Train group marshalling method, system, equipment and medium

Abstract

The invention relates to the technical field of rail transit, in particular to a train group marshalling method, system and equipment and a medium. When a driving-out train in the group plan passes through a logout transponder arranged at a wireless network coverage boundary, the ground control equipment receives a logout request sent by the driving-out train, records an identity label of the driving-out train, and calculates a marshalling command for a following train according to a logout section position where the logout transponder is located; when a train entering the group plan passes through a registration transponder arranged at a wireless network coverage boundary, the ground control equipment receives a registration request sent by the train entering the group plan, records an identity label of the train entering the group plan, and sends the registration request to the group plan according to an identity label of a following train reported by the train and the group plan. And continuing to send a marshalling command to the entering train. According to the method, information such as the train position, the group state and the train identity label before the train enters the interval is recorded, so that the train runs according to the group mode under the condition that a wireless network is not covered.

Description

Technical Field

[0001] The present disclosure relates to the technical field of rail transit, and particularly to a train group formation method, system, device and medium. Background Art

[0002] Train group operation means that a train establishes vehicle-to-vehicle communication with the leading train according to the formation command sent by the ground control equipment, and calculates a target-speed control curve based on conditions such as the position information, train speed, and train integrity reported by the leading train. The train group operation control technology is based on the moving block technology. According to the group plan and the position relationship between the front and rear trains, it uses vehicle-to-vehicle communication to exchange information such as train position, train speed, and train integrity, and calculates the target-speed control curve. The driver or the train automatic driving equipment controls the train operation according to the target-speed control curve to achieve the control technology of train group operation.

[0003] Compared with train moving block technology, four / three-aspect automatic block technology, and station-to-station block technology, the train group operation control technology can reduce the train tracking interval and improve the departure efficiency of the station throat area. However, the existing train group operation control technology relies on a wireless communication network covered along the railway line, which increases the application conditions of the group operation control technology. For lines without network coverage in the interval, the existing methods cannot be used to achieve the train group operation control function.

[0004] In the current urban rail transit field, an LTE wireless dedicated network is covered along the railway line to provide a wireless transmission channel between vehicles. However, in the general speed railway or heavy haul railway lines, there are many situations where the wireless dedicated network is not covered along the railway line. For the lines in this scenario, the existing train group operation method relying on ground control equipment cannot meet the train group formation requirements. Therefore, for lines without wireless network coverage in the interval, if trains need to operate in a group mode, it is necessary to solve the problem of train formation between the front and rear trains when the train enters the interval without wireless network coverage. The train relies on on-vehicle antennas in the interval without wireless network coverage to establish vehicle-to-vehicle ad-hoc communication with the front and rear trains, and transmits information such as the position, speed, and integrity of the front and rear trains to achieve train group formation operation.

[0005] In summary, there is an urgent need for a train group formation technical solution for the condition of no wireless network coverage in the interval. Summary of the Invention

[0006] In view of the above problems, the present disclosure provides a train group formation method, system, device, and medium. For a line where the wireless network is not covered in the section, the train formation status and the train position identity are recorded before the train enters the section. According to the group plan, the formation command is calculated for the subsequent trains entering the section to ensure that the train completes the formation with the preceding train before entering the section. At the same time, for the trains that have not completed the formation when entering the section, the formation command is no longer sent to the trains.

[0007] In a first aspect, a train group formation method, the method includes:

[0008] When the train departing from the group plan leaves the wireless network coverage area of the station and passes through the cancellation transponder set at the wireless network coverage boundary, the ground control device receives the cancellation request sent by the departing train, records the identity of the departing train, and calculates the formation command for the following train according to the cancellation section position where the cancellation transponder is located;

[0009] When the train entering the group plan enters the wireless network coverage area of the station and passes through the registration transponder set at the wireless network coverage boundary, the ground control device receives the registration request sent by the entering train, records the identity of the entering train, and continues to send the formation command to the entering train according to the identity of the following train reported by the train and the group plan.

[0010] Further, it also includes:

[0011] After the train dispatching centralized system CTC issues the group plan to the train to be dispatched, the trains in the group plan send the position information to the ground control device respectively to complete the pre-screening of the trains;

[0012] The ground control device sends the movement authority to the trains in the group plan respectively, and the movement authority of the preceding train in the group plan extends to the wireless network coverage area.

[0013] Further, it also includes:

[0014] When the preceding train in the group plan travels to the boundary of the control range of the ground control device, the ground control device sends the movement authority to the preceding train to the section. After the preceding train enters the section and leaves the control range of the ground control device, the movement authority is calculated according to the track circuit coding;

[0015] The ground control device sends the movement authority to the following train in the group plan to the rear of the preceding train. If it is determined that the front-rear position relationship between the preceding train and the following train is consistent with the group plan, the ground control device sends the formation command including the information of the preceding train to the following train and sends the formation command including the following train to the preceding train; at this time, the preceding train and the following train complete the formation.

[0016] Further, when the ground control device receives a cancellation request sent by the departing train, the ground control device records the identity identifier of the departing train, and calculates a formation command for the following train based on the position of the cancellation transponder in the cancellation section, including:

[0017] After the leading train and the following train in the group plan complete formation, the leading train travels to the cancellation section where the cancellation transponder is located, sends a cancellation request to the ground control device, the ground control device sends a cancellation confirmation to the leading train, and records the identity identifier of the cancelled train in the cancellation section;

[0018] The ground control device determines that the front-rear train position relationship between the leading train and the following train is consistent with the group plan, there is no other train in front of the head of the following train to the cancellation section, and the identity identifier of the train recorded in the cancellation section is the leading train, then the ground control device continues to send a formation command containing the information of the leading train to the following train.

[0019] Further, it also includes:

[0020] When the following train is the last train in the group plan and travels to the cancellation section, it sends a cancellation request to the ground control device, the ground control device sends a cancellation confirmation to the on-vehicle device, and records the identity identifier of the cancelled train in the cancellation section.

[0021] Further, when the ground control device receives a cancellation request sent by the departing train, the ground control device records the identity identifier of the departing train, and calculates a formation command for the following train based on the position of the cancellation transponder in the cancellation section, including:

[0022] When the leading train in the group plan travels to the cancellation section where the cancellation transponder is located and sends a cancellation request to the ground control device, the ground control device sends a cancellation confirmation to the on-vehicle device, and records the identity identifier of the cancelled train in the cancellation section;

[0023] The following train in the group plan sends position information to the ground control device, the ground control device sends a movement authority to the following train, and the end point of the movement authority extends to the cancellation section. The ground control device determines that there is no other train in front of the head of the following train to the cancellation section, and the identity identifier of the cancelled train in the cancellation section is the leading train, which is consistent with the group plan where the following train is located, then the ground control device sends a formation command containing the information of the leading train to the following train;

[0024] Before the following train travels to the boundary of the control range of the ground control device, it completes formation with the leading train. At this time, the following train reports the information of the leading train in the group plan to the ground control device, then the ground control device stops sending the movement authority to the following train, and continuously sends the formation command with the leading train to the following train;

[0025] The ground control device continuously sends a formation command containing the information of the leading train to the following train, and the following train establishes a vehicle-to-vehicle communication connection with the leading train and operates in a group mode.

[0026] Furthermore, when the following train is the last train of a group plan and travels to the cancellation section, it sends a cancellation request to the ground control device. After receiving the cancellation request sent by the following train, the ground control device replies with a cancellation confirmation to the following train and records the identity identifier of the train to be cancelled in the cancellation section.

[0027] Furthermore, when the ground control device receives a cancellation request sent by a departing train, the ground control device records the identity identifier of the departing train and calculates a formation order for the following train based on the position of the cancellation transponder in the cancellation section, including:

[0028] When the leading train in a group plan travels to the cancellation section where the cancellation transponder is located and sends a cancellation request to the ground control device, the ground control device sends a cancellation confirmation to the on-vehicle device and records the identity identifier of the train to be cancelled in the cancellation section;

[0029] When the last train in a group plan sends position information to the ground control device, the ground control device sends a movement authority to the last train, and the end point of the movement authority extends to the cancellation section. The ground control device determines that there are no other trains in front of the head of the last train up to the cancellation section, and the identity identifier of the train to be cancelled in the cancellation section is the leading train, which is consistent with the group plan where the last train is located. Then the ground control device sends a formation order containing the information of the leading train to the last train;

[0030] When the ground control device sends a formation order containing the information of the leading train to the last train, and after the last train travels to the boundary of the control range of the ground control device and the formation of the last train and the leading train has not been completed yet, the ground control device stops sending the formation order to the last train, and the last train operates according to the single-train automatic block mode.

[0031] Furthermore, when the ground control device receives a registration request sent by an arriving train, the ground control device records the identity identifier of the arriving train and continues to send a formation order to the arriving train based on the identity identifier of the following train reported by the train and the group plan, including:

[0032] When the leading train in a group plan travels to the registration section where the registration transponder is located and sends a registration request to the ground control device, the ground control device sends a registration confirmation to the on-vehicle device. The leading train sends position information to the ground control device and reports the information of the following train. At this time, the following train is outside the wireless network coverage area and has not registered with the ground control device;

[0033] If the position relationship of the leading train and the following train in front of and behind the ground control device is consistent with the current group plan, the ground control device continues to send a formation order containing the information of the following train to the leading train.

[0034] Furthermore, it also includes:

[0035] When the following train in the group plan sends a registration request to the ground control device, reports its location information and group status, the following train reports the group status including the information of the preceding train to the ground control device, the preceding train reports the group status including the information of the following train to the ground control device, and the group status reported by the preceding train and the following train is consistent with the position relationship of the preceding and following trains in the current group plan, the ground control device continuously sends group formation commands to the preceding train and the following train.

[0036] Further, when the ground control device receives a registration request sent by an incoming train, the ground control device records the identity identifier of the incoming train, and continues to send formation commands to the incoming train according to the identity identifier of the following train reported by the train and the group plan, including:

[0037] When the preceding train in the group plan travels to the registration section where the registration transponder is located, sends a registration request to the ground control device, the ground control device sends a registration confirmation to the on-vehicle device, the preceding train sends location information to the ground control device, and reports that there is no following train, the ground control device sends a decoupling command to the preceding train.

[0038] Further, it also includes:

[0039] When the following train in the group plan sends a registration request to the ground control device and reports its location information, the ground control device sends a movement authority to the following train, and the end point of the movement authority extends to the tail of the preceding train; the ground control device determines that the position relationship between the preceding train and the following train is consistent with the group plan, then the ground control device sends group formation commands to the preceding train and the following train; the preceding train and the following train establish vehicle-to-vehicle communication according to the group formation commands sent by the ground control device, exchange train location information and train speed information, calculate the target-speed control curve, and operate in the group mode.

[0040] In a second aspect, a train group formation system includes:

[0041] A deregistration transponder, a registration transponder and a ground control device;

[0042] The deregistration transponder is set at the boundary of the wireless network coverage. When the outgoing train in the group plan passes the deregistration transponder and leaves the station wireless network coverage area, the ground control device receives a deregistration request sent by the outgoing train, the ground control device records the identity identifier of the outgoing train, and calculates a formation command for the following train according to the position of the deregistration section where the deregistration transponder is located;

[0043] The registration transponder is set at the boundary of the wireless network coverage. When the incoming train in the group plan passes the registration transponder and enters the station wireless network coverage area, the ground control device receives a registration request sent by the incoming train, the ground control device records the identity identifier of the incoming train, and continues to send formation commands to the train according to the identity identifier of the following train reported by the train and the group plan.

[0044] Further, it also includes:

[0045] After the Centralized Traffic Control (CTC) system issues a group plan to the train waiting to depart, the trains in the group plan respectively send position information to the ground control equipment to complete the pre-screening of the trains;

[0046] The ground control equipment respectively sends movement authorities to the trains in the group plan, and the movement authority of the leading train in the group plan extends to the wireless network coverage area.

[0047] Further, it also includes:

[0048] When the leading train in the group plan travels to the boundary of the control range of the ground control equipment, the ground control equipment sends a movement authority to the leading train to the section. After the leading train enters the section and exits the control range of the ground control equipment, it calculates the movement authority according to the cab signal coding;

[0049] The ground control equipment sends a movement authority to the following train in the group plan to the rear of the leading train. If it is determined that the front-rear train position relationship between the leading train and the following train is consistent with the group plan, the ground control equipment sends a formation command containing the information of the leading train to the following train and a formation command containing the information of the following train to the leading train; at this time, the leading train and the following train complete the formation.

[0050] Further, when the ground control equipment receives a cancellation request sent by the departing train, the ground control equipment records the identity identifier of the departing train and calculates a formation command for the following train according to the position of the cancellation transponder in the cancellation section, including:

[0051] After the leading train and the following train in the group plan complete the formation, the leading train travels to the cancellation section where the cancellation transponder is located and sends a cancellation request to the ground control equipment. The ground control equipment sends a cancellation confirmation to the leading train and records the identity identifier of the cancelled train in the cancellation section;

[0052] The ground control equipment determines that the front-rear train position relationship between the leading train and the following train is consistent with the group plan, and there is no other train in front of the head of the following train to the cancellation section, and the identity identifier of the train recorded in the cancellation section is the leading train. Then the ground control equipment continues to send a formation command containing the information of the leading train to the following train.

[0053] Further, it also includes:

[0054] When the following train is the last train in the group plan and travels to the cancellation section, it sends a cancellation request to the ground control equipment. The ground control equipment sends a cancellation confirmation to the on-vehicle equipment and records the identity identifier of the cancelled train in the cancellation section.

[0055] Further, when the ground control device receives a cancellation request sent by the departing train, the ground control device records the identity identifier of the departing train and calculates a formation command for the following train based on the position of the cancellation transponder in the cancellation section, including:

[0056] When the leading train in the group plan travels to the cancellation section where the cancellation transponder is located, it sends a cancellation request to the ground control device. The ground control device sends a cancellation confirmation to the on-vehicle device and records the identity identifier of the cancelled train in the cancellation section.

[0057] The following train in the group plan sends position information to the ground control device. The ground control device sends a movement authority to the following train, and the end point of the movement authority extends to the cancellation section. The ground control device determines that there is no other train in front of the head of the following train to the cancellation section, and the identity identifier of the cancelled train in the cancellation section is the leading train, which is consistent with the group plan where the following train is located. Then the ground control device sends a formation command containing the information of the leading train to the following train.

[0058] Before the following train travels to the boundary of the control range of the ground control device, it forms a formation with the leading train. At this time, the following train reports the information of the leading train in the group plan to the ground control device. Then the ground control device stops sending the movement authority to the following train and continuously sends the formation command with the leading train to the following train.

[0059] The ground control device continuously sends a formation command containing the information of the leading train to the following train. The following train establishes a vehicle-to-vehicle communication connection with the leading train and operates in a group mode.

[0060] Further, when the following train is the last train in the group plan and travels to the cancellation section, it sends a cancellation request to the ground control device. After the ground control device receives the cancellation request sent by the following train, it sends a cancellation confirmation to the following train and records the identity identifier of the cancelled train in the cancellation section.

[0061] Further, when the ground control device receives a cancellation request sent by the departing train, the ground control device records the identity identifier of the departing train and calculates a formation command for the following train based on the position of the cancellation transponder in the cancellation section, including:

[0062] When the leading train in the group plan travels to the cancellation section where the cancellation transponder is located, it sends a cancellation request to the ground control device. The ground control device sends a cancellation confirmation to the on-vehicle device and records the identity identifier of the cancelled train in the cancellation section.

[0063] When the trailing vehicle in the group plan sends location information to the ground control device, and the ground control device sends a movement authority to the trailing vehicle, with the end of the movement authority extending to the cancellation section, if the ground control device determines that there are no other trains from the front of the trailing vehicle to the cancellation section, and the cancellation train identity identifier in the cancellation section is the leading vehicle, which is consistent with the group plan where the trailing vehicle is located, then the ground control device sends a formation command containing the information of the leading vehicle to the trailing vehicle;

[0064] When the ground control device sends a formation command containing the information of the leading vehicle to the trailing vehicle, and if the trailing vehicle and the leading vehicle have not completed formation after the trailing vehicle travels to the boundary of the control range of the ground control device, then the ground control device stops sending the formation command to the trailing vehicle, and the trailing vehicle operates according to the single - train automatic block mode.

[0065] Furthermore, when the ground control device receives a registration request sent by an incoming train, the ground control device records the identity identifier of the incoming train, and continues to send a formation command to the incoming train according to the identity identifier of the following train reported by the train and the group plan, including:

[0066] When the leading vehicle in the group plan travels to the registration section where the registration transponder is located and sends a registration request to the ground control device, the ground control device sends a registration confirmation to the on - vehicle device. The leading vehicle sends location information to the ground control device and reports information about the following train. At this time, the following train is outside the wireless network coverage area and has not registered with the ground control device;

[0067] If the position relationship of the leading vehicle and the following vehicle reported by the ground control device is consistent with the current group plan, then the ground control device continues to send a formation command containing the information of the following train to the leading vehicle.

[0068] Furthermore, it also includes:

[0069] When the following vehicle in the group plan sends a registration request to the ground control device, reports location information and group status, the following vehicle reports the group status containing the information of the leading vehicle to the ground control device, the leading vehicle reports the group status containing the information of the following vehicle to the ground control device, and the group status reported by the leading vehicle and the following vehicle is consistent with the position relationship of the leading vehicle and the following vehicle in the current group plan, then the ground control device continues to send a group formation command to the leading vehicle and the following vehicle.

[0070] Furthermore, when the ground control device receives a registration request sent by an incoming train, the ground control device records the identity identifier of the incoming train, and continues to send a formation command to the incoming train according to the identity identifier of the following train reported by the train and the group plan, including:

[0071] When the leading vehicle in the group plan travels to the registration section where the registration transponder is located and sends a registration request to the ground control device, the ground control device sends a registration confirmation to the on - vehicle device. The leading vehicle sends location information to the ground control device and reports that there is no following train, then the ground control device sends a decoupling command to the leading vehicle.

[0072] Further, it further includes:

[0073] When the following train in the group plan sends a registration request to the ground control device and reports its position information, the ground control device sends a movement authority to the following train, and the end point of the movement authority extends to the tail of the preceding train; the ground control device determines that the position relationship between the preceding train and the following train is consistent with the group plan, then the ground control device sends a group formation command to the preceding train and the following train; the preceding train and the following train establish vehicle-to-vehicle communication according to the group formation command sent by the ground control device, exchange train position information and train speed information, calculate the target-speed control curve, and operate in the group mode.

[0074] In a third aspect, an electronic device includes a processor, a communication interface, a memory, and a communication bus. Among them, the processor, the communication interface, and the memory complete mutual communication through the communication bus;

[0075] The memory stores a computer program;

[0076] The processor is used to implement the above-mentioned train group formation method when executing the computer program stored on the memory.

[0077] In a fourth aspect, a computer-readable storage medium stores a computer program, and the computer program implements the above-mentioned train group formation method when executed by a processor.

[0078] The present disclosure at least includes the following beneficial effects:

[0079] For a line without network coverage in the section, the train is normally deregistered in the deregistration section, and the identity identification information of the deregistered train is recorded in the deregistration section. By recording information such as the train position, group status, and train identity identification before the preceding train enters the section, a formation command is sent to the subsequent trains in the group plan to ensure that the subsequent trains complete formation with the preceding train before entering the section, realizing the formation operation of trains in the group mode under the condition of no wireless network coverage on the section line.

[0080] Other features and advantages of the present disclosure will be described in the subsequent description, and, in part, will become apparent from the description or will be understood by implementing the present disclosure. The objectives and other advantages of the present disclosure can be achieved and obtained through the structures pointed out in the description and the drawings. Description of the Drawings

[0081] To more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present disclosure. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0082] Figure 1 Schematic flowchart of the marshalling method according to an embodiment of the present disclosure;

[0083] Figure 2 Schematic diagram of Train 1 and Train 2 departing from different track groups in Scenario 1 according to an embodiment of the present disclosure;

[0084] Figure 3 Schematic diagram of the movement authority of Train 2 extending to the rear of Train 1 in Scenario 1 according to an embodiment of the present disclosure;

[0085] Figure 4 Schematic diagram of Train 1 and Train 2 completing marshalling and Train 1 deregistering with the ground equipment in Scenario 1 according to an embodiment of the present disclosure;

[0086] Figure 5 Schematic diagram of Train 2 entering the section and deregistering with the ground control equipment in Scenario 1 according to an embodiment of the present disclosure;

[0087] Figure 6 Schematic diagram of Train 1 deregistering and Train 1 and Train 2 not completing marshalling in Scenario 2 according to an embodiment of the present disclosure;

[0088] Figure 7 Schematic diagram of Train 1 deregistering and Train 2 completing marshalling with Train 1 before entering the deregistration section in Scenario 2 according to an embodiment of the present disclosure;

[0089] Figure 8 Schematic diagram of Train 1 deregistering and Train 2 completing marshalling with Train 1 before entering the deregistration section and Train 2 deregistering with the ground control equipment in Scenario 2 according to an embodiment of the present disclosure;

[0090] Figure 9 Schematic diagram of Train 1 deregistering and Train 1 and Train 2 not completing marshalling in Scenario 3 according to an embodiment of the present disclosure;

[0091] Figure 10 Schematic diagram of Train 1 deregistering, Train 2 not completing marshalling with Train 1 before entering the deregistration section, and single-train operation in Scenario 3 according to an embodiment of the present disclosure;

[0092] Figure 11 Schematic diagram of Train 1 registering, Train 2 not registering, and Train 1 reporting the completion of marshalling with Train 2 in Scenario 4 according to an embodiment of the present disclosure;

[0093] Figure 12For the registration of Train 2 in Scenario 4 of the present disclosure embodiment, the schematic diagram of the formation of Train 2 and Train 1 is completed;

[0094] Figure 13 For the registration of Train 1 in Scenario 5 of the present disclosure embodiment, Train 2 is not registered, and the schematic diagram of Train 1 reporting the incomplete formation with Train 2 is shown;

[0095] Figure 14 For the registration of Train 1 and Train 2 in Scenario 5 of the present disclosure embodiment, the schematic diagram of the incomplete formation of Train 1 and Train 2 is shown;

[0096] Figure 15 Schematic diagram of the formation system structure of the present disclosure embodiment;

[0097] Figure 16 Schematic diagram of the electronic device structure of the present disclosure embodiment. Detailed implementation manners

[0098] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. Apparently, the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present disclosure without creative efforts shall fall within the protection scope of the present disclosure.

[0099] As Figure 1 shown, a method for forming a train group, the method includes:

[0100] S101. When the train departing from the group plan leaves the wireless network coverage area of the station and passes through the deregistration transponder set at the wireless network coverage boundary, the ground control device receives the deregistration request sent by the departing train, records the identity identifier of the departing train, and calculates the formation command for the following train according to the deregistration section position where the deregistration transponder is located;

[0101] S102. When the train entering the group plan enters the wireless network coverage area of the station and passes through the registration transponder set at the wireless network coverage boundary, the ground control device receives the registration request sent by the entering train, records the identity identifier of the entering train, and continues to send the formation command to the entering train according to the identity identifier of the following train reported by the train and the group plan.

[0102] During specific implementation, it is introduced as follows:

[0103] The ground control device determines that the train meets the conditions for group formation and needs to check the following:

[0104] (1) The position order of the front and rear trains meets the train formation order in the group plan;

[0105] (2) The leading train enters the full surveillance mode, and the leading train completes the end screening;

[0106] (3) The trailing train enters the full surveillance mode, and the end point of the trailing train's movement authority extends to the rear of the leading train.

[0107] Based on the above conditions, for the section without wireless network coverage, in order to record the normal entry of the train into the non-covered network section, a train cancellation transponder needs to be set at the wireless network coverage boundary. When the train passes the cancellation transponder, it sends a cancellation request to the ground control equipment, and the ground equipment records the normal cancellation of the train identity identifier for calculating the formation command for the subsequent train.

[0108] When the formed train enters the wireless network coverage area, the ground control equipment should continue to send the formation command to the train according to the identity identifier of the immediate trailing train reported by the train and the group plan.

[0109] Group plan format: [group number, number of trains in the group, train 1 number, train 2 number, train 3 number,...].

[0110] Scenario 1: The leading train completes the formation with the trailing train before cancellation;

[0111] As Figure 2 shown, Train 1 and Train 2 depart from different track groups;

[0112] CTC issues the train group plan [group plan 1, number of trains 2, train number 1, train number 2]. Train 1 and Train 2 send position information to the ground control equipment, complete the pre-screening of the trains, and the ground control equipment sends the movement authority to Train 1 and Train 2. The movement authority of Train 1 extends to the section.

[0113] As Figure 3 shown, the movement authority of Train 2 extends to the rear of Train 1;

[0114] Train 1 travels to X2LQG, the ground control equipment sends the movement authority to Train 1 to the section. After Train 1 enters the section, it exits the control range of the ground control equipment and calculates the movement authority according to the track circuit coding.

[0115] The ground control equipment sends the movement authority to Train 2 to the rear of Train 1. If it determines that the position relationship between Train 1 and Train 2 is consistent with the group plan, the ground control equipment sends the formation command with Train 1 as the leading train to Train 2 and the formation command with Train 2 as the trailing train to Train 1. At this time, Train 1 and Train 2 complete the formation.

[0116] As Figure 4 shown, Train 1 and Train 2 complete the formation, and Train 1 cancels with the ground equipment;

[0117] After trains 1 and 2 are marshaled, train 1 travels to the X3LQG deregistration section, sends a deregistration request to the ground control equipment, the ground control equipment sends a deregistration confirmation to train 1, and records the train identity identifier in the X3LQG section as train 1.

[0118] The ground control equipment determines that train 2 reports that the leading train in front is train 1, there are no other trains from the front of train 2's head to the deregistration section, and the train identity identifier recorded in the deregistration section is train 1. Then the ground control equipment continues to send a marshalling order to train 2 with train 1 as the leading train.

[0119] As Figure 5 shown, train 2 enters the section and deregisters with the ground control equipment;

[0120] Train 2 is the last train in the group plan. It travels to X3LQG, sends a deregistration request to the ground control equipment, the ground control equipment sends a deregistration confirmation to the on-board equipment, and records the deregistered train identity identifier in the X3LQG section as train 2.

[0121] Scenario 2: The leading train deregisters, and the following train completes marshalling with the leading train before entering the deregistration section;

[0122] As Figure 6 shown, train 1 deregisters, and trains 1 and 2 are not marshaled;

[0123] Train 1 is the leading train in the group plan. It travels to X3LQG, sends a deregistration request to the ground control equipment, the ground control equipment sends a deregistration confirmation to the on-board equipment, and records the deregistered train identity identifier in the X3LQG section as train 1.

[0124] Train 2 is the last train in the group plan. It sends location information to the ground control equipment. The ground control equipment sends a movement authority to train 2, and the end point of the movement authority extends to X3LQG. The ground control equipment determines that there are no other trains from the front of train 2's head to X3LQG, and the deregistered train identity identifier in X3LQG is train 1, which is consistent with the group plan of station A where train 2 is located. Then the ground control equipment sends a marshalling order to train 2 with train 1 as the leading train.

[0125] As Figure 7 shown, train 1 deregisters, and train 2 completes marshalling with train 1 before entering the deregistration section;

[0126] Train 2 is the last train of the group plan. It sends location information to the ground control equipment, and the ground control equipment sends a movement authority to Train 2. The end point of the movement authority extends to X3LQG. X3LQG cancels the train identity of Train 1, which is consistent with the group plan of Station A where Train 2 is located. The ground control equipment sends a formation order to Train 2 with Train 1 as the leading train. Before Train 2 travels to X2LQG, it forms a formation with Train 1. At this time, Train 2 reports to the ground control equipment that the leading train in the group is Train 1. Then the ground control equipment stops sending the movement authority to Train 2 and continuously sends the formation order with Train 1 to Train 2.

[0127] As Figure 8 shown, Train 1 is cancelled. Before Train 2 enters the cancellation section, it forms a formation with Train 1. Schematic diagram of the cancellation of Train 2 and the ground control equipment;

[0128] The ground control equipment continuously sends a formation order to Train 2 with Train 1 as the leading train. Train 2 establishes a communication connection with the leading train Train 1 and operates in a group mode. When Train 2 travels to X3LQG, it sends a cancellation request to the ground control equipment. After receiving the cancellation request sent by Train 2, the ground control equipment replies with a cancellation confirmation to Train 2 and records that the train identity of Train 2 is cancelled in the X3LQG section.

[0129] Scenario 3: The leading train is cancelled, and the trailing train enters the cancellation section without completing the formation;

[0130] As Figure 9 shown, Train 1 is cancelled, and Train 1 and Train 2 do not complete the formation;

[0131] Train 1 is the leading train of the group plan. When it travels to X3LQG, it sends a cancellation request to the ground control equipment. The ground control equipment sends a cancellation confirmation to the on-board equipment and records that the train identity of Train 1 is cancelled in the X3LQG section.

[0132] Train 2 is the last train of the group plan. It sends location information to the ground control equipment, and the ground control equipment sends a movement authority to Train 2. The end point of the movement authority extends to X3LQG. The ground control equipment determines that there is no other train from the front of Train 2's head to X3LQG, and the train identity cancelled in X3LQG is Train 1, which is consistent with the group plan of Station A where Train 2 is located. Then the ground control equipment sends a formation order to Train 2 with Train 1 as the leading train.

[0133] As Figure 10 shown, Train 1 is cancelled. Before Train 2 enters the cancellation section, it does not complete the formation with Train 1. Schematic diagram of single train operation;

[0134] The ground control device sends a formation command to train 2 indicating that the leading train is train 1. After train 2 travels to X2LQG and the formation between train 2 and train 1 is still not completed, the ground control device stops sending the formation command to train 2, and train 2 operates according to the single-train automatic block mode.

[0135] Scenario 4: After the leading train is registered, it forms a formation with the trailing train;

[0136] CTC issues a train group plan [Group plan 1, number of trains 2, train number 1, train number 2].

[0137] As Figure 11 shown, train 1 is registered, train 2 is not registered, and train 1 reports that it has completed the formation with train 2;

[0138] Train 1, which is the leading train in the group plan, travels to X1JG, sends a registration request to the ground control device, the ground control device sends a registration confirmation to the on-vehicle device, train 1 sends location information to the ground control device, and reports that the next train in the group is train 2. At this time, train 2 is outside the wireless network coverage area and has not registered with the ground control device.

[0139] The ground control device determines that the next train after train 1 in the current group is train 2 and is consistent with the current group plan, then continuously sends a formation command to train 1 indicating that the next train in the group is train 2.

[0140] As Figure 12 shown, train 2 is registered and train 2 has completed the formation with train 1;

[0141] Train 2 sends a registration request to the ground control device, reports location information and group status, train 2 reports that the leading train in the group is train 1, train 1 reports that the next train in the group is train 2, and the group status reported by train 1 and train 2 is consistent with the position relationship of the leading and trailing trains in the current group plan. Then the ground control device continuously sends a group formation command to train 1 and train 2.

[0142] Scenario 5: After the leading train is registered, it does not complete the formation with the trailing train;

[0143] CTC issues a train group plan [Group plan 1, number of trains 2, train number 1, train number 2].

[0144] As Figure 13 shown, train 1 is registered, train 2 is not registered, and train 1 reports that it has not completed the formation with train 2;

[0145] Train 1 is the leading train in the group plan. When it travels to X1JG, it sends a registration request to the ground control device. The ground control device sends a registration confirmation to the on-vehicle device. Train 1 sends location information to the ground control device and reports that there is no following train. Then the ground control device sends a decoupling command to Train 1.

[0146] As Figure 14 shown, Train 1 registers, Train 2 registers, and Train 1 and Train 2 have not completed formation.

[0147] Train 2 sends a registration request to the ground control device and reports location information. The ground control device sends a movement authority to Train 2, and the end point of the movement authority extends to the tail of Train 1. The ground control device determines that the front and rear train position relationship between Train 1 and Train 2 is consistent with the group plan. Then the ground control device sends a group formation command to Train 1 and Train 2. Train 1 and Train 2 establish vehicle-to-vehicle communication according to the group formation command sent by the ground control device, exchange train location information and train speed information, calculate the target-speed control curve, and operate in the group mode.

[0148] As Figure 15 shown, a train group formation system includes:

[0149] A deregistration transponder 1501, a registration transponder 1502, and a ground control device 1503;

[0150] The deregistration transponder 1501 is set at the boundary of the wireless network coverage. When the train leaving the station in the group plan passes the deregistration transponder 1501 and leaves the station wireless network coverage area, the ground control device 1503 receives the deregistration request sent by the train leaving the station. The ground control device 1503 records the identity identifier of the train leaving the station and calculates the formation command with the position of the deregistration section where the deregistration transponder 1501 is located as the following train.

[0151] The registration transponder 1502 is set at the boundary of the wireless network coverage. When the train entering the station in the group plan passes the registration transponder 1502 and enters the station wireless network coverage area, the ground control device 1503 receives the registration request sent by the train entering the station. The ground control device 1503 records the identity identifier of the train entering the station and continues to send the formation command to the train according to the identity identifier of the following train reported by the train and the group plan.

[0152] In specific implementation, the implementation method of a train group formation system corresponds one-to-one with a train group formation method, which will not be elaborated here.

[0153] As Figure 16As shown, the present disclosure provides an electronic device, including a processor 1601, a communication interface 1602, a memory 1603, and a communication bus 1604. Among them, the processor 1601, the communication interface 1602, and the memory 1603 complete their mutual communication through the communication bus 1604;

[0154] The memory 1603 stores a computer program;

[0155] The processor 1601 is configured to implement the above-mentioned method when executing the computer program stored on the memory 1603.

[0156] The present disclosure provides a computer-readable storage medium storing a computer program, and the computer program, when executed by a processor, implements the above-mentioned method.

[0157] The computer-readable storage medium may be included in the device / apparatus described in the above embodiments; or it may exist alone without being assembled into the device / apparatus. The above computer-readable storage medium carries one or more programs, and when the one or more programs are executed, the method according to the embodiments of the present disclosure is implemented.

[0158] According to the embodiments of the present disclosure, the computer-readable storage medium may be a non-volatile computer-readable storage medium, for example, it may include but is not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In the present disclosure, the computer-readable storage medium may be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, device, or device.

[0159] Although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A method for grouping train formations, characterized in that, The method includes: When the departing train in the group plan leaves the wireless network coverage area of the station and passes through the deregistration transponder set at the wireless network coverage boundary, the ground control device receives the deregistration request sent by the departing train, records the identity identifier of the departing train, and calculates the formation order for the following train according to the deregistration section position where the deregistration transponder is located; When the incoming train in the group plan enters the wireless network coverage area of the station and passes through the registration transponder set at the wireless network coverage boundary, the ground control device receives the registration request sent by the incoming train, records the identity identifier of the incoming train, and continues to send the formation order to the incoming train according to the identity identifier of the following train reported by the train and the group plan.

2. The method for forming a train group according to claim 1, characterized in that: It further includes: After the train dispatching centralized system CTC issues the group plan to the trains to be departed, the trains in the group plan respectively send position information to the ground control device to complete the pre-screening of the trains; The ground control device respectively sends the movement authority to the trains in the group plan, and the movement authority of the leading train in the group plan extends to the wireless network coverage area.

3. The method for forming a train group according to claim 2, characterized in that: It further includes: When the leading train in the group plan travels to the boundary of the control range of the ground control device, the ground control device sends the movement authority to the leading train to the section. After the leading train enters the section and leaves the control range of the ground control device, the movement authority is calculated according to the track circuit coding; The ground control device sends the movement authority to the following train in the group plan to the rear of the leading train. If it is determined that the front-rear position relationship between the leading train and the following train is consistent with the group plan, the ground control device sends the formation order including the information of the leading train to the following train and sends the formation order including the following train to the leading train; at this time, the leading train and the following train complete the formation.

4. The method for forming a train group according to claim 3, characterized in that: When the ground control device receives the deregistration request sent by the departing train, the ground control device records the identity identifier of the departing train, and calculates the formation order for the following train according to the deregistration section position where the deregistration transponder is located, including: After the leading train and the following train in the group plan complete the formation, the leading train travels to the deregistration section where the deregistration transponder is located and sends a deregistration request to the ground control device. The ground control device sends a deregistration confirmation to the leading train and records the identity identifier of the deregistered train in the deregistration section; The ground control device determines that the front-rear position relationship between the leading train and the following train is consistent with the group plan, and there is no other train in front of the head of the following train to the deregistration section, and the identity identifier of the train recorded in the deregistration section is the leading train, then the ground control device continues to send the formation order including the information of the leading train to the following train.

5. The method for forming a train group according to claim 4, characterized in that: It further includes: When the following train is the last train in the group plan and travels to the deregistration section, it sends a deregistration request to the ground control device. The ground control device sends a deregistration confirmation to the on-vehicle device and records the identity identifier of the deregistered train in the deregistration section.

6. The method for forming a train group according to claim 2, characterized in that: The ground control device receives the cancellation request sent by the departing train, records the identity identifier of the departing train, and calculates the formation command for the following train according to the position of the cancellation section where the cancellation transponder is located, including: When the leading train in the group plan travels to the cancellation section where the cancellation transponder is located and sends a cancellation request to the ground control device, the ground control device sends a cancellation confirmation to the on-vehicle device and records the identity identifier of the cancelled train in the cancellation section; The following train in the group plan sends location information to the ground control device, and the ground control device sends a movement authority to the following train. The end point of the movement authority extends to the cancellation section. The ground control device determines that there is no other train between the front of the following train and the cancellation section, and the identity identifier of the cancelled train in the cancellation section is the leading train, which is consistent with the group plan where the following train is located. Then the ground control device sends a formation command containing the information of the leading train to the following train; Before the following train travels to the boundary of the control range of the ground control device, it completes the formation with the leading train. At this time, the following train reports the information of the leading train in the group plan to the ground control device. Then the ground control device stops sending the movement authority to the following train and continuously sends the formation command with the leading train to the following train; The ground control device continuously sends a formation command containing the information of the leading train to the following train. The following train establishes a vehicle-to-vehicle communication connection with the leading train and operates in a group mode.

7. A train group formation method according to claim 6, characterized in that When the following train is the last train in the group plan and travels to the cancellation section, it sends a cancellation request to the ground control device. After receiving the cancellation request sent by the following train, the ground control device sends a cancellation confirmation to the following train and records the identity identifier of the cancelled train in the cancellation section.

8. A train group formation method according to claim 2, characterized in that The ground control device receives the cancellation request sent by the departing train, records the identity identifier of the departing train, and calculates the formation command for the following train according to the position of the cancellation section where the cancellation transponder is located, including: When the leading train in the group plan travels to the cancellation section where the cancellation transponder is located and sends a cancellation request to the ground control device, the ground control device sends a cancellation confirmation to the on-vehicle device and records the identity identifier of the cancelled train in the cancellation section; When the last train in the group plan sends location information to the ground control device, the ground control device sends a movement authority to the last train. The end point of the movement authority extends to the cancellation section. The ground control device determines that there is no other train between the front of the last train and the cancellation section, and the identity identifier of the cancelled train in the cancellation section is the leading train, which is consistent with the group plan where the last train is located. Then the ground control device sends a formation command containing the information of the leading train to the last train; The ground control device sends a formation command containing the information of the leading train to the last train. When the last train has not completed the formation with the leading train after traveling to the boundary of the control range of the ground control device, the ground control device stops sending the formation command to the last train, and the last train operates according to the single-train automatic block mode.

9. A train group formation method according to claim 1, characterized in that The ground control equipment receives the registration request sent by the incoming train, records the identity identifier of the incoming train, and continues to send a formation command to the incoming train according to the identity identifier of the following train reported by the train and the group plan, including: When the leading train in the group plan travels to the registration section where the registration transponder is located and sends a registration request to the ground control equipment, the ground control equipment sends a registration confirmation to the on-vehicle equipment. The leading train sends location information to the ground control equipment and reports information about the following train. At this time, the following train is outside the wireless network coverage area and has not registered with the ground control equipment. If the front-rear train position relationship between the leading train and the following train of the ground control equipment is consistent with the current group plan, the ground control equipment continues to send a formation command containing information about the following train to the leading train.

10. A train group formation method according to claim 9, wherein: It further includes: When the following train in the group plan sends a registration request to the ground control equipment and reports location information and group status, the following train reports the group status containing information about the leading train to the ground control equipment, and the leading train reports the group status containing information about the following train to the ground control equipment. If the group status reported by the leading train and the following train is consistent with the front-rear train position relationship in the current group plan, the ground control equipment continues to send a group formation command to the leading train and the following train.

11. A train group formation method according to claim 1, wherein: The ground control equipment receives the registration request sent by the incoming train, records the identity identifier of the incoming train, and continues to send a formation command to the incoming train according to the identity identifier of the following train reported by the train and the group plan, including: When the leading train in the group plan travels to the registration section where the registration transponder is located and sends a registration request to the ground control equipment, the ground control equipment sends a registration confirmation to the on-vehicle equipment. The leading train sends location information to the ground control equipment and reports that there is no following train. Then the ground control equipment sends a decoupling command to the leading train.

12. A train group formation method according to claim 1, wherein: It further includes: When the following train in the group plan sends a registration request to the ground control equipment and reports location information, the ground control equipment sends a movement authority to the following train, and the end point of the movement authority extends to the tail of the leading train. The ground control equipment determines that the front-rear train position relationship between the leading train and the following train is consistent with the group plan. Then the ground control equipment sends a group formation command to the leading train and the following train. The leading train and the following train establish vehicle-to-vehicle communication according to the group formation command sent by the ground control equipment, exchange train location information and train speed information, calculate the target-speed control curve, and operate in the group mode.

13. A train group formation system, characterized in that, It includes: A deregistration transponder, a registration transponder, and a ground control equipment; The deregistration transponder is set at the boundary of the wireless network coverage. When the outgoing train in the group plan passes the deregistration transponder and leaves the station wireless network coverage area, the ground control equipment receives the deregistration request sent by the outgoing train, records the identity identifier of the outgoing train, and calculates a formation command for the following train according to the deregistration section position where the deregistration transponder is located. A registration transponder is installed at the boundary of the wireless network coverage. When a train entering the group plan passes the registration transponder and enters the wireless network coverage area of the station, the ground control device receives the registration request sent by the entering train, records the identity identifier of the entering train, and continues to send a formation command to the train according to the identity identifier of the following train reported by the train and the group plan.

14. A train group formation system according to claim 13, wherein it further includes: After the train dispatching centralized system CTC issues a group plan to the trains to be dispatched, the trains in the group plan respectively send location information to the ground control device to complete the pre-screening of the trains; The ground control device respectively sends a movement authority to the trains in the group plan, and the movement authority of the leading train in the group plan extends to the wireless network coverage area.

15. A train group formation system according to claim 14, wherein it further includes: When the leading train in the group plan travels to the boundary of the control range of the ground control device, the ground control device sends a movement authority to the leading train to the section. After the leading train enters the section, it exits the control range of the ground control device and calculates the movement authority according to the coding of the track circuit; The ground control device sends a movement authority to the following train in the group plan to the rear of the leading train. If it is determined that the front-rear position relationship between the leading train and the following train is consistent with the group plan, the ground control device sends a formation command including the information of the leading train to the following train and a formation command including the following train to the leading train; at this time, the leading train and the following train complete the formation.

16. A train group formation system according to claim 15, wherein When the ground control device receives the cancellation request sent by the departing train, the ground control device records the identity identifier of the departing train and calculates a formation command for the following train according to the position of the cancellation section where the cancellation transponder is located, including: After the leading train and the following train in the group plan complete the formation, the leading train travels to the cancellation section where the cancellation transponder is located and sends a cancellation request to the ground control device. The ground control device sends a cancellation confirmation to the leading train and records the identity identifier of the cancelled train in the cancellation section; The ground control device determines that the front-rear position relationship between the leading train and the following train is consistent with the group plan, there is no other train in front of the head of the following train to the cancellation section, and the identity identifier of the train recorded in the cancellation section is the leading train, then the ground control device continues to send a formation command including the information of the leading train to the following train.

17. A train group formation system according to claim 16, wherein it further includes: When the following train is the last train in the group plan and travels to the cancellation section, it sends a cancellation request to the ground control device. The ground control device sends a cancellation confirmation to the on-vehicle device and records the identity identifier of the cancelled train in the cancellation section.

18. A train group formation system according to claim 14, wherein When the ground control device receives the cancellation request sent by the departing train, the ground control device records the identity identifier of the departing train and calculates a formation command for the following train according to the position of the cancellation section where the cancellation transponder is located, including: When the leading train in the group plan travels to the cancellation section where the cancellation transponder is located, it sends a cancellation request to the ground control device. The ground control device sends a cancellation confirmation to the on-vehicle device and records the cancellation train identity identifier in the cancellation section. The following train in the group plan sends location information to the ground control device. The ground control device sends a movement authority to the following train, and the end point of the movement authority extends to the cancellation section. The ground control device determines that there are no other trains from the front of the following train's head to the cancellation section, and the cancellation train identity identifier in the cancellation section is the leading train, which is consistent with the group plan where the following train is located. Then the ground control device sends a formation order containing the leading train's information to the following train. Before the following train travels to the boundary of the ground control device's control range, it forms a formation with the leading train. At this time, the following train reports the leading train information of the group plan to the ground control device. Then the ground control device stops sending the movement authority to the following train and continuously sends the formation order with the leading train to the following train. The ground control device continuously sends a formation order containing the leading train's information to the following train. The following train establishes a vehicle-to-vehicle communication connection with the leading train and operates in a group mode.

19. A train group formation system according to claim 18, wherein When the following train is the last train in the group plan and travels to the cancellation section, it sends a cancellation request to the ground control device. After receiving the cancellation request sent by the following train, the ground control device sends a cancellation confirmation to the following train and records the cancellation train identity identifier in the cancellation section.

20. A train group formation system according to claim 14, wherein The ground control device receives a cancellation request sent by the departing train, records the departing train identity identifier, and calculates a formation order for the following train according to the location of the cancellation section where the cancellation transponder is located, including: When the leading train in the group plan travels to the cancellation section where the cancellation transponder is located, it sends a cancellation request to the ground control device. The ground control device sends a cancellation confirmation to the on-vehicle device and records the cancellation train identity identifier in the cancellation section. When the last train in the group plan sends location information to the ground control device, the ground control device sends a movement authority to the last train, and the end point of the movement authority extends to the cancellation section. The ground control device determines that there are no other trains from the front of the last train's head to the cancellation section, and the cancellation train identity identifier in the cancellation section is the leading train, which is consistent with the group plan where the last train is located. Then the ground control device sends a formation order containing the leading train's information to the last train. The ground control device sends a formation order containing the leading train's information to the last train. When the last train has not completed the formation with the leading train after traveling to the boundary of the ground control device's control range, the ground control device stops sending the formation order to the last train, and the last train operates according to the single-train automatic block mode.

21. A train group formation system according to claim 13, wherein The ground control device receives a registration request sent by the arriving train, records the arriving train identity identifier, and continues to send a formation order to the arriving train according to the following train identity identifier reported by the train and the group plan, including: When the leading vehicle in the group plan travels to the registration section where the registration transponder is located, it sends a registration request to the ground control device. The ground control device sends a registration confirmation to the on-vehicle device. The leading vehicle sends location information to the ground control device and reports information about the following vehicle. At this time, the following vehicle is outside the wireless network coverage area and is not registered with the ground control device. If the front-rear vehicle position relationship between the leading vehicle and the following vehicle of the ground control device is consistent with the current group plan, the ground control device continues to send a formation command containing information about the following vehicle to the leading vehicle.

22. A train group formation system according to claim 21, wherein: It further includes: When the following vehicle in the group plan sends a registration request to the ground control device and reports its location information and group status, the following vehicle reports the group status containing information about the leading vehicle to the ground control device, and the leading vehicle reports the group status containing information about the following vehicle to the ground control device. And if the group status reported by the leading vehicle and the following vehicle is consistent with the front-rear vehicle position relationship in the current group plan, the ground control device continues to send a group formation command to the leading vehicle and the following vehicle.

23. A train group formation system according to claim 13, wherein: When the ground control device receives a registration request sent by an incoming train, the ground control device records the identity identifier of the incoming train and, according to the identity identifier of the following vehicle reported by the train and the group plan, continues to send a formation command to the incoming train, including: When the leading vehicle in the group plan travels to the registration section where the registration transponder is located, it sends a registration request to the ground control device. The ground control device sends a registration confirmation to the on-vehicle device. The leading vehicle sends location information to the ground control device and reports that there is no following vehicle, then the ground control device sends a formation release command to the leading vehicle.

24. A train group formation system according to claim 13, wherein: It further includes: When the following vehicle in the group plan sends a registration request to the ground control device and reports its location information, the ground control device sends a movement authority to the following vehicle, and the end point of the movement authority extends to the rear of the leading vehicle; the ground control device determines that the front-rear vehicle position relationship between the leading vehicle and the following vehicle is consistent with the group plan, then the ground control device sends a group formation command to the leading vehicle and the following vehicle; the leading vehicle and the following vehicle establish vehicle-to-vehicle communication according to the group formation command sent by the ground control device, exchange train location information and train speed information, calculate a target-speed control curve, and operate in the group mode.

25. An electronic device, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus. Among them, the processor, the communication interface, and the memory complete mutual communication through the communication bus; The memory stores a computer program; The processor is used to implement a train group formation method according to any one of claims 1-12 when executing the computer program stored on the memory.

26. A computer-readable storage medium stores a computer program, characterized in that, The computer program, when executed by the processor, implements a train group formation method according to any one of claims 1-12.

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