives the master vehicle serial number from the first CAN bus and determines whether the master vehicle serial number is its own vehicle serial number. If so, it determines that its own vehicle is the master vehicle; otherwise, it determines that its own vehicle is a slave vehicle.

[0126] Alternatively, the master vehicle setting strategy may include: if the master top-level control source does not specify a master vehicle, then the last vehicle with the largest vehicle number is preset as the master vehicle.

[0127] The specific master vehicle selection scheme may include: each vehicle determines whether it is the last vehicle based on the master vehicle setting instruction being empty; if so, it further determines whether its vehicle number is the largest based on the vehicle numbers of other vehicles obtained from the first CAN bus; if so, it determines that it is the master vehicle; otherwise, it determines that it is the slave vehicle.

[0128] Step 703: If the master vehicle detects that the vehicle online information of all other vehicles on the first CAN bus is interrupted, then the master vehicle fault information is sent to the first CAN bus.

[0129] In this embodiment of the invention, if the master vehicle or slave vehicle detects that the vehicle's online information of all other vehicles on the first CAN bus is interrupted, it will send a fault message indicating a fatal malfunction of the vehicle to the first CAN bus.

[0130] Step 704: After the slave vehicle in the vehicle group detects an interruption in the online information of the master vehicle on the first CAN bus, it determines that the master vehicle has lost its node on the first CAN bus, or detects fault information of the master vehicle.

[0131] Step 705: The slave vehicle determines that it meets the conditions to be the new master vehicle according to the preset master-slave control switching strategy, and then sets itself as the new master vehicle.

[0132] In this embodiment of the invention, the preset master-slave control transition strategy may include: preset the vehicle with the largest vehicle serial number as the new master vehicle; then step 705 may include:

[0133] The slave vehicle determines whether its own vehicle number is the largest based on the vehicle serial numbers of other vehicles detected as online nodes on the first CAN bus. If it is, the slave vehicle is determined to be the master vehicle; otherwise, the slave vehicle is determined to be the slave vehicle.

[0134] See Figure 8 , Figure 8 This is another structural schematic diagram of the modular vehicle assembly group splicing status recognition and detection system in this embodiment of the invention. Figure 8The system further includes: multiple top-level control sources corresponding one-to-one with each vehicle; each vehicle is connected to its corresponding top-level control source via a second CAN bus; and a third type of CAN ID is assigned to each vehicle and its corresponding top-level control source for communication.

[0135] The top-level control source is adapted to designate a master vehicle and send the master vehicle setting instructions to the corresponding vehicle via the second CAN bus.

[0136] See Table 2, which shows the CAN ID allocation and communication table for the assembled vehicle group. Table 2 uses a vehicle group consisting of three modular vehicles as an example. In actual applications, the number of modular vehicles in the vehicle group may be larger.

[0137]

[0138] Table 1

[0139] Table 2 above and Figure 8 In this context, CAN1 represents the first CAN bus, and CAN2 represents the second CAN bus. (Combined...) Figure 8 The top-level control source of vehicle 1 corresponds to the vehicle controller of vehicle 1 and communicates with it via the CAN2 bus; the top-level control source of vehicle 2 corresponds to the vehicle controller of vehicle 2 and communicates with it via the CAN2 bus; the top-level control source of vehicle 3 corresponds to the vehicle controller of vehicle 3 and communicates with it via the CAN2 bus. In practical applications, for ease of program implementation, it can be set to assign CAN ID1 to the top-level control source of vehicle 1 and CAN ID2 to the vehicle controller of vehicle 1; similarly, assign CAN ID2 to the top-level control source of vehicle 2 and CAN ID2 to the vehicle controller of vehicle 2; assign CAN ID2 to the top-level control source of vehicle 3 and CAN ID2 to the vehicle controller of vehicle 3.

[0140] In Table 2, for each node on the CAN1 bus, two CAN IDs are assigned to the master vehicle (vehicle No. 3), namely CAN ID 0 and CAN ID 3. CAN ID 0 is the CAN ID assigned to the master vehicle.

[0141] It should be noted that although the CAN buses between top-level control source 1 and vehicle 1, top-level control source 2 and vehicle 2, and top-level control source 3 and vehicle 3 are all called second CAN buses to distinguish them from the first CAN bus, they are actually three different CAN buses. Therefore, the CAN IDs assigned on different second CAN buses can be the same and will not interfere with each other to make them indistinguishable.

[0142] The CAN IDs 1 to CAN ID 3 mentioned above are the first type of CAN IDs, which can be considered as CAN IDs assigned to ordinary vehicles. CAN ID 0 is the second type of CAN ID, which is a dedicated CAN ID assigned to the master control vehicle. CAN ID A and CAN ID B are the third type of CAN IDs, which are assigned to the top-level control source and the modular vehicle, respectively, which are not on the same CAN bus.

[0143] In practical applications, the top-level control source can be a control device used by the driver to designate the master vehicle, a remote vehicle terminal, or an autonomous driving system, etc.

[0144] In this embodiment of the invention, each vehicle acts as a node on the first CAN bus, reporting or sending information to the CAN bus using its assigned CAN ID, which is then received by other vehicles. For vehicles on the second CAN bus and their corresponding top-level control sources, information is sent to and received from each other using their respective assigned CAN IDs.

[0145] In summary, the technical solution provided by the embodiments of the present invention utilizes digital signal lines to electrically connect the front and rear vehicles, thereby enabling the identification of vehicle serial numbers. By connecting all vehicles within the modular vehicle group via a first CAN bus, each vehicle reports its own vehicle serial number and online information to the first CAN bus, allowing all vehicles within the vehicle group to identify themselves and other vehicles. Subsequently, the master control vehicle can perform online detection of the online information of other vehicles within the vehicle group based on the identified vehicle information to confirm communication status and other processing. This effectively solves the problem of identifying and detecting the splicing status of each vehicle within the vehicle group, facilitating further control processing of the vehicle group's operation.

[0146] Furthermore, in this embodiment of the invention, each vehicle also detects changes or errors in the vehicle sequence number of its preceding or following vehicle, so that the master control vehicle can promptly obtain the splicing status of each vehicle in the trainset and make timely adjustments to the trainset's operation. Moreover, the technical solution provided by this embodiment of the invention can splice vehicles into a trainset without significant changes to the vehicle's hardware and software, and does not require an additional dispatch center or mobile network, demonstrating excellent practicality and ease of implementation.

[0147] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware, and the program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0148] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for identifying and detecting the splicing status of modular vehicle assembly train sets, characterized in that, Each vehicle in the vehicle group is connected to a first CAN bus; the method includes: The current vehicle in the vehicle group identifies the serial number of the preceding vehicle and / or the following vehicle based on the received serial number identification signal of the preceding vehicle and / or the following vehicle; determines the current vehicle serial number based on the serial number of the preceding vehicle, and sends the current vehicle serial number identification signal to the preceding and / or following vehicle through a digital signal line; the current vehicle sends current vehicle information to the first CAN bus, and the current vehicle information includes: the current vehicle serial number and the online vehicle information of the vehicle that is a node of the first CAN bus; The pre-set master control vehicle in the vehicle group detects all vehicle information on the first CAN bus. After detecting that the current vehicle's online information is interrupted, it determines that the current vehicle is a lost node. The vehicle serial number identification signal is a high / low level indication signal compiled from digital signal lines; the current vehicle transmits the current vehicle information using a pre-assigned first type CAN ID corresponding to the current vehicle serial number; the online information includes the life information of the first type CAN ID. After the current vehicle serial number identification signal is sent to the preceding vehicle and / or the following vehicle via a digital signal line, the method further includes: the current vehicle detects whether the serial number of the preceding vehicle has changed, and / or whether the serial number of the following vehicle is incorrect; if so, the corresponding serial number status information is sent to the first CAN bus. The determination of whether the preceding vehicle's serial number has changed and / or whether the following vehicle's serial number is incorrect includes: In the first scenario, the current vehicle determines that it is not the last vehicle based on the received vehicle serial number identification signal of the following vehicle, and detects that the vehicle serial number of the following vehicle is incorrect, and that the vehicle serial number of the following vehicle is the same as the vehicle serial number of the vehicle preceding the following vehicle. The sequence number status information includes: the following vehicle has an incorrect sequence number and cannot be driven; The main control vehicle is configured to prevent the vehicle group from driving; Alternatively, in the second scenario, whether the preceding vehicle's serial number detected by the current vehicle has changed, and / or whether the following vehicle's serial number is incorrect, includes: The current vehicle determines that it is not the last vehicle based on the received vehicle serial number identification signal of the following vehicle, and detects that the serial number of the following vehicle is incorrect and that the serial number of the following vehicle is greater than the serial number of the current vehicle plus one. The sequence number status information includes: the following vehicle is faulty but can still be driven; The main control vehicle is configured to allow the vehicle group to drive; Or, in a third scenario, the current vehicle detects and identifies a change in the sequence number of the vehicle preceding it; After the master control vehicle detects that the vehicle group is in operation or powered on, it sets the vehicle group to be unable to move.

2. The modular vehicle assembly assembly status identification and detection method according to claim 1, characterized in that, The main control vehicle is the last vehicle in the train group.

3. The modular vehicle assembly assembly status identification and detection method according to claim 1, characterized in that, After determining that the vehicle corresponding to the vehicle serial number is the lost node, the method further includes: The master control vehicle will reset the power torque of vehicles that are lost as nodes to zero, determine that the number of vehicles that are lost as nodes is within a preset range, and instruct other vehicles that are not lost as nodes to coordinate the operation of the train set; or, determine that the number of vehicles that are lost as nodes exceeds a preset range, and instruct the train set not to move.

4. The modular vehicle assembly assembly status identification and detection method according to claim 1, characterized in that, The current vehicle in the train group identifies the preceding vehicle number and / or the following vehicle number based on the received preceding vehicle number identification signal and / or following vehicle number identification signal, including: If the vehicle sequence number identification signal of the preceding vehicle and / or the vehicle sequence number identification signal of the following vehicle changes within a preset time period after being received, no identification is performed. If the vehicle sequence number identification signal of the preceding vehicle and / or the vehicle sequence number identification signal of the following vehicle does not change within the next preset time period after the change ends, the vehicle sequence number of the preceding vehicle and / or the vehicle sequence number of the following vehicle is identified.

5. The modular vehicle assembly group splicing status identification and processing method according to claim 1, characterized in that, After sending the corresponding sequence number status information to the first CAN bus, the method further includes: The master vehicle sets corresponding processing instructions based on the sequence number status information obtained from the first CAN bus and the monitored operating status of the vehicle group, and sends the processing instructions to the first CAN bus using a pre-assigned second type CAN ID.

6. A modular vehicle assembly group splicing status identification and detection system, characterized in that, The modular vehicle assembly assembly status identification and detection method as described in any one of claims 1 to 5 includes: A vehicle group composed of multiple modular vehicles, multiple digital signal lines, and a first CAN bus; Each vehicle in the train set includes a vehicle controller, which includes an input module, an output module, a CAN bus communication interface, and a control processor. The input module of each vehicle can be connected to the output module of the preceding vehicle and / or the following vehicle via the digital signal line, and the output module of each vehicle can be connected to the input module of the preceding vehicle and / or the following vehicle via the digital signal line; and each vehicle is connected to the first CAN bus via its own CAN bus communication interface. The control processor of each vehicle is adapted to identify the vehicle number of the preceding vehicle and / or the vehicle number of the following vehicle based on the preceding vehicle number identification signal and / or the following vehicle number identification signal received by the input module; determine the current vehicle number based on the preceding vehicle number; and send the current vehicle number identification signal to the preceding vehicle and / or the following vehicle through the output module via a digital signal line. The control processor of each vehicle is further adapted to send current vehicle information to the first CAN bus, the current vehicle information including: the current vehicle number and the vehicle online information as a node of the first CAN bus; The vehicle group has a pre-set control processor for the master vehicle, which is further adapted to detect all vehicle information on the first CAN bus. After detecting that the current vehicle's online information is interrupted, it determines that the current vehicle is the lost node.

7. The modular vehicle assembly group splicing status identification and detection system according to claim 6, characterized in that, The input module includes: a first input interface and a second input interface; The output module includes: a first output interface and a second output interface; The first input interface of each vehicle can be connected to the first output interface of the preceding vehicle via the digital signal line; the second input interface of the current vehicle can be connected to the second output interface of the following vehicle via the digital signal line; the first output interface of the current vehicle can be connected to the first input interface of the following vehicle via the digital signal line; and the second output interface of the current vehicle can be connected to the second input interface of the preceding vehicle via the digital signal line. The control processor of each vehicle is connected to the first input interface, the second input interface, the first output interface, the second output interface, and the CAN bus communication interface of each vehicle.

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