Virtual coupling method, system, device and medium

Abstract

The invention relates to a virtual coupling method, system and device and a medium. The virtual coupling method comprises the following steps that a coupling instruction is sent to two specified trains; and controlling the distance between the two trains to be gradually reduced to a preset distance range based on the coupling instruction, establishing train-train communication between the two trains, switching to a virtual coupling mode, and enabling the two trains to cooperatively run at the same speed to complete coupling. The virtual coupling technology is adopted, autonomous and flexible marshalling of the trains can be achieved, the train marshalling efficiency is improved, safety risks caused by physical coupling are reduced, and meanwhile the service life of couplers is not affected; a BDS and DVS train combined positioning system is adopted, a federated filtering algorithm in a non-feedback mode is adopted, the fault-tolerant capability is high, the fusion efficiency is high, and information transmission is fast.

Description

Technical Field

[0001] The present invention belongs to the technical field of train management, and in particular relates to a virtual coupling method, system, device and medium. Background Art

[0002] At present, subway trains adopt a fixed formation and train operation plans are compiled based on experience. There are problems of insufficient transport capacity and low operating efficiency during the morning and evening rush hours. There are problems of excess transport capacity and energy waste during the time periods with low passenger flow at noon and midnight. During the time periods with low passenger flow, the control center will extend the departure interval to avoid energy consumption and resource waste caused by empty train running, but it will reduce the passenger riding experience. If short-formation trains are used for operation during the period of low passenger flow, there is no need to extend the departure interval, which will not reduce the passenger riding experience and will not cause energy consumption and resource waste. During the peak passenger flow period, short-formation trains are coupled to shorten the departure interval to solve the problems of insufficient transport capacity and low efficiency.

[0003] The current application of coupling technology mainly adopts physical coupling, that is, the rear car collides with the front car at a specified speed, so that the couplers are connected to complete the coupling. Virtual coupling is a breakthrough innovation in the rail transit industry. It realizes the coupling and uncoupling tasks of marshaled trains by greatly reducing the interval between trains. The virtual coupling technology of trains is to control the coordinated operation of two trains with a fixed distance between cars, and can realize flexible marshaling during operation.

[0004] However, at present, physical coupling requires that the mechanical hooks and electrical hooks of the two trains can be safely connected only after the train collides with the coupler of another train at a specific speed. Therefore, there is a high risk and the service life of the coupler is affected. Virtual coupling technology is still at the theoretical research level, and its practical application deserves further exploration; The train combined positioning system currently uses sensors such as satellite positioning systems, lidar and cameras. There are a large number of sensors, low efficiency of fusion algorithms, low fault tolerance, untimely information transmission, slow data transmission and interaction delays.

[0005] Therefore, it is necessary to provide a new virtual linkage method, system, device and medium to solve the above technical problems. Summary of the invention

[0006] The purpose of the present disclosure is to provide a virtual hook-up method, system, device and medium in order to solve the above problems.

[0007] The present invention achieves the above-mentioned purpose through the following technical solutions: A virtual connection method comprises the following steps: Send coupling instructions to the two designated trains; Based on the coupling instruction, the distance between the two trains is controlled to gradually narrow to a preset distance range, the two trains establish vehicle-to-vehicle communication, switch to a virtual coupling mode, and the two trains run in coordination at the same speed to complete the coupling.

[0008] As a further optimization solution of the present disclosure, the coupling instruction is sent to two designated trains through a ground dispatching center.

[0009] As a further optimization solution of the present disclosure, in the virtual coupling mode, the two trains need to obtain each other's position, speed, and acceleration information, and perform real-time distance measurement while tracking the target speed curve.

[0010] As a further optimization scheme of the present disclosure, based on the coupling instruction, the distance between the two trains is controlled to gradually decrease to a preset distance range, and the two trains establish vehicle-to-vehicle communication including: The distance between the rear train and the front train of the two trains is reduced to a preset distance range, the front train establishes communication with the rear train, and the rear train establishes communication with the front train of the rear train; after the communication is established, the front train and the rear train of the rear train will serve as the front train and the rear train of the coupled train; When the rear end of the rear vehicle establishes communication with the front end of the front vehicle, the rear end of the rear vehicle sends this message to the front end of the rear vehicle; after the front end of the rear vehicle confirms that the rear end of the vehicle has established communication with the front end of the front vehicle, the communication between the front and rear ends of the vehicle is disconnected, and the front end of the rear vehicle actively switches to standby mode. At the same time, after the rear end of the rear vehicle establishes communication with the front end of the front vehicle, the front end of the front vehicle sends this message to the rear end of the vehicle, and after the front end of the front vehicle confirms that the front end of the vehicle has established communication with the rear end of the vehicle, the communication between the front and rear ends of the vehicle is disconnected.

[0011] A virtual linkage method further includes: After the two trains are coupled, they move forward synchronously. The leading train is responsible for receiving control instructions from the ground dispatching center and driving to the specified direction and position according to the instructions. At the same time, the leading train transmits its own status information to the trailing train and the ground dispatching center in real time. The trailing train receives the status information of the leading train and measures the distance to the leading train in real time. According to the status information of the leading train and the distance between trains, it adjusts its own speed to ensure that the virtual marshaled train has a consistent running speed and a fixed distance between trains during its movement.

[0012] A virtual linkage method further comprising: The two coupled trains need to be uncoupled during the section operation or when entering the station. The ground dispatching center issues a uncoupling command, the rear train slows down, and the distance between the front and rear trains gradually increases until it is greater than the trigger braking distance of the rear train. The uncoupling is completed, and the two trains then operate independently.

[0013] As a further optimization solution of the present disclosure, the decompilation process specifically includes: After the front locomotive of the coupled train receives the unblocking instruction, it sends the unblocking instruction to the rear locomotive of the coupled train; when the front locomotive receives the opposite end registered message returned by the rear locomotive of the coupled train, it notifies the rear locomotive of the front locomotive to disconnect the coupled communication with the front locomotive of the coupled train, wherein the condition for returning the opposite end registered message is that the rear locomotive of the coupled train receives the unblocking instruction and the position information of the rear locomotive of the coupled train, and establishes communication with the ground dispatching center; After the front vehicle receives the information of disconnection of coupling communication returned by the rear vehicle, it actively disconnects the communication with the rear vehicle and establishes the communication with the rear vehicle. The condition of disconnection of the returned coupling communication is that the distance between the rear vehicle and the front vehicle is greater than the preset distance range until the coupling signal fails. When the rear end of the rear vehicle receives the message sent by the front vehicle to disconnect the coupling communication, it actively disconnects the communication with the front vehicle, establishes the communication with the front vehicle, and replies to the front vehicle to confirm the disconnection of the coupling communication.

[0014] A virtual linkage method further comprising: When trains are coupled in a non-passenger area, the front train stops at a designated position and the rear train stops within a preset distance from the front train. After the two trains are coupled, they depart directly or return to run; the non-passenger area includes the return track, storage line, and train inspection depot pull-out line.

[0015] A virtual linkage method further comprising: When the trains are separated in the non-passenger area, the coupled trains stop at the designated location, the two trains complete the separation task, and then depart in sequence or turn back to depart; the non-passenger area includes the return track, storage line, and train inspection depot pull-out line.

[0016] As a further optimization scheme of the present disclosure, the front and rear of the train are both provided with onboard control equipment, and the onboard control equipment includes a train combined positioning system, a high-precision ranging module and a vehicle-to-vehicle real-time communication module.

[0017] As a further optimization scheme of the present disclosure, the train combined positioning system adopts Beidou satellite navigation system and Doppler velocity sensor DVS combined positioning. When the Beidou satellite signal of BDS is weakened or lost, DVS is used to compensate the train positioning information in real time.

[0018] As a further optimization solution of the present disclosure, the train combined positioning system adopts a federated filtering algorithm without feedback mode, including: BDS outputs the value Z Transmitted to the local filter, DVS sends the output value to the local filter and the main filter respectively, and the local filter processes the received output value data and outputs the local estimation error covariance matrix P, and sent to the main filter, which performs optimal fusion processing on the received data and outputs the global optimal state estimate .

[0019] A virtual linkage system, comprising: An instruction sending module is used to send a coupling instruction to two designated trains; The train coupling module is used to control the distance between the two trains to gradually narrow to a preset distance range based on the coupling instruction, the two trains establish vehicle-to-vehicle communication, switch to a virtual coupling mode, and the two trains run in coordination at the same speed to complete the coupling.

[0020] An electronic device comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; Memory, for storing computer programs; The processor is used to implement the virtual hanging method when executing the program stored in the memory.

[0021] A computer-readable storage medium stores a computer program, which implements a virtual hook-up method when executed by a processor.

[0022] The beneficial effects of the present disclosure are: The present invention adopts virtual coupling technology, which can realize the autonomous and flexible marshaling of trains, improve the efficiency of train marshaling, and reduce the safety risks brought by physical coupling, while not affecting the service life of the coupler; The adoption of virtual linkage technology is another vivid practice of virtual linkage technology, which will promote the early implementation of virtual linkage technology. It adopts the combined BDS and DVS train positioning system and the federated filtering algorithm with no feedback mode, which has strong fault tolerance, high fusion efficiency and fast information transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a flow chart of the method disclosed herein; Figure 2 is a schematic diagram of a virtual linkage process in an embodiment of the present disclosure; Figure 3 is a schematic diagram of a virtual decompilation process in an embodiment of the present disclosure; Figure 4 It is a schematic diagram of the working principle of the non-feedback mode federal filter in the embodiment of the present disclosure; Figure 5 is a system structure block diagram in an embodiment of the present disclosure; Figure 6 It is a block diagram of the device structure in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0024] The present application is further described in detail below in conjunction with the accompanying drawings. It is necessary to point out here that the following specific implementation methods are only used to further illustrate the present application and cannot be understood as limiting the scope of protection of the present application. Technical personnel in this field can make some non-essential improvements and adjustments to the present application based on the above application content.

[0025] like Figure 1 As shown, a virtual connection method includes the following steps: Send coupling instructions to the two designated trains; Based on the coupling instruction, the distance between the two trains is controlled to gradually narrow to a preset distance range, the two trains establish vehicle-to-vehicle communication, switch to a virtual coupling mode, and the two trains run in coordination at the same speed to complete the coupling.

[0026] In this embodiment, the purpose of the present disclosure is to overcome the defects of the current technology and provide a high-precision, short-delay, BDS (Beidou Satellite Navigation System) / DVS (Doppler Velocity Sensor) combined positioning and virtual linkage method.

[0027] The method includes motion coupling, motion release, static coupling and static release.

[0028] Motion coupling refers to the virtual coupling of trains during operation, thus forming a virtual train set to achieve synchronous operation of train sets. Virtual coupling in motion scenarios can generally be divided into three processes: coupling, following and uncoupling. The three processes can be specifically described as: The coupling process refers to the ground dispatching center sending coupling instructions to the designated two trains. After the trains receive the instructions, the rear train (the train to be coupled) gradually reduces the distance between it and the front train (the coupled train). At this time, the two trains establish vehicle-to-vehicle communication and switch to virtual coupling mode. In this mode, the two trains need to obtain each other's position, speed, acceleration and other information, and perform real-time distance measurement while tracking the target speed curve. After the distance between the trains reaches the predetermined safe distance, the two trains run in coordination at the same speed to complete the coupling.

[0029] The following process refers to the synchronous forward movement of the two cars after coupling. The leading car is responsible for receiving the control instructions from the ground dispatching center and driving to the specified direction and position according to the instructions. At the same time, the leading car transmits its own status information to the trailing car and the ground dispatching center in real time. The trailing car receives the information from the leading car and measures the distance to the leading car in real time. According to the information from the leading car and the distance between cars, it adjusts its own speed to ensure that the virtual marshaled train has a consistent running speed and a fixed distance between cars during the journey.

[0030] The unmarshaling process refers to when the coupled vehicles need to be unmarshaled during operation in the section or when entering the station. The ground dispatching center issues a unmarshaling command, the rear vehicle slows down, and the distance between the front and rear vehicles gradually increases until it is greater than the trigger braking distance of the rear vehicle. The unmarshaling is completed, and the two vehicles then operate independently.

[0031] Static coupling refers to the coupling of trains in non-passenger areas such as reversing tracks, storage lines, and train inspection depot pull-out lines. The front train stops at a designated location and the rear train stops at a certain distance from the front train. After the two trains complete the coupling, they depart directly or reverse to depart.

[0032] Static unmarshaling refers to the unmarshaling of trains in non-passenger areas such as the turning track, storage line, and train inspection depot pull-out line. The trains in the coupled state stop at the designated location, and the two trains complete the unmarshaling task, and then depart in turn or return to run.

[0033] Specifically, the connection process is as follows: Figure 2 As shown. When the distance between the rear car and the front car is reduced to a certain range, the front car establishes communication with the rear car, and the rear car establishes communication with the front car. After the communication is established, the front car and the rear car will serve as the front car and the rear car of the train after the coupling. Among them, when the rear car establishes communication with the front car, the rear car will send this message to the front car of the rear car. After the front car of the rear car confirms that the rear car of the vehicle has established communication with the front car, the communication of the vehicle is disconnected, and the front car of the rear car actively switches to the standby mode. At the same time, after the rear car of the rear car establishes communication with the front car, the front car of the front car will send this message to the rear car of the vehicle. When the front car of the front car confirms that the front car of the vehicle has established communication with the rear car of the rear car, the communication of the vehicle is disconnected.

[0034] The decompilation process is as follows Figure 3 As shown. After receiving the unbundling command, the front locomotive of the coupled train (the front locomotive of the front locomotive) sends the unbundling command to the rear locomotive of the coupled train (the rear locomotive of the rear locomotive). When the front locomotive of the front locomotive receives the opposite end registered message returned by the rear locomotive of the rear locomotive, it notifies the rear locomotive of the front locomotive to disconnect the coupled communication with the front locomotive of the rear locomotive. The condition for returning the opposite end registered message is that the rear locomotive of the rear locomotive receives the unbundling command and the position information of the rear locomotive of the rear locomotive, and establishes communication with the ground. After the front locomotive receives the disconnection message of the coupled communication returned by the rear locomotive of the rear locomotive, it actively disconnects the communication with the rear locomotive of the rear locomotive and establishes communication with the rear locomotive of the front locomotive. The condition for the disconnection of the returned coupled communication is that the rear locomotive is separated from the front locomotive by a certain distance until the coupled signal fails. When the rear locomotive of the rear locomotive receives the disconnection message of the coupled communication sent by the front locomotive, it actively disconnects the communication with the front locomotive, establishes communication with the front locomotive of the rear locomotive, and replies to the front locomotive with a message confirming the disconnection of the coupled communication.

[0035] The device for coupling trains, both the front and rear of the trains carry control equipment, including the train combined positioning system, high-precision distance measurement module and train-to-train real-time communication module, etc. The control equipment is used to receive instructions from the control center and realize train positioning, train-to-train communication and other functions.

[0036] The train combined positioning system uses BDS and DVS sensors, and the fusion filtering algorithm adopts a non-feedback mode federal filtering algorithm.

[0037] At present, BDS is an important means of intelligent perception and intelligent transmission in intelligent railways. It has two-way communication capabilities and adopts a hybrid constellation networking mode. It can provide high-precision, high-reliability positioning, navigation, and timing services for all types of users around the world all day and all day, and has short message communication capabilities. It has initially acquired regional navigation, positioning, and timing capabilities. Train positioning technology based on Beidou navigation is required for the development of current train operation control systems and is the development trend of the new generation of train positioning technology.

[0038] DVS measures speed based on the principle of Doppler effect. When the transmitting frequency of electromagnetic waves is different from the receiving frequency, the frequency difference between them is called Doppler shift, which is caused by the relative motion between the reflection source and the divergence source. The relative speed between the reflection source and the transmission source is proportional to the Doppler shift. Based on this relationship, we can get the relative speed.

[0039] The combined positioning system based on BDS / DVS can provide real-time, continuous and high-precision positioning information for the train control system. When the Beidou satellite signal is weakened or lost, DVS can be used to compensate the train positioning information in real time to ensure the continuity and reliability of the train positioning information. In addition, the fusion algorithm uses a federated filtering algorithm with no feedback mode, which has fast data transmission, short delay, and each local filter does not affect each other. The local filter is not reset by the output value of the main filter, and it has strong fault detection, fault isolation and fault recovery capabilities. Figure 4 As shown, the filter without feedback mode, Z is the output value of BDS, P is the local estimation error covariance matrix, It is the global optimal state estimation. The train combined positioning system mainly transmits the train's location information, track information, etc. The distance measurement module is used to realize real-time and high-precision measurement of the distance between the rear vehicle and the front vehicle, and the sensor used is a laser radar. The vehicle-to-vehicle real-time communication module uses wireless communication technology instead of hard-wired connection to realize information exchange between the rear vehicle and the front vehicle, and then realize the coordinated operation and synchronous operation of the rear vehicle and the front vehicle. In the virtual coupling mode, the front vehicle serves as a guide and the rear vehicle follows the front vehicle. The front vehicle needs to send information such as the position, speed and acceleration of the vehicle, obstacles in front, MA (mobility authorization), etc. to the rear vehicle through wireless communication.

[0040] like Figure 5As shown, an embodiment of the present disclosure provides a virtual linkage system, including: An instruction sending module is used to send a coupling instruction to two designated trains; The train coupling module is used to control the distance between the two trains to gradually narrow to a preset distance range based on the coupling instruction, the two trains establish vehicle-to-vehicle communication, switch to a virtual coupling mode, and the two trains run in coordination at the same speed to complete the coupling.

[0041] The implementation process of the functions and effects of each module in the above system is specifically described in the implementation process of the corresponding steps in the above method, which will not be repeated here.

[0042] For the system embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The system embodiment described above is only schematic, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the disclosed solution. A person of ordinary skill in the art can understand and implement it without paying any creative work.

[0043] In the above embodiments, any number of all modules can be combined into one module for implementation, or any one of the modules can be split into multiple modules. Alternatively, at least part of the functions of one or more of these modules can be combined with at least part of the functions of other modules and implemented in one module. At least one of all modules can be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package, an application specific integrated circuit (ASIC), or can be implemented by hardware or firmware such as any other reasonable way of integrating or packaging the circuit, or implemented in any one of the three implementation methods of software, hardware and firmware or in a suitable combination of any of them. Alternatively, at least one of all modules can be at least partially implemented as a computer program module, and when the computer program module is run, the corresponding function can be executed.

[0044] See also Figure 6 , an electronic device provided by an embodiment of the present disclosure includes a processor 1110, a communication interface 1120, a memory 1130 and a communication bus 1140, wherein the processor 1110, the communication interface 1120, and the memory 1130 communicate with each other through the communication bus 1140; Memory 1130, for storing computer programs; The processor 1110 is used to implement the virtual hanging method as shown below when executing the program stored in the memory 1130.

[0045] The communication bus 1140 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus 1140 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0046] The communication interface 1120 is used for communication between the above electronic device and other devices.

[0047] The memory 1130 may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory 1130 may also be at least one storage device located away from the processor 1110.

[0048] The above-mentioned processor 1110 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0049] The embodiment of the present disclosure further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the virtual hook-up method described above is implemented.

[0050] The computer-readable storage medium may be included in the device / apparatus described in the above embodiment; or it may exist independently without being assembled into the device / apparatus. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the virtual hook-up method according to the embodiment of the present disclosure is implemented.

[0051] According to an embodiment of the present disclosure, a computer-readable storage medium may be a non-volatile computer-readable storage medium, for example, may include but is not limited to: 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), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, apparatus, or device.

[0052] The above-mentioned embodiments only express several implementation methods of the present disclosure, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present disclosure. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present disclosure, and these all belong to the protection scope of the present disclosure.

Claims

1. A virtual linkage method, characterized in that: The following steps are involved: Send coupling instructions to the two designated trains; Based on the coupling instruction, the distance between the two trains is controlled to gradually narrow to a preset distance range, the two trains establish vehicle-to-vehicle communication, switch to a virtual coupling mode, and the two trains run in coordination at the same speed to complete the coupling.

2. A virtual linkage method according to claim 1, characterized in that: The coupling instruction is sent to two designated trains through the ground dispatching center.

3. A virtual linkage method according to claim 1, characterized in that: In the virtual coupling mode, the two trains need to obtain each other's position, speed and acceleration information, perform real-time distance measurement, and track the target speed curve at the same time.

4. A virtual linkage method according to claim 1, characterized in that: Based on the coupling instruction, the distance between the two trains is controlled to gradually decrease to a preset distance range, and the two trains establish vehicle-to-vehicle communication including: The distance between the rear train and the front train of the two trains is reduced to a preset distance range, the front train establishes communication with the rear train, and the rear train establishes communication with the front train of the rear train; after the communication is established, the front train and the rear train of the rear train will serve as the front train and the rear train of the coupled train; When the rear end of the rear vehicle establishes communication with the front end of the front vehicle, the rear end of the rear vehicle sends this message to the front end of the rear vehicle; after the front end of the rear vehicle confirms that the rear end of the vehicle has established communication with the front end of the front vehicle, the communication between the front and rear ends of the vehicle is disconnected, and the front end of the rear vehicle actively switches to standby mode. At the same time, after the rear end of the rear vehicle establishes communication with the front end of the front vehicle, the front end of the front vehicle sends this message to the rear end of the vehicle, and after the front end of the front vehicle confirms that the front end of the vehicle has established communication with the rear end of the vehicle, the communication between the front and rear ends of the vehicle is disconnected.

5. A virtual linkage method according to claim 1, characterized in that: Also includes: After the two trains are coupled, they move forward synchronously. The leading train is responsible for receiving control instructions from the ground dispatching center and driving to the specified direction and position according to the instructions. At the same time, the leading train transmits its own status information to the trailing train and the ground dispatching center in real time. The trailing train receives the status information of the leading train and measures the distance to the leading train in real time. According to the status information of the leading train and the distance between trains, it adjusts its own speed to ensure that the virtual marshaled train has a consistent running speed and a fixed distance between trains during its movement.

6. A virtual linkage method according to claim 1, characterized in that: Also includes: The two coupled trains need to be uncoupled during the section operation or when entering the station. The ground dispatching center issues a uncoupling command, the rear train slows down, and the distance between the front and rear trains gradually increases until it is greater than the trigger braking distance of the rear train. The uncoupling is completed, and the two trains then operate independently.

7. A virtual linkage method according to claim 6, characterized in that: The decompilation process specifically includes: After the front locomotive of the coupled train receives the unblocking instruction, it sends the unblocking instruction to the rear locomotive of the coupled train; when the front locomotive receives the opposite end registered message returned by the rear locomotive of the coupled train, it notifies the rear locomotive of the front locomotive to disconnect the coupled communication with the front locomotive of the coupled train, wherein the condition for returning the opposite end registered message is that the rear locomotive of the coupled train receives the unblocking instruction and the position information of the rear locomotive of the coupled train, and establishes communication with the ground dispatching center; After the front vehicle receives the information of disconnection of coupling communication returned by the rear vehicle, it actively disconnects the communication with the rear vehicle and establishes the communication with the rear vehicle. The condition of disconnection of the returned coupling communication is that the distance between the rear vehicle and the front vehicle is greater than the preset distance range until the coupling signal fails. When the rear end of the rear vehicle receives the message sent by the front vehicle to disconnect the coupling communication, it actively disconnects the communication with the front vehicle, establishes the communication with the front vehicle, and replies to the front vehicle to confirm the disconnection of the coupling communication.

8. A virtual linkage method according to claim 1, characterized in that: Also includes: When trains are coupled in a non-passenger area, the front train stops at a designated position and the rear train stops within a preset distance from the front train. After the two trains are coupled, they depart directly or return to run; the non-passenger area includes the return track, storage line and train inspection depot pull-out line.

9. A virtual linkage method according to claim 1, characterized in that: Also includes: When the trains are separated in the non-passenger area, the coupled trains stop at the designated location, the two trains complete the separation task, and then depart in turn or turn back to depart; the non-passenger area includes the return track, storage line and train inspection depot pull-out line.

10. A virtual linkage method according to claim 1, characterized in that: The front and rear of the train are both provided with onboard control equipment, and the onboard control equipment includes a train combined positioning system, a high-precision distance measurement module and a vehicle-to-vehicle real-time communication module.

11. A virtual linkage method according to claim 10, characterized in that: The train combined positioning system adopts the Beidou satellite navigation system and the Doppler velocity sensor DVS for combined positioning. When the Beidou satellite signal of the BDS is weakened or lost, the DVS is used to compensate the train positioning information in real time.

12. A virtual linkage method according to claim 11, characterized in that: The train combined positioning system adopts a federated filtering algorithm without feedback mode, including: BDS outputs the value Z Transmitted to the local filter, DVS sends the output value to the local filter and the main filter respectively, and the local filter processes the received output value data and outputs the local estimation error covariance matrix P , and sent to the main filter, which performs optimal fusion processing on the received data and outputs the global optimal state estimate .

13. A virtual linkage system, characterized in that: include: An instruction sending module is used to send a coupling instruction to two designated trains; The train coupling module is used to control the distance between the two trains to gradually narrow to a preset distance range based on the coupling instruction, the two trains establish vehicle-to-vehicle communication, switch to a virtual coupling mode, and the two trains run in coordination at the same speed to complete the coupling.

14. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; Memory, for storing computer programs; The processor is used to implement the virtual hooking method according to any one of claims 1 to 12 when executing the program stored in the memory.

15. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the virtual hook-up method according to any one of claims 1 to 12 is implemented.

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