A train consist marshalling method, system, device, and medium

Abstract

The present disclosure relates to the field of rail transit technology, and particularly relates to a train group marshalling method, system, device and medium. When a leaving train in a group plan passes through a logout transponder arranged at a wireless network coverage boundary, a ground control device receives a logout request sent by the leaving train, records an identity of the leaving train, and calculates a marshalling command for a following train according to a position of a logout section where the logout transponder is located; when an entering train in the group plan passes through a registration transponder arranged at the wireless network coverage boundary, the ground control device receives a registration request sent by the entering train, records an identity of the entering train, and continues to send a marshalling command to the entering train according to an identity of the following train reported by the train and the group plan. The present disclosure records information such as a train position before a train enters a section, a group state and a train identity, and realizes that a train runs in a group mode under a condition that a wireless network is not covered.

Description

Technical Field

[0001] This disclosure relates to the field of rail transit technology, and in particular to a method, system, equipment and medium for train group formation. Background Technology

[0002] Train group operation refers to the process where trains establish inter-train communication with the preceding train based on formation commands sent by ground control equipment, and calculate a target-speed control curve based on the position information, train speed, and train integrity reported by the preceding train. Train group operation control technology is based on moving block technology. According to the group plan and the positional relationship between preceding and following trains, it utilizes inter-train communication to exchange information such as train position, speed, and integrity, and calculates the target-speed control curve. The driver or automatic train control equipment then uses this target-speed control curve to control the train's operation, thus realizing the control technology for train group operation.

[0003] Compared to moving block signaling, four / three display automatic block signaling, and station block signaling, train group operation control technology offers advantages such as reducing train following intervals and improving departure efficiency in station throat areas. However, existing train group operation control technologies rely on wireless communication networks along the railway line, which increases the conditions for their application. For lines without network coverage, existing methods cannot be used to implement train group operation control functions.

[0004] In the current urban rail transit sector, railway lines are covered by dedicated LTE wireless networks, providing wireless transmission channels between trains. However, many conventional or heavy-haul railway lines lack dedicated wireless network coverage. For these lines, existing train group operation methods relying on ground control equipment cannot meet the requirements for train group formation. Therefore, for lines without wireless network coverage, if trains need to operate in group mode, it is necessary to solve the problem of trains forming together when entering sections without wireless network coverage. In sections without wireless network coverage, trains rely on onboard antennas to establish vehicle-to-vehicle ad hoc network communication with preceding and following trains, transmitting information such as the position, speed, and integrity of preceding and following trains, thus enabling train group formation operation.

[0005] In summary, there is an urgent need for a technical solution for train group formation under conditions where there is no wireless network coverage between sections. Summary of the Invention

[0006] To address the aforementioned issues, this disclosure provides a train group formation method, system, device, and medium. For lines where the section is not covered by a wireless network, the train formation status and position identification are recorded before the train enters the section. Based on the group plan, formation commands are calculated for subsequent trains entering the section, ensuring that the train completes formation with the preceding train before entering the section. At the same time, for trains that have not completed formation upon entering the section, formation commands are stopped from being sent to them.

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

[0008] When a train departing from the station's wireless network coverage area passes a cancellation transponder set at the boundary of the wireless network coverage, the ground control equipment receives a cancellation request from the departing train. The ground control equipment records the departure train's identification and calculates a formation command for the following train based on the cancellation section location of the cancellation transponder.

[0009] When a train in the group plan enters the station's wireless network coverage area and passes the registration transponder set at the boundary of the wireless network coverage, the ground control equipment receives the registration request sent by the train. The ground control equipment records the identification of the train and, based on the identification of the following train and the group plan reported by the train, continues to send formation commands to the train.

[0010] Furthermore, it also includes:

[0011] When the Central Train Control (CTC) system issues a group plan to the trains to be dispatched, the trains in the group plan send their location information to the ground control equipment to complete the pre-screening of the trains.

[0012] Ground control equipment sends travel permits to trains in the group plan, with the travel permit for the leading train in the group plan extending to the wireless network coverage area.

[0013] Furthermore, it also includes:

[0014] When the leading vehicle in the group reaches the boundary of the control range of the ground control equipment, the ground control equipment sends a driving permit to the section. After the leading vehicle enters the section, it leaves the control range of the ground control equipment and calculates the driving permit according to the code sent by the track circuit.

[0015] The ground control equipment sends a travel permit to the rear of the preceding vehicle in the group plan. If the positional relationship between the preceding and following vehicles is consistent with the group plan, the ground control equipment sends a grouping command containing the information of the preceding vehicle to the following vehicle and a grouping command containing the information of the following vehicle to the preceding vehicle. At this time, the preceding and following vehicles are grouped.

[0016] Furthermore, upon receiving a cancellation request from a departing train, the ground control equipment records the train's identification and calculates formation commands for the following trains based on the cancellation section location of the cancellation transponder, including:

[0017] In the group plan, after the leading train and the following train complete the formation, the leading train travels to the cancellation section where the transponder is cancelled 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 cancellation train identification of the cancellation section.

[0018] If the ground control equipment determines that the positional relationship between the preceding and following trains is consistent with the group plan, and there are no other trains in front of the following train's locomotive to the cancellation section, and the train identification recorded on the cancellation section is the preceding train, then the ground control equipment will continue to send a formation command containing the preceding train's information to the following train.

[0019] Furthermore, it also includes:

[0020] When the following train is the last train in the group plan, it sends a cancellation request to the ground control equipment when it reaches the cancellation section. The ground control equipment sends a cancellation confirmation to the onboard equipment and records the cancellation train identification of the cancellation section.

[0021] Furthermore, upon receiving a cancellation request from a departing train, the ground control equipment records the train's identification and calculates formation commands for the following trains based on the cancellation section location of the cancellation transponder, including:

[0022] When the lead train in the group reaches the cancellation section where the transponder is cancelled, it sends a cancellation request to the ground control equipment. The ground control equipment sends a cancellation confirmation to the onboard equipment and records the cancellation train identification of the cancellation section.

[0023] In the group plan, the following train sends its position information to the ground control equipment. The ground control equipment sends a train operation permit to the following train. The train operation permit extends to the cancellation section. If the ground control equipment determines that there are no other trains in front of the following train to the cancellation section, and the cancellation train in the cancellation section is identified as the preceding train, which is consistent with the group plan of the following train, then the ground control equipment sends a formation command containing the preceding train information to the following train.

[0024] Before the following vehicle reaches the boundary of the control range of the ground control equipment, it completes the formation with the preceding vehicle. At this time, the following vehicle reports the group plan and the preceding vehicle information to the ground control equipment. The ground control equipment then stops sending driving permission to the following vehicle and continues to send formation commands with the preceding vehicle to the following vehicle.

[0025] The ground control equipment continuously sends grouping commands containing information about the preceding vehicle to the following vehicle. The following vehicle establishes a vehicle-to-vehicle communication connection with the preceding vehicle and operates in a group manner.

[0026] Furthermore, 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. After receiving the cancellation request from the following train, the ground control equipment replies with a cancellation confirmation and records the cancellation train identification of the cancellation section.

[0027] Furthermore, upon receiving a cancellation request from a departing train, the ground control equipment records the train's identification and calculates formation commands for the following trains based on the cancellation section location of the cancellation transponder, including:

[0028] When the lead train in the group reaches the cancellation section where the transponder is cancelled, it sends a cancellation request to the ground control equipment. The ground control equipment sends a cancellation confirmation to the onboard equipment and records the cancellation train identification of the cancellation section.

[0029] When the last car in the group plan sends its location information to the ground control equipment, the ground control equipment sends a train operation permit to the last car. The train operation permit extends to the cancellation section. The ground control equipment determines that there are no other trains in front of the last car to the cancellation section, and the cancellation train in the cancellation section is identified as the preceding car, which is consistent with the group plan to which the last car belongs. Then the ground control equipment sends a formation command containing the preceding car information to the last car.

[0030] The ground control equipment sends a formation command containing information about the preceding car to the last car. When the last car reaches the boundary of the control range of the ground control equipment, if the last car and the preceding car have not yet completed formation, the ground control equipment stops sending formation commands to the last car, and the last car travels in the single-train automatic block mode.

[0031] Furthermore, upon receiving the registration request from the arriving train, the ground control equipment records the train's identification and, based on the identification of the following train and the group plan reported by the train, continues to send formation commands to the arriving train, including:

[0032] When the lead 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 equipment. The ground control equipment sends a registration confirmation to the vehicle-mounted equipment. The lead vehicle sends its location information to the ground control equipment and reports the information of the following vehicle. At this time, the following vehicle is outside the coverage area of ​​the wireless network and has not registered with the ground control equipment.

[0033] If the positional relationship between the preceding and following vehicles of the ground control equipment is consistent with the current group plan, then the preceding vehicle will continuously send grouping commands containing information about the following vehicle.

[0034] Furthermore, it also includes:

[0035] When the following vehicle in the group plan sends a registration request to the ground control equipment and reports its location information and group status, the following vehicle reports its group status to the ground control equipment including the information of the preceding vehicle, and the preceding vehicle reports its group status to the ground control equipment including the information of the following vehicle, and the group status reported by the preceding and following vehicles is consistent with the positional relationship between the preceding and following vehicles in the current group plan, the ground control equipment continues to send group formation commands to the preceding and following vehicles.

[0036] Furthermore, upon receiving the registration request from the arriving train, the ground control equipment records the train's identification and, based on the identification of the following train and the group plan reported by the train, continues to send formation commands to the arriving train, including:

[0037] When the lead vehicle in the group reaches the registration section where the registered transponder is located, it sends a registration request to the ground control equipment. The ground control equipment sends a registration confirmation to the on-board equipment. The lead vehicle sends its location information to the ground control equipment and reports that there are no closely following vehicles. Then, the ground control equipment sends a disarming command to the lead vehicle.

[0038] Furthermore, it also includes:

[0039] When the following train in the group plan sends a registration request and reports its location information to the ground control equipment, the ground control equipment sends a train operation permit to the following train, with the permit extending to the rear of the preceding train. If the ground control equipment determines that the positional relationship between the preceding and following trains is consistent with the group plan, it sends a group formation command to the preceding and following trains. Based on the group formation command sent by the ground control equipment, the preceding and following trains establish train-to-train communication, exchange train location and speed information, calculate the target-speed control curve, and operate in group mode.

[0040] Secondly, a train group formation system includes:

[0041] Cancel transponders, register transponders and ground control equipment;

[0042] The cancellation transponder is set at the boundary of the wireless network coverage. When a train departing from the group plan passes the cancellation transponder and leaves the station's wireless network coverage area, the ground control equipment receives the cancellation request sent by the departing train. The ground control equipment records the identity of the departing train and calculates the grouping command for the following train based on the cancellation section position of the cancellation transponder.

[0043] The registration transponder is set at the boundary of the wireless network coverage. When a train in the group plan enters the station's wireless network coverage area through the registration transponder, the ground control equipment receives the registration request sent by the train. The ground control equipment records the identity of the train and continues to send formation commands to the train based on the identity of the following train and the group plan reported by the train.

[0044] Furthermore, it also includes:

[0045] When the Central Train Control (CTC) system issues a group plan to the trains to be dispatched, the trains in the group plan send their location information to the ground control equipment to complete the pre-screening of the trains.

[0046] Ground control equipment sends travel permits to trains in the group plan, with the travel permit for the leading train in the group plan extending to the wireless network coverage area.

[0047] Furthermore, it also includes:

[0048] When the leading vehicle in the group reaches the boundary of the control range of the ground control equipment, the ground control equipment sends a driving permit to the section. After the leading vehicle enters the section, it leaves the control range of the ground control equipment and calculates the driving permit according to the code sent by the track circuit.

[0049] The ground control equipment sends a travel permit to the rear of the preceding vehicle in the group plan. If the positional relationship between the preceding and following vehicles is consistent with the group plan, the ground control equipment sends a grouping command containing the information of the preceding vehicle to the following vehicle and a grouping command containing the information of the following vehicle to the preceding vehicle. At this time, the preceding and following vehicles are grouped.

[0050] Furthermore, upon receiving a cancellation request from a departing train, the ground control equipment records the train's identification and calculates formation commands for the following trains based on the cancellation section location of the cancellation transponder, including:

[0051] In the group plan, after the leading train and the following train complete the formation, the leading train travels to the cancellation section where the transponder is cancelled 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 cancellation train identification of the cancellation section.

[0052] If the ground control equipment determines that the positional relationship between the preceding and following trains is consistent with the group plan, and there are no other trains in front of the following train's locomotive to the cancellation section, and the train identification recorded on the cancellation section is the preceding train, then the ground control equipment will continue to send a formation command containing the preceding train's information to the following train.

[0053] Furthermore, it also includes:

[0054] When the following train is the last train in the group plan, it sends a cancellation request to the ground control equipment when it reaches the cancellation section. The ground control equipment sends a cancellation confirmation to the onboard equipment and records the cancellation train identification of the cancellation section.

[0055] Furthermore, upon receiving a cancellation request from a departing train, the ground control equipment records the train's identification and calculates formation commands for the following trains based on the cancellation section location of the cancellation transponder, including:

[0056] When the lead train in the group reaches the cancellation section where the transponder is cancelled, it sends a cancellation request to the ground control equipment. The ground control equipment sends a cancellation confirmation to the onboard equipment and records the cancellation train identification of the cancellation section.

[0057] In the group plan, the following train sends its position information to the ground control equipment. The ground control equipment sends a train operation permit to the following train. The train operation permit extends to the cancellation section. If the ground control equipment determines that there are no other trains in front of the following train to the cancellation section, and the cancellation train in the cancellation section is identified as the preceding train, which is consistent with the group plan of the following train, then the ground control equipment sends a formation command containing the preceding train information to the following train.

[0058] Before the following vehicle reaches the boundary of the control range of the ground control equipment, it completes the formation with the preceding vehicle. At this time, the following vehicle reports the group plan and the preceding vehicle information to the ground control equipment. The ground control equipment then stops sending driving permission to the following vehicle and continues to send formation commands with the preceding vehicle to the following vehicle.

[0059] The ground control equipment continuously sends grouping commands containing information about the preceding vehicle to the following vehicle. The following vehicle establishes a vehicle-to-vehicle communication connection with the preceding vehicle and operates in a group manner.

[0060] Furthermore, 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. After receiving the cancellation request from the following train, the ground control equipment replies with a cancellation confirmation and records the cancellation train identification of the cancellation section.

[0061] Furthermore, upon receiving a cancellation request from a departing train, the ground control equipment records the train's identification and calculates formation commands for the following trains based on the cancellation section location of the cancellation transponder, including:

[0062] When the lead train in the group reaches the cancellation section where the transponder is cancelled, it sends a cancellation request to the ground control equipment. The ground control equipment sends a cancellation confirmation to the onboard equipment and records the cancellation train identification of the cancellation section.

[0063] When the last car in the group plan sends its location information to the ground control equipment, the ground control equipment sends a train operation permit to the last car. The train operation permit extends to the cancellation section. The ground control equipment determines that there are no other trains in front of the last car to the cancellation section, and the cancellation train in the cancellation section is identified as the preceding car, which is consistent with the group plan to which the last car belongs. Then the ground control equipment sends a formation command containing the preceding car information to the last car.

[0064] The ground control equipment sends a formation command containing information about the preceding car to the last car. When the last car reaches the boundary of the control range of the ground control equipment, if the last car and the preceding car have not yet completed formation, the ground control equipment stops sending formation commands to the last car, and the last car travels in the single-train automatic block mode.

[0065] Furthermore, upon receiving the registration request from the arriving train, the ground control equipment records the train's identification and, based on the identification of the following train and the group plan reported by the train, continues to send formation commands to the arriving train, including:

[0066] When the lead 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 equipment. The ground control equipment sends a registration confirmation to the vehicle-mounted equipment. The lead vehicle sends its location information to the ground control equipment and reports the information of the following vehicle. At this time, the following vehicle is outside the coverage area of ​​the wireless network and has not registered with the ground control equipment.

[0067] If the positional relationship between the preceding and following vehicles of the ground control equipment is consistent with the current group plan, then the preceding vehicle will continuously send grouping commands containing information about the following vehicle.

[0068] Furthermore, it also includes:

[0069] When the following vehicle in the group plan sends a registration request to the ground control equipment and reports its location information and group status, the following vehicle reports its group status to the ground control equipment including the information of the preceding vehicle, and the preceding vehicle reports its group status to the ground control equipment including the information of the following vehicle, and the group status reported by the preceding and following vehicles is consistent with the positional relationship between the preceding and following vehicles in the current group plan, the ground control equipment continues to send group formation commands to the preceding and following vehicles.

[0070] Furthermore, upon receiving the registration request from the arriving train, the ground control equipment records the train's identification and, based on the identification of the following train and the group plan reported by the train, continues to send formation commands to the arriving train, including:

[0071] When the lead vehicle in the group reaches the registration section where the registered transponder is located, it sends a registration request to the ground control equipment. The ground control equipment sends a registration confirmation to the on-board equipment. The lead vehicle sends its location information to the ground control equipment and reports that there are no closely following vehicles. Then, the ground control equipment sends a disarming command to the lead vehicle.

[0072] Furthermore, it also includes:

[0073] When the following train in the group plan sends a registration request and reports its location information to the ground control equipment, the ground control equipment sends a train operation permit to the following train, with the permit extending to the rear of the preceding train. If the ground control equipment determines that the positional relationship between the preceding and following trains is consistent with the group plan, it sends a group formation command to the preceding and following trains. Based on the group formation command sent by the ground control equipment, the preceding and following trains establish train-to-train communication, exchange train location and speed information, calculate the target-speed control curve, and operate in group mode.

[0074] Thirdly, an electronic device 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 through the communication bus;

[0075] Memory, which stores computer programs;

[0076] When a processor executes a computer program stored in memory, it implements the aforementioned train group formation method.

[0077] Fourthly, a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described train group formation method.

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

[0079] This disclosure addresses lines without network coverage in certain sections. Trains are normally deregistered in the deregistration section, and the deregistered train's identification information is recorded in the deregistration section. By recording information such as the train's position, group status, and train identification before the preceding train enters the section, a formation command is sent to subsequent trains in the group plan. This ensures that subsequent trains complete formation with the preceding train before entering the section, enabling trains to operate in group mode even when the line does not have wireless network coverage.

[0080] Other features and advantages of this disclosure will be set forth in the following description and will be apparent in part from the description or may be learned by practicing the disclosure. The objects and other advantages of this disclosure may be realized and obtained by means of the structures pointed out in the description and the accompanying drawings. Attached Figure Description

[0081] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0082] Figure 1 This is a schematic flowchart of the grouping method according to an embodiment of the present disclosure;

[0083] Figure 2 This is a schematic diagram illustrating the departure of train 1 and train 2 from different track groups in Scenario 1 of this embodiment of the present disclosure;

[0084] Figure 3 This is a schematic diagram illustrating the extension of train 2's operating permit to the rear of train 1 in scenario 1 of this embodiment.

[0085] Figure 4 This is a schematic diagram of train 1 and train 2 completing their formation and train 1 being decoupled from the ground equipment in Scenario 1 of this embodiment of the present disclosure;

[0086] Figure 5 This is a schematic diagram of scenario 1 of the present disclosure, showing train 2 entering the section and deregistering with the ground control equipment;

[0087] Figure 6 This is a schematic diagram illustrating scenario 2 of the present disclosure, where train 1 is deregistered and train 1 and train 2 are not yet fully assembled.

[0088] Figure 7 This is a schematic diagram of scenario 2 of the present disclosure, in which train 1 is deregistered and train 2 completes formation with train 1 before entering the deregistration section;

[0089] Figure 8 This is a schematic diagram of train 1 being decommissioned in scenario 2 of this embodiment, showing train 2 completing its formation with train 1 before entering the decommissioning section, and a schematic diagram of train 2 decommissioning with the ground control equipment.

[0090] Figure 9 This is a schematic diagram illustrating scenario 3 of the present disclosure, where train 1 is deregistered and train 1 and train 2 are not yet fully assembled.

[0091] Figure 10 In Scenario 3 of this embodiment, train 1 is deregistered, and train 2 is not yet in formation with train 1 before entering the deregistration section. This is a schematic diagram of single-train operation.

[0092] Figure 11 This is a schematic diagram of scenario 4 of the present disclosure, where train 1 is registered, train 2 is not registered, and train 1 reports and train 2 completes the formation.

[0093] Figure 12This is a schematic diagram of train 2 registering and train 1 completing a formation in scenario 4 of this embodiment.

[0094] Figure 13 This is a schematic diagram illustrating scenario 5 of the present disclosure, where train 1 is registered, train 2 is not registered, and train 1 reports that train 2 has not completed its formation.

[0095] Figure 14 This is a schematic diagram of scenario 5 of the present disclosure, showing train 1 and train 2 registering, but train 1 and train 2 not yet being grouped together.

[0096] Figure 15 This is a schematic diagram of the grouping system structure according to an embodiment of the present disclosure;

[0097] Figure 16 This is a schematic diagram of the electronic device structure according to an embodiment of the present disclosure. Detailed Implementation

[0098] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0099] like Figure 1 As shown, a train group formation method includes:

[0100] S101, when a train departing from the station’s wireless network coverage area in the group plan passes a cancellation transponder set at the boundary of the wireless network coverage, the ground control equipment receives a cancellation request sent by the departing train, records the departure train’s identity, and calculates a grouping command for the following train based on the cancellation section location of the cancellation transponder.

[0101] S102, when a train in the group plan enters the station's wireless network coverage area and passes the registration transponder set at the boundary of the wireless network coverage, the ground control equipment receives the registration request sent by the train. The ground control equipment records the identity of the train and continues to send formation commands to the train based on the identity of the following train and the group plan reported by the train.

[0102] The specific implementation details are as follows:

[0103] Ground control equipment checks the following conditions to determine if a train meets the requirements for group formation:

[0104] (1) The order of the front and rear car positions should satisfy the train formation order in the group plan;

[0105] (2) The vehicle in front enters full monitoring mode and the vehicle in front completes the tail screening;

[0106] (3) The following vehicle enters full monitoring mode, and the driving permission endpoint of the following vehicle extends to the rear of the preceding vehicle.

[0107] Based on the above conditions, for sections without wireless network coverage, in order to record the normal entry of trains into sections without wireless network coverage, train cancellation transponders need to be set at the wireless network coverage boundary. When a train passes the cancellation transponder, it sends a cancellation request to the ground control equipment. The ground equipment records the identity of the normally cancelled train, which is used for subsequent train formation commands.

[0108] When a grouped train enters the wireless network coverage area, the ground control equipment should continue to send grouping commands to the train based on the identification of the following train and the group plan reported by the train.

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

[0110] Scenario 1: Before the preceding vehicle is deregistered, it completes its formation with the following vehicle;

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

[0112] CTC issues a train group plan [Group Plan 1, Number of Trains 2, Train Number 1, Train Number 2]. Train 1 and Train 2 send their location information to the ground control equipment, completing pre-train screening. The ground control equipment then sends operating permits to Train 1 and Train 2. Train 1's operating permit extends to the section.

[0113] like Figure 3 As shown, the train 2's operating permit extends to the rear of train 1;

[0114] When train 1 reaches X2LQG, the ground control equipment sends a train operation permit to the section. After entering the section, train 1 leaves the control range of the ground control equipment and calculates the train operation permit based on the track circuit code.

[0115] The ground control equipment sends a train operation permit to the rear of train 1, and determines that the positional relationship between train 1 and train 2 is consistent with the group formation plan. Then, the ground control equipment sends a formation command to train 2, indicating that the preceding car is train 1, and sends a formation command to train 1, indicating that the following car is train 2. At this point, train 1 and train 2 have completed their formation.

[0116] like Figure 4 As shown, train 1 and train 2 have completed their formation, and train 1 has been decoupled from the ground equipment;

[0117] After train 1 and train 2 are assembled, train 1 travels to the X3LQG cancellation section and sends a cancellation request to the ground control equipment. The ground control equipment sends a cancellation confirmation to train 1 and records the train identification of the X3LQG section as train 1.

[0118] If the ground control equipment determines that the preceding train of train 2 is train 1, and there are no other trains in front of the locomotive of train 2 up to the cancellation section, and the train identification recorded on the cancellation section is train 1, then the ground control equipment will continue to send the formation command of train 2 with the preceding train being train 1.

[0119] like Figure 5 As shown, train 2 enters the section and deactivates from the ground control equipment;

[0120] Train 2 is the last train in the group plan. When it reaches X3LQG, it sends a cancellation request to the ground control equipment. The ground control equipment sends a cancellation confirmation to the onboard equipment and records the cancelled train identification in the X3LQG section as Train 2.

[0121] Scenario 2: The preceding vehicle is deregistered, and the following vehicle completes its formation with the preceding vehicle before entering the deregistration section;

[0122] like Figure 6 As shown, train 1 was cancelled, and train 1 and train 2 were not properly grouped.

[0123] Train 1, as the lead train in the group plan, travels to X3LQG and sends a cancellation request to the ground control equipment. The ground control equipment sends a cancellation confirmation to the onboard equipment and records the cancelled train identification in the X3LQG section as Train 1.

[0124] Train 2 is the last train in the group plan and sends its location information to the ground control equipment. The ground control equipment sends a train operation permit to Train 2, with the permit extending to X3LQG. The ground control equipment determines that there are no other trains in front of Train 2 up to X3LQG, and that the train identification identifier of X3LQG is cancelled as Train 1, which is consistent with the group plan of station A where Train 2 is located. Therefore, the ground control equipment sends a formation command to Train 2, with the preceding train being Train 1.

[0125] like Figure 7 As shown, train 1 is deregistered, and train 2 completes its formation with train 1 before entering the deregistered section;

[0126] Train 2, being the last car in the group plan, sends its location information to the ground control equipment. The ground control equipment then sends a train operation permit to Train 2, extending the permit's endpoint to X3LQG. Train 2's train identification at X3LQG is changed to Train 1, consistent with the group plan at station A where Train 2 is located. The ground control equipment then sends a formation command to Train 2, indicating that the preceding car is Train 1. Before Train 2 reaches X2LQG, it completes formation with Train 1. At this point, Train 2 reports to the ground control equipment that the immediately preceding car in the group is Train 1. The ground control equipment then stops sending train operation permits to Train 2 but continues to send formation commands with Train 1.

[0127] like Figure 8 As shown, Train 1 is deregistered, and Train 2 completes its formation with Train 1 before entering the deregistration section. This is a schematic diagram of Train 2 deregistering with the ground control equipment.

[0128] The ground control equipment continuously sends formation commands to train 2, designating the preceding train as train 1. Train 2 establishes a communication connection with the preceding train 1 and operates in a group configuration. When train 2 reaches X3LQG, it sends a cancellation request to the ground control equipment. Upon receiving the cancellation request, the ground control equipment replies with a cancellation confirmation and records the cancelled train identification as train 2 in the X3LQG section.

[0129] Scenario 3: The preceding vehicle is deregistered, and the following vehicle enters the deregistration section without completing the formation;

[0130] like Figure 9 As shown, train 1 was cancelled, and train 1 and train 2 were not properly grouped.

[0131] Train 1, as the lead train in the group plan, travels to X3LQG and sends a cancellation request to the ground control equipment. The ground control equipment sends a cancellation confirmation to the onboard equipment and records the cancelled train identification in the X3LQG section as Train 1.

[0132] Train 2 is the last train in the group plan and sends its location information to the ground control equipment. The ground control equipment sends a train operation permit to Train 2, with the permit extending to X3LQG. The ground control equipment determines that there are no other trains in front of Train 2 up to X3LQG, and that the train identification identifier of X3LQG is cancelled as Train 1, which is consistent with the group plan of station A where Train 2 is located. Therefore, the ground control equipment sends a formation command to Train 2, with the preceding train being Train 1.

[0133] like Figure 10 As shown, train 1 is deregistered, and train 2 is not fully assembled with train 1 before entering the deregistered section. This is a schematic diagram of single-train operation.

[0134] The ground control equipment sends a formation command to train 2, indicating that the preceding train is train 1. If train 2 has not yet completed formation with train 1 after reaching X2LQG, the ground control equipment stops sending formation commands to train 2, and train 2 operates in single-train automatic block signaling mode.

[0135] Scenario 4: After the preceding vehicle registers, it completes grouping with the following vehicle;

[0136] CTC issues train group plans [Group Plan 1, Number of Trains 2, Train Number 1, Train Number 2].

[0137] like Figure 11 As 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, the lead train in the group plan, travels to X1JG and sends a registration request to the ground control equipment. The ground control equipment sends a registration confirmation to the onboard equipment. Train 1 sends its location information to the ground control equipment and reports that the next train in the group is Train 2. At this time, Train 2 is outside the coverage area of ​​the wireless network and has not registered with the ground control equipment.

[0139] If the ground control equipment determines that the next train in the current group of train 1 is train 2 and that this is consistent with the current group plan, it will continuously send the group formation command to train 1, indicating that the next train in the group is train 2.

[0140] like Figure 12 As shown, Train 2 is registered, and Train 2 and Train 1 are grouped together;

[0141] Train 2 sends a registration request to the ground control equipment and reports its location information and group status. Train 2 reports to the ground control equipment that the preceding train in the group is Train 1, and Train 1 reports to the ground control equipment that the following train in the group is Train 2. If the group status reported by Train 1 and Train 2 is consistent with the positional relationship between the preceding and following trains in the current group plan, then the ground control equipment continues to send group formation commands to Train 1 and Train 2.

[0142] Scenario 5: After the preceding vehicle registers, it is not grouped with the following vehicle;

[0143] CTC issues train group plans [Group Plan 1, Number of Trains 2, Train Number 1, Train Number 2].

[0144] like Figure 13 As shown, Train 1 is registered, Train 2 is not registered, and Train 1 reports that Train 2 and Train 2 have not completed their formation.

[0145] Train 1, as the lead train in the group plan, travels to X1JG and sends a registration request to the ground control equipment. The ground control equipment sends a registration confirmation to the onboard equipment. Train 1 sends its position information to the ground control equipment and reports that there are no closely following trains. Then, the ground control equipment sends a decoupling command to Train 1.

[0146] like Figure 14 As shown, Train 1 is registered, Train 2 is registered, and Train 1 and Train 2 have not yet completed their formation.

[0147] Train 2 sends a registration request and reports its location information to the ground control equipment. The ground control equipment sends a train operation permit to Train 2, with the permit extending to the rear of Train 1. The ground control equipment determines that the relative positions of Train 1 and Train 2 match the group formation plan and then sends a group formation command to both Train 1 and Train 2. Based on the group formation command sent by the ground control equipment, Train 1 and Train 2 establish train-to-train communication, exchange train location and speed information, calculate the target-speed control curve, and operate in group mode.

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

[0149] Cancel transponder 1501, register transponder 1502 and ground control equipment 1503;

[0150] The cancellation transponder 1501 is set at the boundary of the wireless network coverage. When a train departing in the group plan passes through the cancellation transponder 1501 and leaves the station's wireless network coverage area, the ground control equipment 1503 receives the cancellation request sent by the departing train. The ground control equipment 1503 records the identity of the departing train and calculates the grouping command based on the cancellation section position of the cancellation transponder 1501 as the next train.

[0151] The registration transponder 1502 is set at the boundary of the wireless network coverage. When a train in the group plan enters the station's wireless network coverage area through the registration transponder 1502, the ground control equipment 1503 receives the registration request sent by the train. The ground control equipment 1503 records the identity of the train and continues to send grouping commands to the train according to the identity of the following train and the group plan reported by the train.

[0152] In practice, there is a one-to-one correspondence between a train group formation system implementation method and a train group formation method, which will not be elaborated here.

[0153] like Figure 16As shown, this disclosure provides an electronic device, including a processor 1601, a communication interface 1602, a memory 1603, and a communication bus 1604, wherein the processor 1601, the communication interface 1602, and the memory 1603 communicate with each other through the communication bus 1604;

[0154] Memory 1603 stores computer programs;

[0155] When the processor 1601 executes the computer program stored in the memory 1603, it implements the above-described method.

[0156] This disclosure provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method.

[0157] The computer-readable storage medium may be included in the device / apparatus described in the above embodiments; or it may exist independently and not assembled into the device / apparatus. The computer-readable storage medium carries one or more programs that, when executed, implement the method according to the embodiments of this disclosure.

[0158] According to embodiments of this disclosure, the computer-readable storage medium can be a non-volatile computer-readable storage medium, such as including, but 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 thereof. In this disclosure, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0159] Although the present disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and such modifications or substitutions 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 train group formation, characterized in that, The method includes: When a train departing from the station's wireless network coverage area passes a cancellation transponder set at the boundary of the wireless network coverage, the ground control equipment receives a cancellation request from the departing train. The ground control equipment records the departure train's identification and calculates a formation command for the following train based on the cancellation section location of the cancellation transponder. When a train in the group plan enters the station's wireless network coverage area and passes the registration transponder set at the boundary of the wireless network coverage, the ground control equipment receives the registration request sent by the train. The ground control equipment records the identification of the train and continues to send formation commands to the train based on the identification of the following train and the group plan reported by the train. Ground control equipment checks the following conditions to determine if a train meets the requirements for group formation: The order of the front and rear cars must satisfy the train formation sequence in the group plan; The vehicle in front has entered full monitoring mode and has completed the tail screening. The following vehicle enters full monitoring mode, and the driving permission endpoint of the following vehicle extends to the rear of the vehicle in front.

2. The train group formation method according to claim 1, characterized in that, Also includes: When the Central Train Control (CTC) system issues a group plan to the trains to be dispatched, the trains in the group plan send their location information to the ground control equipment to complete the pre-screening of the trains. Ground control equipment sends travel permits to trains in the group plan, with the travel permit for the leading train in the group plan extending to the wireless network coverage area.

3. The train group formation method according to claim 2, characterized in that, Also includes: When the leading vehicle in the group reaches the boundary of the control range of the ground control equipment, the ground control equipment sends a driving permit to the section. After the leading vehicle enters the section, it leaves the control range of the ground control equipment and calculates the driving permit according to the code sent by the track circuit. The ground control equipment sends a travel permit to the rear of the preceding vehicle in the group plan. If the positional relationship between the preceding and following vehicles is consistent with the group plan, the ground control equipment sends a grouping command containing the information of the preceding vehicle to the following vehicle and a grouping command containing the information of the following vehicle to the preceding vehicle. At this time, the preceding and following vehicles are grouped.

4. A train group formation method according to claim 3, characterized in that, Upon receiving a cancellation request from a departing train, the ground control equipment records the train's identification and calculates formation commands for the following trains based on the cancellation section location of the cancellation transponder, including: In the group plan, after the leading train and the following train complete the formation, the leading train travels to the cancellation section where the transponder is cancelled 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 cancellation train identification of the cancellation section. If the ground control equipment determines that the positional relationship between the preceding and following trains is consistent with the group plan, and there are no other trains in front of the following train's locomotive to the cancellation section, and the train identification recorded on the cancellation section is the preceding train, then the ground control equipment will continue to send a formation command containing the preceding train's information to the following train.

5. A train group formation method according to claim 4, characterized in that, Also includes: When the following train is the last train in the group plan, it sends a cancellation request to the ground control equipment when it reaches the cancellation section. The ground control equipment sends a cancellation confirmation to the onboard equipment and records the cancellation train identification of the cancellation section.

6. A train group formation method according to claim 2, characterized in that, Upon receiving a cancellation request from a departing train, the ground control equipment records the train's identification and calculates formation commands for the following trains based on the cancellation section location of the cancellation transponder, including: When the lead train in the group reaches the cancellation section where the transponder is cancelled, it sends a cancellation request to the ground control equipment. The ground control equipment sends a cancellation confirmation to the onboard equipment and records the cancellation train identification of the cancellation section. In the group plan, the following train sends its position information to the ground control equipment. The ground control equipment sends a train operation permit to the following train. The train operation permit extends to the cancellation section. If the ground control equipment determines that there are no other trains in front of the following train to the cancellation section, and the cancellation train in the cancellation section is identified as the preceding train, which is consistent with the group plan of the following train, then the ground control equipment sends a formation command containing the preceding train information to the following train. Before the following vehicle reaches the boundary of the control range of the ground control equipment, it completes the formation with the preceding vehicle. At this time, the following vehicle reports the group plan and the preceding vehicle information to the ground control equipment. The ground control equipment then stops sending driving permission to the following vehicle and continues to send formation commands with the preceding vehicle to the following vehicle. The ground control equipment continuously sends grouping commands containing information about the preceding vehicle to the following vehicle. The following vehicle establishes a vehicle-to-vehicle communication connection with the preceding vehicle and operates in a group manner.

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, it sends a cancellation request to the ground control equipment when it reaches the cancellation section. After receiving the cancellation request from the following train, the ground control equipment replies with a cancellation confirmation and records the cancellation train identification of the cancellation section.

8. A train group formation method according to claim 2, characterized in that, Upon receiving a cancellation request from a departing train, the ground control equipment records the train's identification and calculates formation commands for the following trains based on the cancellation section location of the cancellation transponder, including: When the lead train in the group reaches the cancellation section where the transponder is cancelled, it sends a cancellation request to the ground control equipment. The ground control equipment sends a cancellation confirmation to the onboard equipment and records the cancellation train identification of the cancellation section. When the last car in the group plan sends its location information to the ground control equipment, the ground control equipment sends a train operation permit to the last car. The train operation permit extends to the cancellation section. The ground control equipment determines that there are no other trains in front of the last car to the cancellation section, and the cancellation train in the cancellation section is identified as the preceding car, which is consistent with the group plan to which the last car belongs. Then the ground control equipment sends a formation command containing the preceding car information to the last car. The ground control equipment sends a formation command containing information about the preceding car to the last car. When the last car reaches the boundary of the control range of the ground control equipment, if the last car and the preceding car have not yet completed formation, the ground control equipment stops sending formation commands to the last car, and the last car travels in the single-train automatic block mode.

9. A train group formation method according to claim 1, characterized in that, Upon receiving a registration request from an approaching train, the ground control equipment records the train's identification and, based on the identification of the following train and the group plan reported by the train, continues to send formation commands to the approaching train, including: When the lead 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 equipment. The ground control equipment sends a registration confirmation to the vehicle-mounted equipment. The lead vehicle sends its location information to the ground control equipment and reports the information of the following vehicle. At this time, the following vehicle is outside the coverage area of ​​the wireless network and has not registered with the ground control equipment. If the positional relationship between the preceding and following vehicles of the ground control equipment is consistent with the current group plan, then the preceding vehicle will continuously send grouping commands containing information about the following vehicle.

10. A train group formation method according to claim 9, characterized in that, Also includes: When the following vehicle in the group plan sends a registration request to the ground control equipment and reports its location information and group status, the following vehicle reports its group status to the ground control equipment including the information of the preceding vehicle, and the preceding vehicle reports its group status to the ground control equipment including the information of the following vehicle, and the group status reported by the preceding and following vehicles is consistent with the positional relationship between the preceding and following vehicles in the current group plan, the ground control equipment continues to send group formation commands to the preceding and following vehicles.

11. A train group formation method according to claim 1, characterized in that, Upon receiving a registration request from an approaching train, the ground control equipment records the train's identification and, based on the identification of the following train and the group plan reported by the train, continues to send formation commands to the approaching train, including: When the lead vehicle in the group reaches the registration section where the registered transponder is located, it sends a registration request to the ground control equipment. The ground control equipment sends a registration confirmation to the on-board equipment. The lead vehicle sends its location information to the ground control equipment and reports that there are no closely following vehicles. Then, the ground control equipment sends a disarming command to the lead vehicle.

12. A train group formation method according to claim 1, characterized in that, Also includes: When the following train in the group plan sends a registration request and reports its location information to the ground control equipment, the ground control equipment sends a train operation permit to the following train, with the permit extending to the rear of the preceding train. If the ground control equipment determines that the positional relationship between the preceding and following trains is consistent with the group plan, it sends a group formation command to the preceding and following trains. Based on the group formation command sent by the ground control equipment, the preceding and following trains establish train-to-train communication, exchange train location and speed information, calculate the target-speed control curve, and operate in group mode.

13. A train group formation system, characterized in that, include: Cancel transponders, register transponders and ground control equipment; The cancellation transponder is set at the boundary of the wireless network coverage. When a train departing from the group plan passes the cancellation transponder and leaves the station's wireless network coverage area, the ground control equipment receives the cancellation request sent by the departing train. The ground control equipment records the identity of the departing train and calculates the grouping command for the following train based on the cancellation section position of the cancellation transponder. The registration transponder is set at the boundary of the wireless network coverage. When a train in the group plan enters the station's wireless network coverage area through the registration transponder, the ground control equipment receives the registration request sent by the train. The ground control equipment records the identity of the train and continues to send formation commands to the train based on the identity of the following train and the group plan reported by the train. Ground control equipment checks the following conditions to determine if a train meets the requirements for group formation: The order of the front and rear cars must satisfy the train formation sequence in the group plan; The vehicle in front has entered full monitoring mode and has completed the tail screening. The following vehicle enters full monitoring mode, and the driving permission endpoint of the following vehicle extends to the rear of the vehicle in front.

14. A train group formation system according to claim 13, characterized in that, Also includes: When the Central Train Control (CTC) system issues a group plan to the trains to be dispatched, the trains in the group plan send their location information to the ground control equipment to complete the pre-screening of the trains. Ground control equipment sends travel permits to trains in the group plan, with the travel permit for the leading train in the group plan extending to the wireless network coverage area.

15. A train group formation system according to claim 14, characterized in that, Also includes: When the leading vehicle in the group reaches the boundary of the control range of the ground control equipment, the ground control equipment sends a driving permit to the section. After the leading vehicle enters the section, it leaves the control range of the ground control equipment and calculates the driving permit according to the code sent by the track circuit. The ground control equipment sends a travel permit to the rear of the preceding vehicle in the group plan. If the positional relationship between the preceding and following vehicles is consistent with the group plan, the ground control equipment sends a grouping command containing the information of the preceding vehicle to the following vehicle and a grouping command containing the information of the following vehicle to the preceding vehicle. At this time, the preceding and following vehicles are grouped.

16. A train group formation system according to claim 15, characterized in that, Upon receiving a cancellation request from a departing train, the ground control equipment records the train's identification and calculates formation commands for the following trains based on the cancellation section location of the cancellation transponder, including: In the group plan, after the leading train and the following train complete the formation, the leading train travels to the cancellation section where the transponder is cancelled 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 cancellation train identification of the cancellation section. If the ground control equipment determines that the positional relationship between the preceding and following trains is consistent with the group plan, and there are no other trains in front of the following train's locomotive to the cancellation section, and the train identification recorded on the cancellation section is the preceding train, then the ground control equipment will continue to send a formation command containing the preceding train's information to the following train.

17. A train group formation system according to claim 16, characterized in that, Also includes: When the following train is the last train in the group plan, it sends a cancellation request to the ground control equipment when it reaches the cancellation section. The ground control equipment sends a cancellation confirmation to the onboard equipment and records the cancellation train identification of the cancellation section.

18. A train group formation system according to claim 14, characterized in that, Upon receiving a cancellation request from a departing train, the ground control equipment records the train's identification and calculates formation commands for the following trains based on the cancellation section location of the cancellation transponder, including: When the lead train in the group reaches the cancellation section where the transponder is cancelled, it sends a cancellation request to the ground control equipment. The ground control equipment sends a cancellation confirmation to the onboard equipment and records the cancellation train identification of the cancellation section. In the group plan, the following train sends its position information to the ground control equipment. The ground control equipment sends a train operation permit to the following train. The train operation permit extends to the cancellation section. If the ground control equipment determines that there are no other trains in front of the following train to the cancellation section, and the cancellation train in the cancellation section is identified as the preceding train, which is consistent with the group plan of the following train, then the ground control equipment sends a formation command containing the preceding train information to the following train. Before the following vehicle reaches the boundary of the control range of the ground control equipment, it completes the formation with the preceding vehicle. At this time, the following vehicle reports the group plan and the preceding vehicle information to the ground control equipment. The ground control equipment then stops sending driving permission to the following vehicle and continues to send formation commands with the preceding vehicle to the following vehicle. The ground control equipment continuously sends grouping commands containing information about the preceding vehicle to the following vehicle. The following vehicle establishes a vehicle-to-vehicle communication connection with the preceding vehicle and operates in a group manner.

19. A train group formation system according to claim 18, characterized in that, When the following train is the last train in the group plan, it sends a cancellation request to the ground control equipment when it reaches the cancellation section. After receiving the cancellation request from the following train, the ground control equipment replies with a cancellation confirmation and records the cancellation train identification of the cancellation section.

20. A train group formation system according to claim 14, characterized in that, Upon receiving a cancellation request from a departing train, the ground control equipment records the train's identification and calculates formation commands for the following trains based on the cancellation section location of the cancellation transponder, including: When the lead train in the group reaches the cancellation section where the transponder is cancelled, it sends a cancellation request to the ground control equipment. The ground control equipment sends a cancellation confirmation to the onboard equipment and records the cancellation train identification of the cancellation section. When the last car in the group plan sends its location information to the ground control equipment, the ground control equipment sends a train operation permit to the last car. The train operation permit extends to the cancellation section. The ground control equipment determines that there are no other trains in front of the last car to the cancellation section, and the cancellation train in the cancellation section is identified as the preceding car, which is consistent with the group plan to which the last car belongs. Then the ground control equipment sends a formation command containing the preceding car information to the last car. The ground control equipment sends a formation command containing information about the preceding car to the last car. When the last car reaches the boundary of the control range of the ground control equipment, if the last car and the preceding car have not yet completed formation, the ground control equipment stops sending formation commands to the last car, and the last car travels in the single-train automatic block mode.

21. A train group formation system according to claim 13, characterized in that, Upon receiving a registration request from an approaching train, the ground control equipment records the train's identification and, based on the identification of the following train and the group plan reported by the train, continues to send formation commands to the approaching train, including: When the lead 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 equipment. The ground control equipment sends a registration confirmation to the vehicle-mounted equipment. The lead vehicle sends its location information to the ground control equipment and reports the information of the following vehicle. At this time, the following vehicle is outside the coverage area of ​​the wireless network and has not registered with the ground control equipment. If the positional relationship between the preceding and following vehicles of the ground control equipment is consistent with the current group plan, then the preceding vehicle will continuously send grouping commands containing information about the following vehicle.

22. A train group formation system according to claim 21, characterized in that, Also includes: When the following vehicle in the group plan sends a registration request to the ground control equipment and reports its location information and group status, the following vehicle reports its group status to the ground control equipment including the information of the preceding vehicle, and the preceding vehicle reports its group status to the ground control equipment including the information of the following vehicle, and the group status reported by the preceding and following vehicles is consistent with the positional relationship between the preceding and following vehicles in the current group plan, the ground control equipment continues to send group formation commands to the preceding and following vehicles.

23. A train group formation system according to claim 13, characterized in that, Upon receiving a registration request from an approaching train, the ground control equipment records the train's identification and, based on the identification of the following train and the group plan reported by the train, continues to send formation commands to the approaching train, including: When the lead vehicle in the group reaches the registration section where the registered transponder is located, it sends a registration request to the ground control equipment. The ground control equipment sends a registration confirmation to the on-board equipment. The lead vehicle sends its location information to the ground control equipment and reports that there are no closely following vehicles. Then, the ground control equipment sends a disarming command to the lead vehicle.

24. A train group formation system according to claim 13, characterized in that, Also includes: When the following train in the group plan sends a registration request and reports its location information to the ground control equipment, the ground control equipment sends a train operation permit to the following train, with the permit extending to the rear of the preceding train. If the ground control equipment determines that the positional relationship between the preceding and following trains is consistent with the group plan, it sends a group formation command to the preceding and following trains. Based on the group formation command sent by the ground control equipment, the preceding and following trains establish train-to-train communication, exchange train location and speed information, calculate the target-speed control curve, and operate in group mode.

25. 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 through the communication bus; Memory, which stores computer programs; A processor, when executing a computer program stored in memory, implements a train group formation method according to any one of claims 1-12.

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

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