Flexible marshalling system and method for a train

Abstract

A flexible marshalling system of a train is used for flexible marshalling of multiple unit trains, and the flexible marshalling system comprises a plurality of flexible marshalling on-board units and a plurality of flexible marshalling management units; the plurality of flexible marshalling on-board units and the plurality of flexible marshalling management units, the plurality of flexible marshalling on-board units, and the plurality of flexible marshalling management units interact with each other; if there is only one flexible marshalling management unit, the data interaction between the flexible marshalling management units is not needed; each flexible marshalling on-board unit is arranged on each unit train to obtain the running state information of the unit train; the flexible marshalling management unit calculates train marshalling instruction information according to all the running state information; and the flexible marshalling on-board unit controls the operation of the unit train according to the train marshalling instruction information. The present application can ensure the safety of train operation and improve the flexibility of train marshalling.

Description

Technical Field

[0001] This invention relates to the field of train formation technology, and in particular to a flexible train formation system and method. Background Technology

[0002] Flexible formation technology refers to coupling multiple unit trains (a train with independent operating capability is called a unit train) together to form a whole unit train for operation; multiple unit trains operating through flexible formation technology are called train formations; and flexible formation technology also includes breaking down a train formation into multiple independently operating unit trains, i.e., a reciprocating process.

[0003] This technology allows rail transit operators to dynamically adjust online based on actual passenger and freight flow, thereby achieving a match between transport capacity and passenger volume. Therefore, various relevant units have conducted extensive research in recent years, and some are already undergoing trials or in operation. Flexible formation technology, depending on the coupling method used between unit trains in the train formation, results in two modes for train formations formed by multiple unit trains: mechanical flexible formation and virtual flexible formation.

[0004] The difference between virtual flexible formation and mechanical flexible formation is that in virtual flexible formation, there are no mechanical connecting devices such as couplers between the unit trains. Instead, the flexible formation onboard equipment installed on each unit train is coordinated and controlled through wireless communication, so that multiple unit trains can achieve the effect of coordinated operation of the train formation.

[0005] Under flexible formation technology, the spacing between adjacent train units in a train formation is smaller than that between adjacent train units operating under traditional fixed block or moving block systems. Therefore, the onboard equipment for flexible formation and the flexible formation management unit used for processing commands and management need to be designed with corresponding interfaces and mechanisms to ensure the safe operation of all train units in the train formation, and to ensure that no errors occur during train formation formation, train formation operation, and train formation disengagement that could lead to danger.

[0006] The biggest challenge in solving this problem is the need to carefully and comprehensively consider the specific circumstances when the operating status of the train formation changes, especially during the formation and dispersal of the train formation. For example, when one or more unit trains are on or about to enter a station route, it is necessary to consider the possible hazardous scenarios and take safety precautions. However, the problem that follows is that, due to the complexity of the relevant scenarios, excessive safety protection design goes against the original intention of adopting flexible formation technology.

[0007] One current solution is to prohibit train formation and disengagement when unit trains are on or about to enter a station track. However, this solution severely limits the range of track areas suitable for train formation and disengagement. Furthermore, the track areas suitable for train formation and disengagement on railway lines (such as station tracks, inter-station sections, or other non-straight sections) are often of limited length. Considering the length of unit trains and the necessary safety distance between adjacent unit trains, the number of unit trains that can be accommodated in these areas is limited. Therefore, how to achieve train formation and disengagement of any number of unit trains within a limited track area has become a pressing problem. Summary of the Invention

[0008] The purpose of this invention is to provide a flexible train formation system and method, which has the advantages of ensuring train operation safety and improving train formation flexibility.

[0009] To achieve the above objectives, the present invention provides a flexible train formation system for flexibly forming multiple unit trains. The flexible formation system includes: multiple flexible formation on-board units and several flexible formation management units; data exchange occurs between the multiple flexible formation on-board units and the several flexible formation management units, between the multiple flexible formation on-board units, and between the several flexible formation management units; each flexible formation on-board unit is respectively installed on each unit train and acquires the operating status information of its unit train; the flexible formation management units calculate train formation instruction information based on all the operating status information; and the flexible formation on-board units control the operation of their respective unit trains according to the train formation instruction information.

[0010] Preferably, the train formation instruction information includes train formation formation instruction information and train formation disengagement instruction information; the train formation formation instruction information refers to the instruction to control the coupling of the corresponding single unit train with the adjacent unit train to form a train formation; the train formation disengagement instruction information refers to the instruction to control the disengagement of the corresponding single unit train with the adjacent unit train to disengage the train formation.

[0011] Preferably, the flexible formation management unit further includes: according to train operation information, pre-setting a certain time or a certain buffer distance before the formation and disengagement of train formations, and sending advance notice of train formation formation instruction information or train formation disengagement instruction information to the flexible formation onboard unit.

[0012] Preferably, all the unit trains are updated synchronously with all the data of the entire flexible formation system.

[0013] Preferably, the flexible formation system further includes a flexible formation management unit that generates train formation instruction information based on all train operation status information and external information used for calculation; the external information includes: the train formation plan or instruction and the status of the signal interlocking system.

[0014] A flexible train formation method employs the aforementioned flexible train formation system, performing train formation / decoupling of N unit trains (n ​​= 1, 2, 3...N). The method includes: Step S1, when a unit train enters the formation / decoupling area and meets the formation / decoupling point check conditions, train formation / decoupling is performed on the unit trains that meet the conditions; if the formation changes during formation and decoupling, step S3 is executed, until the train formation / decoupling of the Nth unit train is completed. Unlock and proceed to step S4; if the formation point / unlock point check conditions are not met at a certain moment, proceed to step S2; in step S2, if a train formation is being formed, immediately stop the formation, disband the formed train formation or maintain the status quo, and proceed to step S4; if a train formation is being unlocked, maintain the status quo and wait for subsequent trains to enter the unlocked area, then return to step S1; in step S3, based on the train formation's operating status, complete the locking management and allocation management of the formation area / unformation area routes; in step S4, end the process.

[0015] Preferably, when the connection between any of the flexible formation on-board units and any of the flexible formation management units is interrupted, both parties should clear the train formation instruction information, set the formation status information to a dangerous state, and guide all unit trains to the safety side in accordance with safety design principles.

[0016] Preferably, the grouping point check in step S1 includes: before the end of the grouping area d 编组 The distance between the train sets a formation checkpoint. When the first train of a total of N train units has not passed the formation checkpoint, it operates in normal state. If there is no abnormality, the formation check is satisfied. When the first train of a total of N train units passes the formation checkpoint, several flexible formation management units determine whether the N train units still need to form a train convoy based on the train operation status information. If yes, it means that the train convoy formation is not completed, and the check is not satisfied, so proceed to step S2. If no, it means that the train convoy formation is completed, and the check is satisfied, so maintain the status quo, and proceed to step S3.

[0017] Preferably, the grouping point check in step S1 includes: grouping check point d 编组 The configuration allows the unit train to flexibly form up, update the formation status, and lock or assign the forward route within this distance and during the running time.

[0018] Preferably, the marshalling point check in step S1 includes: d 编组 The distance should not be less than: (communication timeout judgment time between the flexible formation management unit and the flexible formation on-board unit + train operation status information update cycle of the flexible formation on-board unit) × maximum permissible speed of the train traveling ahead during the unit train coupling process + system speed and distance measurement error.

[0019] Preferably, step S1 includes: step T11, when the first unit train enters the formation area, the flexible formation management unit marks the information of independent unit trains and already formed unit trains for a total of N unit trains according to the train operation status information; step T12, starting with the first unit train, each of the N unit trains is judged one by one. If the (n+1)th unit train is an independent unit train, it forms a new train formation with the train formation to which the nth unit train belongs; if the (n+1)th unit train is already formed, the formation to which the already formed unit train belongs forms a new train formation with the train formation to which the nth unit train belongs; if the (n+1)th unit train has already joined, the step of forming a new train formation is skipped; during the formation of the train formation, formation point checks are performed simultaneously. When the formation point check conditions are met at any time, the process continues until the judgment of the Nth unit train is completed and the process proceeds to step S3; when the formation point check conditions are not met at any time, the process proceeds directly to step S2.

[0020] Preferably, step S2 includes: step T21, immediately stopping train formation and not performing train formation of the remaining unit trains; step T22, retaining or disbanding the newly formed train formation.

[0021] Preferably, the unwinding point check in step S2 includes: d before the end of the unwinding region. 解开 The distance is set to the uncoupling checkpoint. When the first unit of a total of N unit trains has not passed the formation checkpoint, it runs in normal state. If there is no abnormality, the uncoupling checkpoint is satisfied. When the first unit of a total of N unit trains passes the uncoupling checkpoint, several flexible formation management units determine whether the N unit trains still need to be uncoupled based on the train operation status information. If yes, it means that the train formation uncoupling is not completed and proceeds to step S2. If no, it means that the train formation uncoupling is completed and the status is maintained and proceeds to step S3.

[0022] Preferably, the unblocking point check in step S2 includes: unblocking check point d. 解开 The configuration allows the unit train to flexibly group and manage the formation within this distance, completing the ungrouping, updating the formation status, and unlocking or redistributing the forward route.

[0023] Preferably, the unwinding point check in step S2 includes: d 解开The distance should not be less than: the length of the section approaching the end of the unwinding area + the communication timeout judgment time between the flexible formation management unit and the flexible formation on-board unit × the maximum permissible speed of the train unwinding process + the system speed and distance measurement error.

[0024] Preferably, step S1 includes: step Q11, where the flexible grouping management unit separates a total of N unit trains according to the train operation status information and marks the information of the independent unit trains and the trains in the formation; step Q12, where the unit trains are separated into formations when they pass the separation checkpoint according to the marked information, until the train formation of the Nth unit train is separated and the process proceeds to step S3; when the separation checkpoint conditions are not met at a certain moment, the process proceeds directly to step S2.

[0025] Preferably, step S2 includes: step Q21, maintaining the status quo and waiting for the subsequent train to enter the unblocking area, then returning to step S1; step Q22, optionally, setting a timeout period, if the subsequent train has not entered the unblocking area after the timeout period, then proceeding to step S4.

[0026] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the aforementioned flexible train formation method.

[0027] An electronic device includes a processor and a memory, wherein a computer program is stored in the memory, and when executed by the processor, the computer program implements the aforementioned flexible train formation method.

[0028] In summary, compared with the prior art, the flexible train formation system and method provided by the present invention have the following beneficial effects:

[0029] First, it can effectively avoid situations where unit trains form or break up train formations on or about to enter a route, reducing the safety protection requirements of flexible formation systems on signal interlocking systems and simplifying the design of related interfaces and mechanisms.

[0030] Second, this invention minimizes coupling between different layers while ensuring safety, thereby enhancing the flexibility of flexible grouping technology.

[0031] Third, the flexible grouping system and method proposed in this invention can be applied to both mechanical and virtual flexible grouping, and has a wide range of applications.

[0032] Fourth, the flexible grouping system and method proposed in this invention enable asynchronous connection and disconnection processes of multiple functional layers under the unified management of the flexible grouping management unit, thereby minimizing the coupling and correlation between functional layers, simplifying system implementation, and improving the application scope and stability of the system. Attached Figure Description

[0033] Figure 1 This is a partial structural diagram of an embodiment of a flexible grouping system, which includes a flexible grouping management unit.

[0034] Figure 2 This is a schematic diagram of an embodiment of a flexible formation system, which includes a flexible formation management unit and multiple flexible formation on-board units.

[0035] Figure 3 This is a schematic diagram of one embodiment of a flexible formation system, which includes a flexible formation management unit and five flexible formation on-board units.

[0036] Figure 4 This is a partial schematic diagram of an embodiment of a flexible formation system, in which the flexible formation on-board unit is equipped with an ATP system and an ATO system.

[0037] Figure 5 This is a schematic diagram of an embodiment of a flexible formation system, which includes multiple flexible formation on-board units and multiple flexible formation management units.

[0038] Figure 6 A schematic diagram of an embodiment of the grouping checkpoints of the present invention.

[0039] Figure 7 A schematic diagram of an embodiment of the present invention under the checkpoint. Detailed Implementation

[0040] The following will be combined with the appendix in the embodiments of the present invention. Figure 1 ~Attached Figure 7 The technical solutions, structural features, objectives and effects achieved in the embodiments of the present invention will be described in detail.

[0041] It should be noted that the accompanying drawings are in a very simplified form and use non-precise proportions. They are only used to facilitate and clarify the purpose of illustrating the embodiments of the present invention, and are not intended to limit the implementation conditions of the present invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationship, or adjustments to the size should still fall within the scope of the technical content disclosed in the present invention, provided that they do not affect the effects and objectives that the present invention can produce.

[0042] It should be noted that, in this invention, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only the expressly listed elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0043] This invention provides a flexible train formation system, which is used to flexibly form multiple unit trains, and realize the formation and disassembly of multiple unit trains within a limited length of track area.

[0044] like Figure 1 and Figure 6 As shown, the flexible grouping system includes:

[0045] Multiple Flexible Coupling On-Boards (FCOBs) and several Flexible Coupling Management Units (FCMUs) interact with each other, and with each other as well. If there is only one Flexible Coupling Management Unit, then no data interaction is required between the Flexible Coupling Management Units.

[0046] Each of the aforementioned flexible formation onboard units is installed on its respective unit train to obtain the operating status information of its unit train; the flexible formation management unit calculates the train formation instruction information based on all the operating status information; and the flexible formation onboard unit controls the operation of its unit train according to the train formation instruction information.

[0047] One unit train can be equipped with one flexible formation on-board unit or multiple flexible formation on-board units; the flexible formation on-board unit and the flexible formation management unit can be understood as an integrated module, which may include train control module, sensing system, sensors or other system interfaces. This type of technology is existing technology, so it will not be described in detail here.

[0048] The following section will provide a detailed introduction to the flexible formation of onboard units, the flexible formation management unit, and how to conduct large-scale data interaction.

[0049] (I) Flexible assembly of vehicle-mounted units

[0050] The flexible formation onboard unit is an important piece of equipment installed on the unit train. As mentioned earlier, its main functions are to acquire operational information and execute train formation instructions; among them,

[0051] The operational status information includes, but is not limited to, the location of the unit train, the speed of the unit train, the operating condition of the unit train, the operating mode of the unit train, the completeness of the operational status information, the coupling status of adjacent unit trains, the fault information of the unit train, and the formation status information. Among these, the formation status information needs to be emphasized. The formation status information is the operational status information of the train formation, which includes information related to train formation such as the number of unit trains, the unique identifier of each unit train, and the formation status of the unit trains (formed, not formed, or other possible states). For example, it can be used to determine whether the trains are operating independently or as a group.

[0052] This section introduces train formation instruction information, which is train operation instruction information calculated by the flexible formation management unit using all operational status information (preferably, it can also be combined with external information used for calculation as needed, including: train formation formation plan or instructions and signal interlocking system status). Specifically, train formation instruction information includes train formation formation instruction information and train formation disengagement instruction information. As the names suggest, train formation formation instruction information refers to the instruction to control the coupling of a corresponding single unit train with adjacent unit trains; train formation disengagement instruction information refers to the instruction to control the disengagement of a corresponding single unit train with adjacent unit trains. The train formation formation instruction information and train formation disengagement instruction information do not only refer to the actions at the moment of coupling and disengagement; they also include preparatory work before multiple unit trains complete coupling and disengagement, such as controlling the spacing between adjacent unit trains and controlling the communication connection between multiple unit trains.

[0053] As mentioned above, the flexible formation onboard unit has the function of controlling train operation. Therefore, after receiving the corresponding train formation formation instruction or train formation disengagement instruction, all flexible formation onboard units of the same unit train will work together to control the unit train. The coordinated operation of multiple unit trains can realize train formation (the result of the execution of the aforementioned "coupling instruction") and train formation disengagement (the result of the execution of the aforementioned "disengagement instruction").

[0054] (II) Flexible Grouping Management Unit

[0055] The flexible formation management unit is a device that generates train formation formation and train formation disengagement instructions based on operational status information. Its installation location was not mentioned earlier because there are no restrictions on its installation location. It can be fixedly installed on a non-train operating path, on a train operating path, or on a unit train. The key to the flexible formation management unit is generating train formation and train formation disengagement instructions from operational status information; the focus is on data interaction, not installation location. Therefore, as long as data interaction is possible, there are no special requirements regarding the installation location.

[0056] Specifically, the following describes the overall approach to train formation and dispersal. The flexible formation management unit receives external information for calculation and combines it with train operation status information to form train formation instruction information. Specifically, the external information includes: train formation plans or instructions, and information not related to the train itself, such as the status of the signal interlocking system. Specifically, the following are two implementation examples:

[0057] (1) Train formation

[0058] The train formation plan or instruction is pre-input into the flexible formation management unit. This "train formation plan or instruction" is equivalent to a plan or instruction that triggers the generation of train formation instruction information under specific conditions. This plan and instruction are pre-set by the flexible formation management unit. When multiple unit trains meet certain conditions (for example, when the first unit train of a total of N unit trains enters the formation area as described later), the flexible formation management unit will calculate the train formation instruction information based on the train operation information and send the train formation instruction information to the corresponding flexible formation on-board unit, thereby completing the coupling of multiple unit trains.

[0059] (2) Train formation unwinds

[0060] The train formation uncoupling plan or instruction is pre-input into the flexible formation management unit. This "train formation uncoupling plan or instruction" is equivalent to a plan or instruction that triggers the generation of train formation uncoupling instruction information under a specific condition. This plan and instruction are pre-set by the flexible formation management unit. When multiple unit trains meet certain conditions (for example, when the first unit train of a total of N unit trains enters the uncoupling area as described later), the flexible formation management unit will calculate the train formation uncoupling instruction information based on the train operation information and send the train formation uncoupling instruction information to the corresponding flexible formation on-board unit, thereby completing the uncoupling of the train formation.

[0061] For example, when multiple unit trains are in a train formation and enter a specific area, all flexible formation onboard units acquire the train operation information of each unit train and transmit it to several flexible formation management units. The several flexible formation management units check whether the train formation operation can be maintained from both the onboard and ground interlocking signal levels. If the conditions for maintaining the train formation are not met, the train formation is disassembled.

[0062] Furthermore, to ensure the safety of the train formation and disengagement processes, preferably, to ensure the timely responsiveness of the flexible formation onboard unit in executing train formation instructions from the flexible formation management unit, and to prevent the flexible formation onboard unit from only starting corresponding operations after receiving the train formation instructions, thus affecting operational efficiency, the flexible formation management unit can, based on train operation information, pre-set a certain time or a certain buffer distance before the train formation and disengagement, and send advance notice of train formation formation instructions or train formation disengagement instructions to the flexible formation onboard unit in advance.

[0063] (III) Data Interaction

[0064] The key point of this invention, which proposes "data interaction between the flexible formation vehicle-mounted unit and the flexible formation management unit, between the flexible formation vehicle-mounted units themselves, and between the flexible formation management units themselves," lies in "data interaction." The connection structure between the flexible formation vehicle-mounted unit and the flexible formation management unit is not limited in terms of how the data is transmitted. For example, it can be through direct transmission between the first flexible formation vehicle-mounted unit and the second flexible formation vehicle-mounted unit; or through indirect transmission between the first flexible formation vehicle-mounted unit and the first flexible formation management unit and the second flexible formation management unit; or, when there are multiple flexible formation management units, through indirect transmission between the first flexible formation vehicle-mounted unit and the first flexible formation management unit and the second flexible formation management unit and the second flexible formation vehicle-mounted unit; or through indirect transmission between the first flexible formation vehicle-mounted unit and the second flexible formation vehicle-mounted unit and the third flexible formation vehicle-mounted unit, etc.

[0065] It can be said that any flexible formation onboard unit and any flexible formation management unit can receive all the information of the entire flexible formation system. This is because in actual operation, it is not only the transmission of operating status information and train formation instruction information, but also other necessary information. Therefore, this description is used. The description of the flexible formation management unit transmitting information to the flexible formation onboard unit is only a representation of the direction of information transmission and does not mean that only this transmission capability exists.

[0066] The purpose of data interaction is not only to exchange the aforementioned data, but also to ensure the consistency of the entire flexible train formation system. Continuous data interaction is necessary during the formation and dispersal of train formations, or while maintaining the formation, to ensure the safety and efficiency of train routes during formation and dispersal.

[0067] Taking the flexible formation onboard unit executing the corresponding train formation instruction information as an example, during the formation, operation, and disassembly of the train formation, the flexible formation onboard unit cannot rely solely on the train formation instruction information from a single flexible formation management unit. It also needs to constantly communicate with other flexible formation management units to prevent special situations such as a train unit going offline or experiencing an abnormal state that the flexible formation management unit fails to recognize. Furthermore, it can even ensure the accuracy of data transmission through secondary transmission of the same train formation instruction information.

[0068] Especially for formation status information, if the formation status information is only transmitted through data interaction between the flexible grouping vehicle units, there will be certain loopholes because there is no overall verification process. Therefore, this kind of large-scale data interaction can ensure the accuracy of the relevant data to the greatest extent.

[0069] The basic structure of the present invention has been described above. Several embodiments of the flexible grouping system will be described in detail below.

[0070] (1) As Figure 2 As shown, the flexible formation system is equipped with a flexible formation management unit and multiple flexible formation on-board units. Each flexible formation on-board unit is connected to the flexible formation management unit, and the multiple flexible formation on-board units communicate with each other. Because the multiple flexible formation on-board units are at the same level, this structure is suitable for simple functional operations.

[0071] (2) Figure 3As shown, the flexible formation system is equipped with a flexible formation management unit and five flexible formation on-board units. Flexible formation on-board units 1 and 2 are connected to the flexible formation management unit; flexible formation on-board units 11 and 12 are connected to flexible formation on-board unit 1; and flexible formation on-board units 2 and 21 are connected. In this embodiment, flexible formation on-board units 1 and 2 are two different types of on-board units with different functions. Both vehicle unit 1 and flexible formation vehicle unit 2 have branches at the next level (for example, flexible formation vehicle unit 11 is a branch at the next level of flexible formation vehicle unit 1). The principle is that by setting different flexible formation vehicle units and corresponding branches at the next level, several different functions of the flexible formation system can be designed. For example, flexible formation vehicle unit 1 is used to implement safety protection functions, while flexible formation vehicle unit 2 is used to implement autonomous driving functions. Similarly, more flexible formation vehicle units can implement functions such as communication topology, information systems, and maintenance systems.

[0072] (3) Figure 4 As shown, this flexible formation system demonstrates a flexible formation system including an ATP (Automatic Train Protection) system and an ATO (Automatic Train Operation) system; in this embodiment, the flexible formation onboard unit with this function and the flexible formation management unit form a flexible formation system as follows: Figure 4 The hierarchical structure (partial illustration). A flexible formation management unit is connected to multiple flexible formation on-board units equipped with ATP systems. The multiple flexible formation on-board units equipped with ATP systems communicate with each other. Each flexible formation on-board unit equipped with an ATP system has a flexible formation on-board unit equipped with an ATO system connected to it.

[0073] (4) Figure 5As shown, the flexible formation management unit, as the computing node for managing the flexible formation system, must consider its performance and capacity during actual operation. Therefore, multiple flexible formation management units may be set up simultaneously due to performance considerations. In this embodiment, multiple flexible formation management units are connected adjacently in the order of first and second. It should be noted that this does not exclude the possibility of multiple flexible formation management units connecting to each other; the key is to ensure data interaction. In this embodiment, multiple train units may be managed by another flexible formation management unit during operation due to entering specific line areas or changes in train formation scenarios. Therefore, setting up multiple flexible formation management units allows for the design of different plans and instructions for the train formation's operational status in different scenarios, increasing the safety of train operation. For each flexible formation management unit, there is a system based on... Figure 3 The connection structure of the flexible grouping vehicle-mounted unit is shown.

[0074] The following will use "Running Status Information" as an example to illustrate the aforementioned points. Figure 3 Detailed explanation of data interaction in the embodiments; Figure 3 There are two different levels of branches: flexible grouping vehicle unit 11 and flexible grouping vehicle unit 12, with flexible grouping vehicle unit 21 as the first node; flexible grouping vehicle unit 1 and flexible grouping vehicle unit 2 as the second node; and the flexible grouping management unit as the main node.

[0075] In this embodiment, the first node sends operational status information to the corresponding second node, and the second node sends operational status information to the master node. In specific embodiments, the train operational status information extracted by some flexible formation on-board units is not essential, so there may be operational vacancies in flexible formation on-board units. For example, in this embodiment, flexible formation on-board unit 12 may be vacant. After the master node extracts the formation status information from the operational status information, it sends it to the second node, and the second node sends it to the first node. However, essentially, it is still the master node sending the formation status information to both the first and second nodes. The above is one embodiment of data interaction for "operational status information." In addition, the operational status information data interaction can adopt a sending confirmation method or a periodic sending method.

[0076] The above provides a detailed description of a flexible train formation system. The following describes a flexible train formation method for forming / unforming N unit trains (n ​​= 1, 2, 3…N). The method includes:

[0077] Step S1: When a unit train enters the marshalling / unmarshalling area and meets the marshalling / unmarshalling point check conditions, train formation / unmarshalling is performed on the unit trains that meet the conditions; if the formation changes during the formation and unmarshalling process, step S3 is executed until the formation / unmarshalling of the Nth unit train is completed, and then step S4 is executed; if the marshalling / unmarshalling point check conditions are not met at a certain moment, step S2 is executed.

[0078] Regarding how to determine the N unit trains for train formation / decoupling, as mentioned above, the "flexible formation management unit pre-inputs the train formation plan or instruction," which pre-inputs the information of multiple unit trains that will be formed / decoupled. This is equivalent to pre-determining the multiple unit trains that need to be formed / decoupled. When the first unit train of the N unit trains enters the formation / decoupling area, the process begins.

[0079] Specifically, when the first unit train enters the formation / decoupling area, several flexible formation management units generate train formation instruction information for all flexible formation on-board units based on train operation status information and transmit it to the corresponding flexible formation on-board units. The flexible formation on-board units to which the unit train belongs then realize the formation / decoupling of train formations from the first unit train to the Nth unit train. At the same time, several flexible formation management units perform formation / decoupling point checks. When the formation / decoupling point check conditions are met at any time, step S3 is executed when the formation changes during formation and decoupling, maintaining the status quo until the formation / decoupling of the Nth train is completed, and then step S4 is entered. When the formation / decoupling point check conditions are not met at any time, step S2 is entered. The formation / decoupling area is the area where trains form / decouple train formations. For details on formation / decoupling point checks, please refer to the following description.

[0080] In addition, in step S1, the phrase "when a unit train enters the marshalling / unmarshalling area" is not limited to the first unit train among N unit trains in some specific embodiments. It can be set to the condition that the nth train among N unit trains enters the marshalling / unmarshalling area; for example, when the second unit train enters the marshalling / unmarshalling area, the third unit train enters the marshalling / unmarshalling area, etc. It should be noted that if this condition setting is adopted, the length of the marshalling / unmarshalling area needs to be designed well when N unit trains are coupled and uncoupled.

[0081] Step S2: If a train formation is being formed at this time, the formation is immediately stopped. If the formed train formation is disbanded or the status quo is maintained, proceed to step S4. If the train formation is being disbanded at this time, maintain the status quo and wait for the next train to enter the disbanded area before returning to step S1.

[0082] Specifically, several flexible formation management units send instructions to all flexible formation onboard units, including instructions to stop train formation formation / disband train formation. These instructions are not abrupt interruptions, but rather a safe way to stop train formation formation / disband train formation. As described later, if a train formation is forming, the corresponding flexible formation onboard unit will either disband the formed train formation or maintain the status quo. If a train formation is disbanding, the status quo will be maintained while waiting for subsequent trains to enter the disbanding area to continue the disbanding operation.

[0083] Step S3: Based on the operating status of the train formation, complete the locking management and allocation management of the routes in the formation area / deformation area;

[0084] Specifically, this step is to ensure that the unit train can operate safely under any circumstances.

[0085] As can be seen from the foregoing, the entire method relies on various calculations between the flexible grouping management unit and the flexible grouping on-board unit, which will not be elaborated upon further.

[0086] In a preferred embodiment, when the connection between any of the flexible formation on-board units and any of the flexible formation management units is interrupted, both parties should clear the train formation instruction information, set the formation status information to a dangerous state, and perform guidance and safety side processing on all unit trains in accordance with safety design principles.

[0087] In step S1, as mentioned above, there is a judgment condition in the flexible formation management unit, namely, when should the unit train stop forming a train formation / unforming a train formation, and a formation point / unforming point check is required; (1) The formation point check is used to prohibit the unit train from forming a train formation when it is within a certain distance from the end of the formation area; because if the unit train forms a train formation when it is within the range of the end, there will be a great risk that the entire process cannot be completed within the formation area, which will bring great hidden dangers to the train operation; (2) The same applies to the unforming point, prohibiting the unit train from forming a train formation when it is within a certain distance from the end of the unforming area, because if the unit train forms a train formation when it is within the range of the end, there will be a great risk that the entire process cannot be completed within the unforming area, which will bring great hidden dangers to the train operation.

[0088] Step S4: End the process.

[0089] The following section will describe the grouping / ungrouping point check in step S1.

[0090] The marshalling point check in step S1 includes: such as Figure 6As shown, d before the end of the grouping area 编组 The distances between the train formation checkpoints are set (the distances shown in the diagram are for illustrative purposes only and do not represent actual distance ratios). When the first train of a total of N train units has not passed the checkpoint, it operates in normal mode, meaning no operational errors occur. When the first train of a total of N train units passes the checkpoint, several flexible formation management units determine whether the N train units still need to form a train convoy based on the train operation status information. If yes, it means the train convoy formation is not complete, and the check is not satisfied, proceeding to step S2; if no, it means the train convoy formation is complete, and the check is satisfied, maintaining the status quo, proceeding to step S3. For example, when the first train unit has passed the checkpoint, all train units have completed train convoy formation. That is, the flexible formation management unit can ensure that before the first train unit passes the checkpoint, all N train units have completed all operations related to the train convoy formation instruction information, and can work with other systems (such as signal interlocking systems, safety control systems, etc.) to ensure that the protection mechanism of the formation area will not be unlocked as the train runs.

[0091] d 编组 The distance should not be less than: (communication timeout judgment time between the flexible formation management unit and the flexible formation on-board unit + train operation status information update cycle of the flexible formation on-board unit) × the maximum permissible speed of the first train in the unit train coupling process + system speed and distance measurement error.

[0092] The undoing point check in step S2 includes: such as Figure 7 As shown, d before the end of the unraveling region 解开 The distances are set to de-seam checkpoints (the distances shown in the diagram are for illustrative purposes only and do not represent actual distance ratios). When the first unit of a total of N unit trains has not passed the de-seam checkpoint, it operates in normal mode, meaning no operational errors occur. When the first unit of the total N unit trains passes the de-seam checkpoint, several flexible formation management units determine, based on the train operation status information, whether the N unit trains still need to be de-seamened. If yes, it means the de-seamening is not complete, and proceed to step S2; if no, it means the de-seamening is complete. Maintaining the status quo, proceed to step S3. For example, when the first unit train has passed the uncoupling checkpoint, all unit trains have completed the train formation uncoupling. That is, the flexible formation management unit can ensure that before the first unit train passes the uncoupling checkpoint, N unit trains have completed all operations of the train formation uncoupling instruction information, and can work with other systems (such as signal interlocking system, safety control system, etc.) to ensure that the protection mechanism of the uncoupling area will be unlocked normally as the train runs, thereby realizing the diversion of some unit trains (because of the uncoupling), so that the corresponding unit trains can run normally.

[0093] d 解开 The distance should not be less than: the length of the section approaching the end of the unwinding area + the communication timeout judgment time between the flexible formation management unit and the flexible formation on-board unit * the maximum permissible speed of the train unwinding process + the system speed and distance measurement error.

[0094] The "simultaneous" in the aforementioned "simultaneous marshalling / unmarshalling point check" means that the corresponding calculation should be initiated when the first unit of the N unit trains enters the marshalling / unmarshalling area, not when the first unit of the N unit trains passes the marshalling / unmarshalling check point. This check is performed in a real-time calculation state, just like the normal operation described above; because the final d 编组 With d 解开 The distance is essentially a buffer distance. For high-speed trains, the time difference caused by calculation should be minimized as much as possible.

[0095] The following will introduce two implementation methods when the first unit train enters the marshalling / unmarshalling area in step S1.

[0096] In the first embodiment, when the first unit train enters the formation area.

[0097] Step S1 includes: Step T11, when the first unit train enters the formation area, the flexible formation management unit marks the information of independent unit trains and already formed unit trains for a total of N unit trains according to the train operation status information.

[0098] Among them, unit trains are labeled as independent unit trains and platooned unit trains; as the name suggests, independent unit trains are unit trains that operate alone, while platooned unit trains refer to unit trains that are in platooning with other unit trains.

[0099] The information labeling should also verify the legality of the train position of the unit train to ensure that all unit trains can travel to the marshalling area and can form train convoys within the marshalling area.

[0100] Step T12: Starting with the first unit train, each of the N unit trains is judged one by one. If the (n+1)th unit train is an independent unit train, it forms a new train formation with the train formation to which the nth unit train belongs. If the (n+1)th unit train is an already formed unit train, the train formation to which the already formed unit train belongs forms a new train formation with the train formation to which the nth unit train belongs. If the (n+1)th unit train has already joined, the formation of a new train formation is skipped. During the formation of the train formation, the formation point is checked simultaneously. When the formation point check conditions are met at any time, the process continues until the judgment of the Nth unit train is completed and the process proceeds to step S3. When the formation point check conditions are not met at any time, the process proceeds directly to step S2.

[0101] The following is a specific example that will explain in detail how to label information and determine the initial new train formation.

[0102] Suppose there are N unit trains, T1, T2, T3...T N-1 T N In the process of establishing a new train formation, determining the lead car of the new train formation is particularly important. The following is an example of how the information of the first unit train is marked as a unit train and the unit trains already in the formation:

[0103] (1) T1 information is marked as an independent unit train. If the first unit train enters the formation area and the information is marked as an independent unit train, the new train formation formed at this time is [T1]. The subsequent unit trains are coupled according to the above mode.

[0104] (2) If the T1 information is marked as a platooned unit train, and the information is marked as a platooned unit train when the first unit train enters the platooning area, then the flexible platooning management unit should directly introduce several platooned unit trains into the new train platoon and set the first car as the first unit train of multiple unit trains in the new train platoon to prevent subsequent confusion.

[0105] After determining the first car, the coupling process is explained. If the (n+1)th unit train is an independent unit train, it directly forms a new train formation with the train formation to which the nth unit train belongs. For example, if a new train formation [T1, T2, T3] already exists, and there is an independent unit train T4, it directly forms a new train formation [T1, T2, T3, T4] with [T1, T2, T3].

[0106] If the (n+1)th unit train is an already formed unit train, then the train formation to which the already formed unit train belongs will form a new train formation with the train formation to which the nth unit train belongs. This is self-evident. In addition, if the (n+1)th unit train has already been added, the process of forming a new train formation is skipped to avoid adding unit trains repeatedly to the train formation to which the (n+1)th unit train belongs. For example, if a new train formation [T1] already exists, and [T2, T3] is an existing train formation, first check that T2 is an already formed unit train, then directly form a new train formation [T1, T2, T3]. Then check that T3 is an already formed unit train. Since it already exists, the process of forming a new train formation is skipped.

[0107] In addition to judging the unit trains in sequence, this step adds a step to prevent duplicate addition to the new train formation, ensuring the consistency of the order of the judged unit trains. This prevents judgment jumps and ensures that the same unit train is not added to the new formation twice.

[0108] Preferably, before multiple unit trains are convoyed, at a certain time or distance, a corresponding advance notice is sent to all unit trains to notify relevant personnel or equipment to complete the necessary preparations before the train convoy is untied.

[0109] In addition, during the formation of train formations, it should be ensured that: (1) the formation area is in the direction of the unit train's operation; (2) the operation status of the flexible formation onboard units meets the requirements for the formation of new train formations; (3) there are no abnormalities in the signal interlocking equipment within the unit train's range; (4) there are no obstacles between the coupled unit trains; and (5) there are certain safety restrictions on the distance between adjacent unit trains and the speed of the preceding unit train when the train formation is in operation.

[0110] Second embodiment: When the first unit train enters the unblocking area.

[0111] Step S1 includes: Step Q11, when the first unit train enters the unpacking area, the flexible grouping management unit marks the information of independent unit trains and already grouped unit trains for a total of N unit trains according to the train operation status information.

[0112] At this point, there is no doubt that this is a confirmation function, ensuring that the information labels of N unit trains are all platooned unit trains, and it is also helpful in eliminating certain dangerous situations, such as train decoupling; at this point, the first car is the first unit train, and this judgment is more convenient than when the train enters the marshalling area;

[0113] Step Q12: Separate several units of the N unit trains one by one; check the separation point during the process; when the separation point check condition is met at any time, continue until the Nth unit train is separated from the train formation. When the separation causes a change in the formation, proceed to step S3; when the separation point check condition is not met at any time, proceed directly to step S2.

[0114] It should be clarified here that the uncoupling operation does not only refer to the uncoupling of adjacent train units, but also the process of forming a new train platoon from multiple uncoupled train units.

[0115] As mentioned earlier, it is necessary to judge each of the N unit trains one by one, because if the unit trains are separated out of order at fixed points, there may be operational risks. Therefore, the flexible formation management unit judges each of the N unit trains one by one, and then generates the corresponding train formation separation information, that is, whether the 1st unit train and the 2nd unit train are separated and whether a new formation is formed, and whether the nth unit train and the (n+1)th unit train are separated and whether a new formation is formed.

[0116] The following are specific examples.

[0117] The flexible train formation management unit labels the information of N train units as follows based on the train operation status information: [T1, T2, T3...T ... N-1 T N The information labels for unit trains are all for unit trains already in formation; for example, the destination needs to be decomposed into [T1, T2, T3] and [T4, ... T N-1 T N Undoubtedly, the first car at this point is the first unit train T1. We then proceed to untangle several units from the N unit trains one by one, without untangling the first and second unit trains. Currently, this forms a train formation [T1, T2, T3...T...]. N-1 T N The second and third unit trains are not separated; they are currently in one train formation [T1, T2, T3...T]. N-1 T N The third and fourth unit trains detach, forming two new train formations: [T1, T2, T3] and [T4, ... T1]. N-1 T N If subsequent adjustments to [T4, ... T] are required... N-1 T N If a decryption operation is still required, the same principle applies.

[0118] Preferably, before the uncoupling of the convoyed unit trains, at a certain time or distance, a corresponding advance notice is sent to all unit trains to notify relevant personnel or equipment to complete the necessary preparations before uncoupling the trains.

[0119] In addition, during the process of uncoupling train formations, it should be ensured that: (1) the multiple unit trains entering the uncoupling area are an existing train formation; (2) the unit trains can be uncoupled in the uncoupling area; (3) the direction of the uncoupling area is along the running direction of the unit trains; (4) optionally, the corresponding routes are managed or assigned to the new train formations or unit trains after uncoupling.

[0120] As can be clearly seen from the foregoing, the present invention has a high degree of flexibility. It can perform the corresponding coupling and uncoupling process when the nth unit train enters the formation / uncoupling area, and can flexibly couple and uncouple trains. For example, it can uncouple 10 coupled unit trains into 5 groups of 2 coupled trains; or couple 5 groups of 2 coupled trains into a train formation of 10 unit trains.

[0121] The above describes how to form and unform a train formation from N train units. The following describes two implementations of immediately stopping the formation / unformation of the train in step S2.

[0122] In the first embodiment, the formation of train formations is immediately stopped.

[0123] Step S2 includes: Step T21, immediately stop the formation of train formations, and do not perform the formation of train formations of the remaining unit trains.

[0124] Step T22: For newly formed train formations, retain or disband them.

[0125] Because the time frame is short and the speed is relatively consistent, there are no technical difficulties in maintaining or undoing the process.

[0126] The second embodiment involves immediately stopping the train formation and uncoupling.

[0127] Step S2 includes: Step Q21, maintain the status quo, wait for the subsequent train to enter the unblocking area, and then return to step S1;

[0128] Step Q22, optional, set a timeout period. If the subsequent train has not entered the unlocked area after the timeout period, proceed to step S4.

[0129] Because the time frame is short and the speed is relatively consistent, there are no technical difficulties in re-connecting the links.

[0130] In addition, throughout all steps, several flexible formation management units, in conjunction with flexible formation plans or instructions, signal interlocking status, etc., constantly update formation status information. Especially during the formation of new train formations or the dismantling of existing train formations, they should always pay attention to synchronizing the updated operating status information with other unit trains to ensure that each unit train has all the data of the entire flexible formation system, thereby increasing the safety of train operation.

[0131] Although the present invention has been described in detail through the preferred embodiments above, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above description. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A flexible train formation system, characterized in that, The flexible formation system is used to flexibly form multiple unit trains, and the flexible formation system includes: Multiple flexible formation on-board units and several flexible formation management units; data exchange takes place between the multiple flexible formation on-board units and several flexible formation management units, between the multiple flexible formation on-board units and between the several flexible formation management units; Each of the aforementioned flexible formation onboard units is installed on its respective unit train to obtain the operating status information of the unit train to which it belongs; The flexible formation management unit calculates train formation instruction information based on all operating status information; the flexible formation onboard unit controls the operation of its assigned unit trains based on the train formation instruction information. d before the end of the grouping area 编组 The distance to set the group checkpoint, before the end of the unpacked area, d 解开 The distance setting unlocks the checkpoint; The flexible formation management unit is used to: when a unit train passes through a formation checkpoint, determine whether the train formation has been completed based on the train operation status information; if it has been completed, it is allowed to continue running; if it has not been completed, it stops the formation of the train formation or maintains the status quo; when a unit train passes through a disengagement checkpoint, determine whether the train formation has been disengaged based on the train operation status information; if it has been completed, it is allowed to continue running; if it has not been completed, it stops the disengagement of the train formation or maintains the status quo.

2. The flexible train formation system according to claim 1, characterized in that, The train formation instruction information includes train formation formation instruction information and train formation disengagement instruction information; Train formation instruction refers to the command that controls the coupling of the corresponding individual train unit with adjacent train units to form a train formation; Train formation uncoupling instruction refers to the command that controls the uncoupling of the corresponding individual train unit from the adjacent train unit, thus uncoupling the train formation.

3. A flexible train formation system according to claim 2, characterized in that, The flexible grouping management unit also includes: Based on train operation information, a certain time or buffer distance is pre-set before the formation and disengagement of train formations, and advance notice of train formation formation instructions or train formation disengagement instructions is sent to the flexible formation onboard unit in advance.

4. A flexible train formation system according to claim 3, characterized in that, All the aforementioned unit trains are updated synchronously with all data in the entire flexible formation system.

5. A flexible train formation system according to claim 4, characterized in that, The flexible formation system also includes a flexible formation management unit that generates train formation instruction information based on all train operation status information and external information used for calculation; the external information includes: the train formation plan or instructions and the status of the signal interlocking system.

6. A flexible train formation method, employing a flexible train formation system as described in any one of claims 1 to 5, characterized in that, The method for forming / unpacking N unit trains (n=1, 2, 3...N) includes: Step S1: When a unit train enters the marshalling / unmarshalling area and meets the marshalling / unmarshalling point check conditions, train formation / unmarshalling is performed on the unit trains that meet the conditions; if the formation status changes during the formation and unmarshalling process, step S3 is executed until the formation / unmarshalling of the Nth unit train is completed, and then step S4 is executed; if the marshalling / unmarshalling point check conditions are not met at a certain moment, step S2 is executed. Step S2: If a train formation is being formed at this time, the formation is immediately stopped. If the formed train formation is disbanded or the status quo is maintained, proceed to step S4. If the train formation is being disbanded at this time, maintain the status quo and wait for the next train to enter the disbanded area before returning to step S1. Step S3: Based on the operating status of the train formation, complete the locking management and allocation management of the routes in the formation area / deformation area; Step S4: End the process.

7. A flexible train formation method according to claim 6, characterized in that, When the connection between any of the flexible formation on-board units and any of the flexible formation management units is interrupted, both parties shall clear the train formation instruction information, set the formation status information to a dangerous state, and guide all unit trains to the safety side in accordance with safety design principles.

8. A flexible train formation method according to claim 7, characterized in that, The marshalling point check in step S1 includes: d before the end of the grouping area 编组 The distance between the train sets the marshalling checkpoints. When the first train of a total of N train units has not passed the marshalling checkpoint, it runs in normal mode. If there is no abnormality, the marshalling checkpoint is satisfied. When the first unit of a total of N unit trains passes through the formation checkpoint, several flexible formation management units determine whether the N unit trains still need to form a train convoy based on the train operation status information. If yes, it means that the train convoy formation is not completed, and the check is not satisfied, so proceed to step S2; if no, it means that the train convoy formation is completed, and the check is satisfied, so maintain the status quo, and proceed to step S3.

9. A flexible train formation method according to claim 8, characterized in that, The marshalling point check in step S1 includes: Grouping checkpoint d 编组 The configuration allows the unit train to flexibly form up, update the formation status, and lock or assign the forward route within this distance and during the running time.

10. A flexible train formation method according to claim 9, characterized in that, The marshalling point check in step S1 includes: d 编组 The distance should be no less than: (communication timeout judgment time between the flexible formation management unit and the flexible formation on-board unit + train operation status information update cycle of the flexible formation on-board unit) × the maximum permissible speed of the train traveling ahead during the unit train coupling process + system speed and distance measurement error.

11. A flexible train formation method according to claim 10, characterized in that, Step S1 includes: In step T11, when the first unit train enters the formation area, the flexible formation management unit marks the information of the N unit trains as independent unit trains and already formed unit trains according to the train operation status information. Step T12: Starting with the first unit train, each of the N unit trains is judged one by one. If the (n+1)th unit train is an independent unit train, it forms a new train formation with the train formation to which the nth unit train belongs. If the (n+1)th unit train is an already formed unit train, the formation to which the already formed unit train belongs forms a new train formation with the train formation to which the nth unit train belongs. If the (n+1)th unit train has already joined, the step of forming a new train formation is skipped. During the formation of the train formation, the formation point is checked simultaneously. When the formation point check conditions are met at any time, the process continues until the judgment of the Nth unit is completed and the process proceeds to step S3. When the formation point check conditions are not met at any time, the process proceeds directly to step S2.

12. A flexible train formation method according to claim 11, characterized in that, Step S2 includes: Step T21: Immediately stop train formation; train formation of the remaining unit trains will not be performed subsequently. Step T22: For the newly formed train formation, retain or disband it.

13. A flexible train formation method according to claim 7, characterized in that, The unblocking point check in step S1 includes: d before unraveling the end of the region 解开 The distance is set to unlock the checkpoint. When the first unit train of a total of N unit trains has not passed the unlock checkpoint, it runs in normal state. If there is no abnormality, the unlock checkpoint is satisfied. When the first unit of a total of N unit trains passes the uncoupling checkpoint, several flexible formation management units determine whether the N unit trains still need to be uncoupled based on the train operation status information. If yes, it means that the train uncoupling is not completed and proceeds to step S2. If no, it means that the train uncoupling is completed and the status is maintained, proceeding to step S3.

14. A flexible train formation method according to claim 13, characterized in that, The unblocking point check in step S1 includes: Unlock checkpoint d 解开 The configuration allows the unit train to flexibly group and manage the formation within this distance, completing the ungrouping, updating the formation status, and unlocking or redistributing the forward route.

15. A flexible train formation method according to claim 14, characterized in that, The unblocking point check in step S1 includes: d 解开 The distance should not be less than: the length of the section approaching the end of the unwinding area + the communication timeout judgment time between the flexible formation management unit and the flexible formation on-board unit × the maximum permissible speed of the train unwinding process + the system speed and distance measurement error.

16. A flexible train formation method according to claim 15, characterized in that, Step S1 includes: Step Q11: The flexible grouping management unit decomposes a total of N unit trains according to the train operation status information and marks the information of independent unit trains and trains in the formation. Step Q12: According to the marked information, the train formation is unpacked when the unit train passes the unpacking checkpoint, until the train formation of the Nth unit train is unpacked and then proceed to step S3; if the unpacking checkpoint conditions are not met at a certain moment, proceed directly to step S2.

17. A flexible train formation method according to claim 16, characterized in that, Step S2 includes: Step Q21: Maintain the status quo and wait for the next train to enter the unlocked area before returning to step S1; Step Q22, optional, sets a timeout period. If a subsequent train has not entered the unlocked area after the timeout period, proceed to step S4.

18. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements a flexible train formation method as described in any one of claims 6-17.

19. An electronic device, characterized in that, It includes a processor and a memory, wherein the memory stores a computer program, which, when executed by the processor, implements a flexible train formation method as described in any one of claims 6-17.

Images