Coupling marshalling type identification method and equipment based on virtual coding and medium

Abstract

The invention relates to a coupling marshalling type identification method and equipment based on virtual coding and a medium, which can simply and quickly identify the coupling type of the current marshalling train after the train is coupled and decoded by using the virtual coding and a communication protocol so as to realize the coupling or decoding of the train. According to the method, any marshalling type identification of single-vehicle-to-single-vehicle and single-vehicle-to-multi-vehicle is supported, and virtual coding is used for replacing an existing hard line identification mode, so that the identification process and train coupler design are simplified, detailed parameters and marshalling sequences of coupled trains are rapidly obtained, and the identification efficiency is improved. The problems of high cost and complexity in the train coupling and decompiling process in urban rail transit are solved. Compared with the prior art, the method has the advantages of simplicity, accuracy, wide application and the like.

Description

Technical Field

[0001] The present invention relates to the field of rail transit technology, and in particular to a method, device and medium for identifying coupling formation types based on virtual coding. Background Art

[0002] With the rapid increase of urban population and the tidal characteristics of passenger flow throughout the day, urban rail transit transportation faces huge challenges. Traditional trains basically adopt a single-unit operation mode, which causes a certain degree of resource waste during non-peak passenger flow periods. Therefore, the coupling and uncoupling of trains is proposed, that is, multiple units are used during peak hours and single units are used during off-peak hours. Among them, the identification of train coupling types under multiple units is particularly critical for the on-board controller to select reasonable vehicle control parameters, and it is also a difficult point in the coupling and uncoupling technology. At present, the traditional processing method is to use the hard-wired code position identification of the train coupling end to determine whether the two ends of the vehicle are coupled and how many vehicles are coupled. This processing method is relatively easy for two vehicles of the same type to be coupled, but if it involves more than two vehicles, it will be particularly complicated. It is necessary to design a complex hard-wired interface circuit for auxiliary judgment, and it is impossible to obtain the specific arrangement of the trains in the marshaling at one time. In addition, for different types of trains, it is also impossible to effectively identify them through hard-wired interface coding.

[0003] Chinese patent CN110936983B discloses a method for automatic train coupling in rail transit, which realizes automatic train coupling and uncoupling through technical means such as hard-wired acquisition interface for signal and vehicle safety information exchange and internal terminals of fully automatic couplers, so as to achieve the purpose of forming trains without manual driving. However, due to the need to add a hard-wired acquisition interface, the coupling process is complicated, which increases the difficulty and risk of coupling operation. Therefore, how to simply and quickly realize the coupling of various types of trains has become a technical problem that needs to be solved. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and to provide a method, device and medium for identifying the coupling type based on virtual coding. By adopting virtual coding instead of the hard-wired identification method and designing a marshaling type negotiation communication protocol, the coupled and decoupled trains can simply and quickly identify the coupling type of the current marshaling train.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] According to one aspect of the present invention, a method for identifying the type of a coupling set based on virtual coding is provided, and the specific steps are as follows:

[0007] S1. Determine whether the grouping type needs to be re-identified. If necessary, trigger the grouping type identification process;

[0008] S2. For a train in the marshaling type identification state, the marshaling information is processed based on the train coupling end code and coupling state, and a new complete marshaling type is calculated;

[0009] S3, after the train with only one end coupling recognizes the complete marshaling type, it communicates with all other trains in the marshaling to confirm whether the calculated new marshaling type is correct;

[0010] S4. After the single-end coupled train is successfully verified, the new marshaling type is confirmed with another single-end coupled train in the marshaling, so that both the head and tail trains recognize each other's marshaling type, and the marshaling types judged by the head and tail are consistent;

[0011] S5. After confirming the marshaling type, the train performs corresponding response and status update operations according to the coupling status and the type of message received to inform the double-end coupling vehicle of the confirmed marshaling type;

[0012] S6. If the virtual coding coupling type identification method cannot distinguish, reconfirm the type of the formation based on the coupling status of the single car in the formation and the positioning information of some trains.

[0013] Furthermore, in S1, after the train is restarted, the status is updated according to the marshaling type status recorded on the disk: if it is confirmed, it is adjusted according to the coupling status; if the train is not coupled, it is set to confirmed; if the train is coupled at one end, it is set to being identified; if it is not confirmed, it is set to unknown; when coupled, if the coupling end code of the single-end coupled car is 0, it is set to being identified; when de-marshaling, if the non-coupling end code is not 0, it is also set to being identified, otherwise it is not processed.

[0014] Furthermore, in said S2, if the train is in the marshaling type identification state, the non-coupling end code and the coupling end code of the train are checked.

[0015] When the non-coupling end code is not 0, that is, the unmarshaling is completed, it is processed separately according to the coupling status, and the coupling status includes uncoupling, coupling only on the right, and coupling only on the left. Among them, when it is not coupled, it is regarded as a single car, the coupling code is cleared and the marshaling is confirmed; when it is only coupled on one side, it is regarded as multiple cars, the non-coupling end code is cleared, and the marshaling information is calculated and set to be verified. When the coupling end code is 0, that is, the coupling is completed, a query request is sent, and the vehicle marshaling information is calculated and set to be confirmed or verified based on the received response information. The response information includes single car connected to single car, single car connected to multiple cars. If the identification times out, the marshaling information is reset and set to an unknown state. The train can also respond to the train type identification and verification message, report its own marshaling information or status, and realize the synchronization and verification of the marshaling information.

[0016] Furthermore, in S3, if the train is in a marshaling type verification state, it reports the coupling marshaling information upon receiving a marshaling identification message; if it receives a single-end verification message, it responds to the state, and reports the coupling status and coding of both ends of the vehicle; sends a query request, receives the verification information of the vehicle response, and verifies the consistency of the coupling status and coding subscripts reported by the vehicle. If successful, it is set to pending confirmation; if it times out, the information is reset and set to unknown.

[0017] Furthermore, in S4, if the train is in a marshaling type confirmation state, if an identification message of a coupled vehicle is received, the marshaling information is responded; if a verification message of a single-end coupled vehicle is received, the coupling status and coding of both ends of the vehicle are reported; a query request is sent, and if a pending confirmation message of only a single-end coupled vehicle is received, it is set to confirmed if the verification is passed, and the information is reset and set to unknown if a timeout occurs.

[0018] Furthermore, in S5, if the train is in a confirmed state of formation type, it is processed according to the coupling situation, which includes single-end coupling and double-end coupling. In case of single-side coupling, the coupling formation information and status of the vehicle are updated and a corresponding response is sent according to whether it is left coupling or right coupling, and the received messages, including verification, confirmation and unknown; in case of double-end coupling, the verification, confirmation or unknown message received from the single-end coupling vehicle is responded to, and the vehicle formation information is synchronized or reset according to the situation.

[0019] Furthermore, in S6, if the train is in an unknown marshaling type state, the marshaling type is reconfirmed based on the coupling status of a single car in the marshaling and the positioning information of some trains, and the coupling code of each train in the marshaling is reassigned in order from left to right. Except for the non-coupling end of the first and last trains, the codes of the coupling ends are increased in sequence.

[0020] According to a second aspect of the present invention, there is provided an electronic device, comprising a memory and a processor, wherein a computer program is stored in the memory, and the method described above is implemented when the processor executes the program.

[0021] According to a third aspect of the present invention, there is provided a computer-readable storage medium having a computer program stored thereon, wherein the program implements the method described above when executed by a processor.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] (1) Reduced complexity of the coupling process and coupler design: Virtual coding is used instead of hard-wire identification, so that the coupler of the trailer only needs to ensure the physical connection status, which reduces the difficulty of system identification and the complexity of the coupling process and coupler design.

[0024] (2) Improved accuracy of train coupling identification: Based on a specifically set communication protocol, detailed parameters of each train can be obtained, allowing the train sequence and type to be more accurately identified.

[0025] (3) Wide range of applications: It can support the identification of various coupling types and is suitable for common train coupling situations. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is the overall flow chart of the method for identifying the type of coupling marshaling based on virtual coding;

[0027] Figure 2 It is a schematic diagram of the state of identification of coupling marshaling type based on virtual coding;

[0028] Figure 3 Trigger the flow chart for the marshaling type;

[0029] Figure 4 Identify flow charts for marshaling types;

[0030] Figure 5 Verify the flow chart for the marshaling type;

[0031] Figure 6 Confirm the flow chart for the marshaling type;

[0032] Figure 7 The flow chart has been confirmed for the grouping type;

[0033] Figure 8 This is the state diagram when train TU1 is not coupled;

[0034] Fig. 9 This is the state diagram of the right side of TU1 connected to train TU2;

[0035] Fig.10 This is the state diagram of the right side of TU2 coupled with train TU3;

[0036] Fig.11 This is the state diagram of the right side of TU4 connected to train TU1;

[0037] Fig.12 This is the state diagram of the right side of TU4 being decoupled from train TU1;

[0038] Fig.13 This is the state diagram of the right side of TU1 being decoupled from train TU2;

[0039] Fig.14 This is the state diagram of the right side of TU2 being decoupled from train TU3. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0041] like Figure 1 As shown in FIG. 1 , a coupling marshaling type identification method based on virtual coding is shown, and the specific steps are as follows:

[0042] S1. Determine whether the grouping type needs to be re-identified. If necessary, trigger the grouping type identification process;

[0043] S2. For a train in the marshaling type identification state, the marshaling information is processed based on the train coupling end code and coupling state, and a new complete marshaling type is calculated;

[0044] S3, after the train with only one end coupling recognizes the complete marshaling type, it communicates with all other trains in the marshaling to confirm whether the calculated new marshaling type is correct;

[0045] S4. After the single-end coupled train is successfully verified, the new marshaling type is confirmed with another single-end coupled train in the marshaling, so that both the head and tail trains recognize each other's marshaling type, and the marshaling types judged by the head and tail are consistent;

[0046] S5. After confirming the marshaling type, the train performs corresponding response and status update operations according to the coupling status and the type of message received to inform the double-end coupling vehicle of the confirmed marshaling type;

[0047] S6. If the virtual coding coupling type identification method cannot distinguish, reconfirm the type of the formation based on the coupling status of the single car in the formation and the positioning information of some trains.

[0048] The following restrictions are imposed on the code values ​​of the linked codes:

[0049] In the state of no coupling, the coupling codes of the first and last couplings are both 0; the coupling code values ​​of the coupling ends of the two connected cars are equal; when two single-unit trains are coupled to each other, the coupling end code value is 1; in the state of only single-end coupling, the coupling end is not 0, and the non-coupling end is 0; in the state of double-end coupling, the first and last coupling code values ​​differ by 1; the code value of the newly coupled end is 1 greater than the code value of the coupled end. Figure 2 As shown, the representation of each state in the communication protocol is clarified.

[0050] like Figure 3As shown, in S1, after the train is restarted, the status is updated according to the marshaling type status recorded on the disk: if it is confirmed, it is adjusted according to the coupling status. If the train is not coupled, it is set to confirmed. If the train is coupled at one end, it is set to being identified. If it is not confirmed, it is set to unknown. When coupled, if the coupling end code of the single-end coupled car is 0, it is set to being identified. When de-marshaling, if the non-coupling end code is not 0, it is also set to being identified, otherwise it is not processed.

[0051] like Figure 4 As shown, in S2, if the train is in the state of marshaling type identification, check the non-coupling end code and coupling end code of the vehicle. When the non-coupling end code is not 0, that is, the unmarshaling is completed, it is processed separately according to the coupling state, and the coupling state includes uncoupling, coupling only on the right, and coupling only on the left. Among them, when it is not coupled, it is regarded as a single car, the coupling code is cleared and the marshaling is confirmed; when only one side is coupled, it is regarded as multiple cars, the non-coupling end code is cleared, and the marshaling information is calculated and set to be verified. When the coupling end code is 0, that is, the coupling is completed, a query request is sent, and the vehicle marshaling information is calculated and set to be confirmed or verified according to the received response information. The response information includes single car connected to single car, single car connected to multiple cars. If the identification times out, the marshaling information is reset and set to an unknown state. The train can also respond to the type identification and verification message of the train, report its own marshaling information or status, and realize the synchronization and verification of the marshaling information.

[0052] like Figure 5 As shown, in S3, if the train is in the state of marshaling type verification, it reports the coupling marshaling information when receiving the marshaling identification message; if it receives the single-end verification message, it responds to the state, and reports the coupling status and coding of both ends of the vehicle; sends a query request, receives the verification information responded by the vehicle and verifies the consistency of the coupling status and coding subscript reported by the vehicle. If successful, it is set to pending confirmation. If timeout, the information is reset and set to unknown.

[0053] like Figure 6 As shown, in S4, if the train is in the state of confirming the type of formation, if the identification message of the coupled vehicle is received, the formation information is responded; if the verification message of the single-end coupled vehicle is received, the coupling status and coding of both ends of the vehicle are reported; if a query request is sent, if a pending confirmation message of only the single-end coupled vehicle is received, it is set to confirmed if the verification is passed, and the information is reset and set to unknown if it times out.

[0054] like Figure 7 As shown, in S5, if the train is in a confirmed state of formation type, it is processed according to the coupling situation, which includes single-end coupling and double-end coupling. In case of single-side coupling, according to whether it is left coupling or right coupling, and the received messages, including verification, confirmation and unknown, the coupling formation information and status of the vehicle are updated, and a corresponding response is sent; in case of double-end coupling, the verification, confirmation or unknown message received from the single-end coupling vehicle is responded to, and the vehicle formation information is synchronized or reset according to the situation.

[0055] In S6, if the train is in an unknown state of formation type, the formation type is reconfirmed based on the coupling status of the single car in the formation and the positioning information of some trains, and the coupling code of each train in the formation is reassigned in order from left to right. Except for the non-coupling end of the first and last trains, the codes of the coupling ends are increased in sequence.

[0056] The coupling and uncoupling of 4 marshaling groups is taken as an example to describe the changing process of virtual coding in the flexible marshaling process.

[0057] Train coupling supports the scenarios of a single car coupled to a single car and a single car coupled to multiple trains. The specific steps are as follows:

[0058] like Figure 8 As shown, when train TU1 is not coupled, the virtual codes at the head and tail ends are [0,0] in left-right order.

[0059] like Fig. 9 As shown in the figure, when train TU1 is not coupled, when train TU2 comes to the right of TU1 to couple, since the right side of TU1 is coupled for the first time and the code value is 0, the coupling code of TU1 is [0,1], and similarly the coupling code of TU2 is [1,0]. The coupling status of the final marshaled train is: {[0,1],[1,0]}, and the coupling code is: {[0,1],[1,0]}.

[0060] like Fig.10 As shown in the figure, when TU3 is coupled to the right side of TU2, the coupling code remains unchanged because the coupling status of TU1 has not changed; the right side of TU2 is coupled, and since the left side has been coupled before, in order to ensure that the code value of the new coupling of a single car is always 1 greater than the code value of the already coupled end, the coupling code of TU2 is [1,2]. Since TU2 and TU3 are connected, and the right side of TU3 is not coupled, the coupling code of TU3 is [2,0]. The coupling status of the final train is: {[0,1], [1,1], [1,0]}, and the coupling code is: {[0,1], [1,2], [2,0]}.

[0061] like Fig.11 As shown in the figure, when train TU4 is coupled to the left side of TU1, the coupling status of TU2 and TU3 remains unchanged, so the coupling code remains unchanged. Since TU1 is newly coupled on the left side, the coupling code value on the right side is 1, so the coupling code of TU1 after coupling is [2,1]. Since TU4 is connected to TU1 on the right side, the coupling code on the right side of TU4 is 2, and since the left side is not coupled, the coupling code of TU4 is [0,2]. The coupling status of the final train is: {[0,1],[1,1],[1,1],[1,0]}, and the coupling code is: {[0,2],[2,1],[1,2],[2,0]}.

[0062] Train disassembly supports disassembly of multiple sets into independent single cars, multiple sets into single cars and new multiple sets, and multiple sets into multiple new multiple sets. The disassembly of multi-set trains is explained in terms of single cars as units.

[0063] like Fig.12 As shown in the figure, TU4 is disassembled from the train. After disassembly, since TU4 is not coupled to a train, the coupling code of TU4 is [0,0]. After TU4 is disassembled, the left side of TU1 is not coupled, so the coupling code of TU1 becomes [0,1]. Then the coupling status of the train set [TU1,TU2,TU3] is: {[0,1],[1,1],[1,0]}, and the coupling code is {[0,1],[1,2],[2,0]}.

[0064] like Fig.13 As shown in the figure, TU1 is disassembled from the train. After disassembly, since TU1 is not coupled to a train, the coupling code of TU1 is [0,0]. After TU1 is disassembled, the left side of TU2 is not coupled, so the coupling code of TU2 becomes [0,2]. Then the coupling status of the train [TU2,TU3] is: {[0,1],[1,0]}, and the coupling code is {[0,2],[2,0]}.

[0065] like Fig.14 As shown in the figure, TU2 is disassembled from the marshaling. After disassembling, TU2 is not connected to a trailer, so the coupling code of TU2 is [0,0]. After TU2 is disassembled, TU3 also becomes a trailer, so the coupling state of TU3 is: {[0,0]}, and the coupling code becomes {[0,0]}.

[0066] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the described module can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0067] The electronic device of the present invention includes a central processing unit (CPU), which can perform various appropriate actions and processes according to computer program instructions stored in a read-only memory (ROM) or loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for device operation can also be stored. The CPU, ROM and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0068] A plurality of components in the device are connected to the I / O interface, including: an input unit, such as a keyboard, a mouse, etc.; an output unit, such as various types of displays, speakers, etc.; a storage unit, such as a disk, an optical disk, etc.; and a communication unit, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit allows the device to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks. The processing unit performs the various methods and processes described above, such as the method of the present invention. For example, in some embodiments, the method of the present invention may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit. In some embodiments, part or all of the computer program may be loaded and / or installed on the device via a ROM and / or a communication unit. When the computer program is loaded into the RAM and executed by the CPU, one or more steps of the method of the present invention described above may be performed. Alternatively, in other embodiments, the CPU may be configured to perform the method of the present invention in any other appropriate manner (e.g., by means of firmware).

[0069] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0070] The program code for implementing the method of the present invention can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code can be executed entirely on the machine, partially on the machine, partially on the machine as a stand-alone software package and partially on a remote machine, or entirely on a remote machine or server.

[0071] In the context of the present invention, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0072] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A method for identifying coupling type based on virtual coding, characterized in that: include: S1. Determine whether the grouping type needs to be re-identified. If necessary, trigger the grouping type identification process; S2. For a train in the marshaling type identification state, the marshaling information is processed based on the train coupling end code and coupling state, and a new complete marshaling type is calculated; S3, after the train with only one end coupling recognizes the complete marshaling type, it communicates with all other trains in the marshaling to confirm whether the calculated new marshaling type is correct; S4. After the single-end coupled train is successfully verified, the new marshaling type is confirmed with another single-end coupled train in the marshaling, so that both the head and tail trains recognize each other's marshaling type, and the marshaling types judged by the head and tail are consistent; S5. After confirming the marshaling type, the train performs corresponding response and status update operations according to the coupling status and the type of message received to inform the double-end coupling vehicle of the confirmed marshaling type; S6. If the virtual coding coupling type identification method cannot distinguish, reconfirm the type of the formation based on the coupling status of the single car in the formation and the positioning information of some trains.

2. A method for identifying coupling and coupling types based on virtual coding according to claim 1, characterized in that: In S1, after the train is restarted, the status is updated according to the marshaling type status recorded on the disk: if it is confirmed, it is adjusted according to the coupling status, and if it is not confirmed, it is set to unknown; when coupled, if the coupling end code of the single-end coupled car is 0, it is set to being identified; when de-marshaling, if the non-coupling end code is not 0, it is also set to being identified, otherwise it is not processed.

3. The method for identifying the type of coupling and coupling formation based on virtual coding according to claim 1 is characterized in that: In S2, if the train is in the marshaling type identification state, the non-coupling end code and the coupling end code of the train are checked. When the non-coupling end code is not 0, that is, the uncoupling is completed, it is processed separately according to the coupling state, which includes uncoupling, only right coupling, and only left coupling: when it is not coupled, it is regarded as a single car, the coupling code is cleared and the marshaling is confirmed; when it is only one-side coupled, it is regarded as multiple cars, the non-coupling end code is cleared, and the marshaling information is calculated and set to be verified. When the coupling end code is 0, that is, the coupling is completed, a query request is sent. According to the received response information, the vehicle grouping information is calculated and set to be confirmed or verified. The response information includes a single vehicle connected to a single vehicle, and a single vehicle connected to multiple vehicles. If the recognition times out, the grouping information is reset and set to an unknown state.

4. A method for identifying coupling and coupling types based on virtual coding according to claim 3, characterized in that: In S2, the train can also respond to the train type identification and verification message, report its own marshaling information or status, and realize the synchronization and verification of the marshaling information.

5. The method for identifying the type of coupling and coupling formation based on virtual coding according to claim 1 is characterized in that: In S3, if the train is in the marshaling type verification state, it reports the coupling marshaling information upon receiving the marshaling identification message; if it receives the single-end verification message, it reports the coupling state and code of both ends of the train in the response state; Send a query request, receive the verification information of the vehicle's response, and check the connection status reported by the vehicle and the consistency of the coded index. If successful, set it to pending confirmation. If timeout, reset the information and set it to unknown.

6. The method for identifying the type of coupling and coupling formation based on virtual coding according to claim 1, characterized in that: In S4, if the train is in the marshaling type confirmation state, if the identification message of the trailer is received, the marshaling information is responded; if the verification message of the trailer at the single end is received, the coupling state and code of the two ends of the train are reported; Send a query request. If a pending confirmation message is received for a vehicle with only one end connected, it will be set to confirmed if the verification passes. If it times out, the information will be reset and set to unknown.

7. The method for identifying the type of coupling and coupling formation based on virtual coding according to claim 1 is characterized in that: In S5, if the train is in a confirmed state of formation type, it is processed according to the coupling situation, which includes single-end coupling and double-end coupling. In the case of single-side coupling, according to whether it is left coupling or right coupling, and the received messages, including verification, confirmation and unknown, the coupling formation information and status of the vehicle are updated, and a corresponding response is sent; in the case of double-end coupling, the verification, confirmation or unknown message received from the single-end coupling vehicle is responded to, and the vehicle formation information is synchronized or reset according to the situation.

8. The method for identifying the type of coupling and coupling formation based on virtual coding according to claim 1 is characterized in that: In S6, if the train is in an unknown marshaling type state, the marshaling type is reconfirmed based on the coupling status of the single car in the marshaling and the positioning information of some trains, and the coupling code of each train in the marshaling is reassigned in order from left to right. Except for the non-coupling end of the first and last trains, the codes of the coupling ends are increased in sequence.

9. An electronic device comprising a memory and a processor, wherein a computer program is stored in the memory, wherein: When the processor executes the program, the method according to any one of claims 1 to 8 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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