Processing method for autonomous operation plan of coupled train, medium and electronic equipment

Abstract

The invention provides a coupled train autonomous operation plan processing method, a medium and an electronic device, communication between two coupled trains can be established and data synchronization can be performed after a first train and a second train are coupled, if the communication between the two coupled trains is normal, a master control train and a slave control train in the two coupled trains are determined, and the master control train and the slave control train are controlled by the electronic device. The master control train and the slave control train receive the train plan from the central train automatic monitoring system, the master control train executes the train plan and performs identity switching when the master-slave control identity switching condition is met, and the master control train after identity switching continues to execute the train plan, so that the autonomous operation of the coupled train can be maintained in the TACS environment, and the service life of the coupled train is prolonged. And during turn-back, the task handover of the coupled double vehicles is smooth without delay.

Description

Technical Field

[0001] This invention relates to the field of rail transit train control, and in particular to a method, medium, and electronic equipment for processing autonomous operation plans of coupled trains. Background Technology

[0002] Communication-Based Train Control (CBTC) is a train operation control system that utilizes bidirectional, continuous, high-capacity vehicle-to-ground wireless communication methods such as WLAN, LTE-M, and 5G-R to replace or partially replace traditional track circuits, enabling real-time information exchange between the train and ground control equipment. In a CBTC system, train plans are always stored in a central Automatic Train Supervision (ATS). The central ATS treats two coupled trains as a single train, consistent with the operation of non-coupled trains.

[0003] The Train Autonomous Circumambulation System (TACS) is an advanced form of CBTC technology, representing the future direction of rail transit signaling systems. Its most significant feature is the elimination of traditional area controllers, decentralizing the core logic and computing power of operation control to the train itself, and achieving coordinated operation between trains through direct car-to-car communication. In the TACS system, train plans are stored in the onboard controller, which handles routing, setting stop times, and other tasks independently. Since both trains before coupling each have their own planned operation functions, ensuring smooth operation and handover of train plans during autonomous operation after coupling is a key challenge that the TACS system needs to address.

[0004] Therefore, a technical solution is needed to execute train plans and hand over coupled trains in the TACS system. Summary of the Invention

[0005] One objective of this application is to provide a method for processing the autonomous operation plan of coupled trains, in order to solve the problem that it is difficult to guarantee the normal and continuous execution of the train plan during autonomous operation after train coupling in the existing TACS system.

[0006] To achieve the above objectives, some embodiments of this application provide a method for processing autonomous operation plans for coupled trains, the method comprising:

[0007] After the first and second trains are coupled together, communication is established between the two coupled trains.

[0008] After communication is established, the first train and the second train synchronize their data.

[0009] If the communication between the two coupled vehicles is normal, then the master control vehicle and the slave control vehicle among the two coupled vehicles are identified;

[0010] The master control car and slave control cars receive train plans from the central automatic train monitoring system;

[0011] The master control car executes the train plan and switches roles when the conditions for switching master and slave control roles are met.

[0012] After the role was switched, the main control train continued to execute the train plan.

[0013] Furthermore, after communication is established, the first train and the second train synchronize data, including:

[0014] The first and second trains synchronize train status information, planning information, and trackside information through a preset communication interface. Train status information includes train position, operating mode, train alignment status, and control identity. Planning information includes the train plan identifier, train plan version number, identifier of the currently executed train plan task, identifier of the currently executed train plan task segment, and route information being processed by the train. Trackside information includes the platform identifier most recently updated from the trackside and the platform status that has not been updated for trains whose control identity is a slave train.

[0015] Furthermore, if the platform status of a train whose control identity is a slave train is not updated, the train whose control identity is a master train will send the updated platform status unidirectionally to the train whose control identity is a slave train.

[0016] Furthermore, the communication interface includes an electrical interface and a wireless interface.

[0017] Furthermore, the first train and the second train synchronize train status information, planning information, and trackside information through a preset communication interface, including:

[0018] The first train sends the planned synchronization data to the second train via an electrical interface;

[0019] When the first train receives synchronization data from the second train via the electrical interface and the sequence number is correct, it confirms that the communication is normal.

[0020] When the synchronization waiting time of the first train at the electrical interface exceeds the preset waiting time threshold, the first train sends the planned synchronization data to the second train via the wireless interface. When the synchronization data is received and the sequence number is correct, the communication is confirmed to be normal.

[0021] Under normal communication conditions, the first and second trains synchronize train status information, planning information and trackside information through two-way interaction.

[0022] Furthermore, the master control car and slave control cars receive train plans from the central automatic train monitoring system, including:

[0023] If the communication between the two coupled cars is normal, the master control car and the slave control car will report that the synchronous communication with the central train automatic monitoring system is normal.

[0024] The central automatic train monitoring system issues train plans to the main control train and the slave control train;

[0025] After receiving the train plan from the control train, it sends the train plan identifier and version number to the master control train;

[0026] When the identifier and version number of the train plan from the slave train match the identifier and version number of the train plan it received, the master train reports the identifier and version number of the received train plan to the central automatic train monitoring system; otherwise, it reports a failure to receive the train plan to the central automatic train monitoring system.

[0027] Furthermore, if communication between the two coupled vehicles is normal, the master control vehicle and slave control vehicle among the two coupled vehicles are identified, including:

[0028] If communication between the two coupled trains is normal and both the first and second trains are controlled by either the master or slave train, then the master and slave trains are determined according to the preset master-slave determination rules. These rules include:

[0029] The train with a valid route between the first and second trains is designated as the master control train, and the train without a valid route is designated as the slave control train.

[0030] The train that is aligned with the first train and the second train is designated as the master control train, and the train that is not aligned is designated as the slave control train.

[0031] The train on the up track in the first and second trains is designated as the master control train, and the train on the down track is designated as the slave control train.

[0032] Furthermore, the master control vehicle switches identities when the master-slave control identity switching conditions are met, including:

[0033] When the master control car detects that the direction of the next station of the train is inconsistent with its own orientation, it will switch its control role to that of the slave control car.

[0034] When the original slave car detects that the direction of the next station of the train's plan is consistent with its own orientation and the original master car's control identity is that of a slave car, it will switch its control identity to that of a master car.

[0035] Some embodiments of this application also provide a computer-readable medium having computer-readable instructions stored thereon, which can be executed by a processor to implement the aforementioned processing method for the autonomous operation plan of coupled trains.

[0036] Some embodiments of this application also provide an electronic device, which includes a memory for storing computer program instructions and a processor for executing the computer program instructions, wherein when the computer program instructions are executed by the processor, the electronic device performs the aforementioned processing method for the autonomous operation plan of coupled trains.

[0037] Compared with the prior art, the solution provided in this application can establish communication and data synchronization between the two coupled trains after the first and second trains are coupled. If the communication between the two coupled trains is normal, the master control car and the slave control car in the two coupled trains are determined. The master control car and the slave control car receive the train plan from the central train automatic monitoring system. The master control car executes the train plan and performs identity switching when the master-slave control identity switching conditions are met. After the identity switching, the master control car continues to execute the train plan, thereby ensuring the autonomous operation of the coupled trains in the TACS environment and smooth and timeless handover of tasks between the coupled trains during turnaround. Attached Figure Description

[0038] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings.

[0039] Figure 1 A flowchart illustrating a method for processing an autonomous operation plan for coupled trains, provided for some embodiments of this application.

[0040] Figure 2 This is a schematic diagram illustrating data synchronization between a first train and a second train, provided for some embodiments of this application.

[0041] Figure 3 This is a schematic diagram illustrating the communication establishment state during the synchronization of train data in some embodiments of this application.

[0042] Figure 4 A schematic diagram of a coupled train provided for some embodiments of this application.

[0043] Figure 5 A schematic diagram of the train plan data receiving sequence for coupled trains provided for some embodiments of this application. Detailed Implementation

[0044] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. These embodiments are based on the technical solution of the present invention and provide detailed implementation methods and specific operating procedures. However, the scope of protection of the present invention is not limited to the following embodiments.

[0045] Here, the processing method for the autonomous operation plan of coupled trains in this application embodiment is suitable for scenarios where trains are coupled and then operated autonomously in a TACS environment.

[0046] In this scenario, since each of the coupled trains has its own train plan and can be activated and traction applied according to the train plan, the question of which train should be in control during autonomous operation is involved. Furthermore, after turning around, control needs to be switched to another train. Only after these issues are resolved can the normal and continuous execution of the operation plan be achieved when the coupled trains are in autonomous operation.

[0047] The method for processing the autonomous operation plan of coupled trains provided in this application can establish communication and data synchronization between the coupled trains after the first and second trains are coupled. If the communication between the coupled trains is normal, the master control car and slave control car of the coupled trains are determined. The master control car and slave control car receive the train plan from the central train automatic monitoring system. The master control car executes the train plan and performs identity switching when the master-slave control identity switching conditions are met. After the identity switching, the master control car continues to execute the train plan, thereby ensuring the autonomous operation of coupled trains in the TACS environment and smooth and timeless handover of tasks between the coupled trains during turnaround.

[0048] Figure 1 This application illustrates a process flow for electronic devices executing autonomous operation plans for coupled trains in some embodiments, such as... Figure 1 As shown, the method may include the following steps:

[0049] Step S101: After the first and second trains are coupled together, communication is established between the two coupled trains.

[0050] It is understood that electronic devices may include, but are not limited to, laptops, desktop computers, tablets, mobile phones, wearable devices, head-mounted displays, servers, mobile email devices, portable game consoles, portable music players, e-reader devices, televisions in which one or more processors are embedded or coupled, or other electronic devices capable of accessing networks.

[0051] Here, the operating data of the first and second trains before coupling are used for independent operation. After coupling, the two trains will operate as a single train and need to synchronize their data. Before data synchronization, communication between the two trains needs to be established.

[0052] In some embodiments of this application, the communication interface may include an electrical interface and a wireless interface.

[0053] Step S102: After communication is established, the first train and the second train synchronize their data.

[0054] In some embodiments of this application, the first train synchronizes its train status information, planning information, and trackside information with the first train through a preset communication interface.

[0055] Here, train status information may include, but is not limited to: train position, operating mode, train alignment status, and control identity. Planning information may include, but is not limited to: train plan identifier, train plan version number, identifier of the currently executing train plan task, identifier of the currently executing train plan task segment, and route information being processed by the train. Trackside information may include, but is not limited to: the platform identifier most recently updated from the trackside and the platform status that has not been updated for trains with the control identity of a slave train.

[0056] Figure 2 This application illustrates data synchronization between two trains in some embodiments, such as... Figure 2 As shown, the platform identifier most recently updated from the trackside is displayed in the bidirectional synchronous train status information, planning information, and trackside information of the first train.

[0057] In some embodiments of this application, the platform status that the train with the control identity of a slave train has not updated is sent unidirectionally from the train with the control identity of a master train to the train with the control identity of a slave train. Furthermore, the train with the control identity of a master train only sends the platform information updated by the train with the control identity of a master train from the trackside, based on the platform identifier (ID) sent by the train with the control identity of a slave train. The train with the control identity of a slave train does not obtain the platform information from the trackside, thereby reducing the amount of data transmitted.

[0058] In some embodiments of this application, the first train and the second train synchronize train status information, planning information, and trackside information through a preset communication interface, which may include the following steps:

[0059] 1) The first train sends planned synchronization data to the second train via an electrical interface;

[0060] Here, the communication method for the coupled trains is a redundant combination of electrical and wireless interfaces, with the electrical interface as the primary one and the wireless interface as the secondary one. When the first train detects that the mechanical coupler is connected and the electrical coupler is also connected, it begins to attempt to establish communication with the second train, first attempting to establish a link through the electrical interface.

[0061] Figure 3 The illustration shows the communication establishment state when trains are synchronizing data in some embodiments of this application.

[0062] 2) When the first train receives synchronization data from the second train at the electrical interface and the sequence number is correct, it confirms that the communication is normal; After confirming that communication was normal, the first train reported to the central ATS that the communication between the coupled trains was normal, and the first train and the second train communicated through the electrical interface.

[0063] 3) When the synchronization waiting time of the first train at the electrical interface exceeds the preset waiting time threshold, the first train sends the planned synchronization data to the second train through the wireless interface. When the synchronization data is received and the sequence number is correct, the communication is confirmed to be normal.

[0064] Here, if the synchronization waiting time of the first train on the electrical interface exceeds a preset waiting time threshold (e.g., 6 seconds), it indicates that the first train's attempt to establish a link has failed. In this case, the train adds coupling plan synchronization data to the radio interface with the second train and sends an alarm to the central ATS, while continuing to send synchronization data on the electrical interface. After the first train receives synchronization data with the correct sequence number from the second train via the radio interface, it reports to the central ATS that the coupling train communication is normal, and the first and second trains communicate via the radio interface, but the link establishment request on the electrical interface is still maintained. If the first train subsequently receives data from the other end via the electrical interface, it stops sending coupling synchronization data on the radio interface and allocates the traffic of the radio interface channel to other information. Furthermore, after confirming normal communication, if no data is received from the other end after exceeding the waiting time threshold, it is determined that communication has been interrupted, and communication needs to be re-established via the electrical and radio interfaces.

[0065] 4) Under normal communication conditions, the first train and the second train synchronize train status information, planning information and trackside information through two-way interaction.

[0066] Step S103: If the communication between the two coupled vehicles is normal, then determine the master control vehicle and the slave control vehicle among the two coupled vehicles.

[0067] Here, in the coupled trains, namely the first train and the second train, the train that activates and outputs control is called the master control car, and the following train is called the slave control car. Both the first and second trains can be activated and apply traction, and their orientations are opposite. In Fully Automatic Mode (FAM), the onboard controller of the coupled trains coordinates and determines the identities of the master control car and the slave control car. When communication between the two coupled trains is normal and the train plan is being executed, the onboard controller can determine the master control car and the slave control car according to the planned operating direction. Figure 4 The illustrations shown in some embodiments of this application depict coupled trains, such as... Figure 4 As shown, when the planned operating direction of the train is upward, car 2 is designated as the master control car and car 1 as the slave control car.

[0068] In some embodiments of this application, if the first train and the second train do not execute the train plan, the master control car and the slave control car are not switched between the two cars.

[0069] In some embodiments of this application, if the communication between the two coupled trains is normal and the control identities of the first train and the second train are both master train or slave train, the master train and slave train can be determined according to the preset master-slave train determination rules.

[0070] Here, the rules for determining the primary and secondary vehicles may include, but are not limited to, the following rules:

[0071] a) Designate the train with a valid route between the first and second trains as the master control train, and designate the train without a valid route as the slave control train;

[0072] b) Designate the aligned train of the first and second trains as the master control car, and designate the unaligned trains as slave control cars;

[0073] c) Designate the train on the up track of the first and second trains as the master control train and the train on the down track as the slave control train.

[0074] Among them, an effective route refers to a route that is consistent with the direction in which the train is positioned, such as... Figure 4 As shown, the effective route for car 4 is the route that travels in the upward direction.

[0075] In addition, the rules in the master and slave vehicle determination rules can have priorities. The rule with the highest priority is used first to determine the master and slave vehicles. For example, if the priority of rule a) is higher than that of rule b), which is higher than that of rule c), then rule a) is used first to determine the master and slave vehicles. If rule a) is not applicable, then rule b) is used to determine the master and slave vehicles. If rule b) is not applicable, then rule c) is used to determine the master and slave vehicles.

[0076] In step S104, the master control car and slave control car receive the train plan from the central automatic train monitoring system.

[0077] In some embodiments of this application, the receiving of train plans from the central automatic train monitoring system by the master control car and the slave control car may include the following steps:

[0078] 1) If the communication between the two coupled cars is normal, the master control car and the slave control car will report that the synchronous communication with the central train automatic monitoring system is normal;

[0079] 2) The central automatic train monitoring system issues train plans to the main control train and the slave control train;

[0080] 3) After receiving the train plan from the control car, send the train plan identifier and version number to the main control car;

[0081] 4) When the identifier and version number of the train plan from the slave train are consistent with the identifier and version number of the train plan it has received, the master train shall report the identifier and version number of the received train plan to the central automatic train monitoring system; otherwise, it shall report the failure to receive the train plan to the central automatic train monitoring system.

[0082] Specifically, once data synchronization is complete, coupled trains can operate autonomously and receive train plan-related data from the central ATS. Before the central ATS sends data, it should check the communication status of the coupled trains reported by the onboard controllers of the master and slave control cars. Train plans should not be sent to coupled trains that have not completed data synchronization. Instead, according to the ATS central control mode and the train plan, downgraded routes should be processed for trains that have not completed data synchronization.

[0083] For coupled trains that have completed data synchronization, the central ATS sends train plan data to both the master control car and the slave control car. The steps for sending the data are the same as those for sending train plans to individual trains.

[0084] After receiving the train plan-related data, the onboard controller of the coupled train sends its own train plan data identifier and version number to the train at the other end to confirm data consistency. The following explanation uses a slave-controlled train as an example. Figure 5 This application illustrates the train schedule data receiving sequence for coupled trains in some embodiments, such as... Figure 5 As shown, the master control car and slave control car respectively complete the reception of train plan-related data. The slave control car sends its own train plan identifier and version number to the master control car. The master control car compares the received train plan identifier and version number from the slave control car with its own train plan identifier and version number. If they are the same, it can be determined that the slave control car's train plan has been successfully received, and the master control car reports the train plan identifier and version number to the central ATS. Similarly, the master control car performs a similar operation, and the slave control car reports the train plan identifier and version number to the central ATS after the data matches.

[0085] Additionally, if the time the master train waits for the slave train to send the train plan identifier and version number exceeds the preset train plan reception synchronization threshold, it is considered that the slave train has failed to receive train plan-related data. The master train then clears the train plan-related data it has received and reports no data (i.e., reception failure) to the central ATS. The slave train performs similar processing.

[0086] After sending train plan data to the master and slave trains, the central ATS determines that the train plan issuance has failed if the waiting time for the master and slave trains to return the train plan identifier and version number exceeds a preset train plan feedback threshold, and can then reissue the train plan. Conversely, if the central ATS receives the train plan identifier and version number reported by the master and slave trains on time and they match the identifier and version number of the issued train plan, then the train plan issuance is confirmed as successful.

[0087] In step S105, the master control car executes the train plan and performs a switch when the master-slave control identity switching conditions are met.

[0088] Here, the master control car activates control and executes the train plan, while the slave control car does not activate control and follows the master control car.

[0089] In some embodiments of this application, when the master train executes the train plan, it also sends the identifier of the currently executed train plan task and the identifier of the task segment of the train plan to the slave train according to a preset synchronization period. The slave train updates its own stored train plan based on the received identifier of the train plan task and the identifier of the task segment of the train plan. Specifically, during autonomous operation, the slave train does not control the train, but updates its own train plan according to the identifier (ID) of the currently executed plan task and the identifier of the task segment synchronized by the master train. When the slave train detects that the task segment identifier of the master train plan is the next segment of its current task, the slave train updates the train plan task to the next segment. If the task segment identifier of the master train is the same as its own task segment identifier, or is the identifier of the previous task segment, the slave train does not take any action. If the difference between the task segment of the master train and its own task segment is large, or the identifier of the plan task is inconsistent, and neither the identifier of the plan task nor the identifier of the task segment is 0, the slave train should clear its own train plan task and send an alarm. In addition, if one of the coupled trains detects that it has no train schedule task, that is, the identifier of the schedule task and the identifier of the task segment are both 0, while the other train has a train schedule task, the train schedule task query will be continuously performed until the preset train schedule query time threshold is reached. If no train schedule task is found, the train schedule task of the train with the train schedule task will be assigned to the train without the train schedule task.

[0090] In addition, the two coupled trains synchronize their train status. When the master train is aligned with the platform, even if the slave train determines that its status is not aligned with the platform, it still confirms in the train plan that it has aligned with the platform.

[0091] In some embodiments of this application, the master vehicle performs identity switching when the master-slave control identity switching conditions are met, which may include the following steps:

[0092] 1) When the master control car detects that the direction of the next station of the train is inconsistent with its own orientation, it will switch its control role to that of the slave control car.

[0093] 2) When the original slave car detects that the next station direction of the train's plan is consistent with its own placement position and the original master car's control identity is a slave car, it will switch its control identity to master car.

[0094] Here, the master control car detects that the planned direction of the next station is inconsistent with its own position, indicating that it is currently at a turnaround platform. The master control car will then stop control and deactivate. Similarly, the original slave control car detects that the planned direction of the next station is consistent with its own position, indicating that it is currently at a turnaround platform. Since the original master control car has been downgraded to a slave control car, it is upgraded to a master control car, activated, and begins control, taking over the control of the coupled train and continuing the remaining countdown to trigger the next station route. Even if the upgraded master control car is currently not aligned with the platform, it will default to being aligned and will depart when the countdown ends.

[0095] In step S106, the main control car, after the identity switch, continues to execute the train plan.

[0096] After the countdown ends, the master control train (formerly the slave control train) begins to execute the train plan, thereby realizing the handover of the train plan and the continuous autonomous operation after the coupled trains turn around.

[0097] In addition, when clearing train schedule tasks, the central ATS simultaneously issues task clearing commands to the coupled master control car and slave control car. If the master control car and slave control car receive task clearing feedback data from the other car within the preset task clearing time threshold, it indicates that the train task clearing is successful.

[0098] This application also provides a computer-readable medium storing computer-readable instructions that can be executed by a processor to implement the aforementioned processing method for the autonomous operation plan of coupled trains.

[0099] This application also provides an electronic device, which includes a memory for storing computer program instructions and a processor for executing the computer program instructions, wherein when the computer program instructions are executed by the processor, the electronic device performs the aforementioned processing method for the autonomous operation plan of coupled trains.

[0100] In summary, the solution provided in this application can establish communication and data synchronization between the two coupled trains after the first and second trains are coupled. If the communication between the two coupled trains is normal, the master control car and slave control car among the two coupled trains are determined. The master control car and slave control car receive the train plan from the central train automatic monitoring system. The master control car executes the train plan and performs identity switching when the master-slave control identity switching conditions are met. After the identity switching, the master control car continues to execute the train plan, thereby ensuring the autonomous operation of the coupled trains in the TACS environment and ensuring smooth and timeless handover of tasks between the coupled trains during turnaround.

[0101] It should be noted that this application can be implemented in software and / or a combination of software and hardware, for example, using an application-specific integrated circuit (ASIC), a general-purpose computer, or any other similar hardware device. In one embodiment, the software program of this application can be executed by a processor to implement the steps or functions described above. Similarly, the software program of this application (including related data structures) can be stored in a computer-readable recording medium, such as RAM memory, a magnetic or optical drive, a floppy disk, or similar devices. Furthermore, some steps or functions of this application can be implemented in hardware, for example, as circuitry that cooperates with a processor to perform the various steps or functions.

[0102] In a typical configuration of this application, both the terminal and the network device include one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0103] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0104] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include non-transitory computer-readable media, such as modulated data signals and carrier waves.

[0105] Furthermore, a portion of this application can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to this application through the operation of the computer. The program instructions invoking the methods of this application may be stored in a fixed or removable recording medium, and / or transmitted via a data stream in a broadcast or other signal carrying medium, and / or stored in the working memory of a computer device operating according to the program instructions. Here, one embodiment of this application includes a device comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein, when the computer program instructions are executed by the processor, the device is triggered to run methods and / or technical solutions based on the foregoing embodiments of this application.

[0106] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within this application. No reference numerals in the claims should be construed as limiting the scope of the claims. Furthermore, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices recited in the apparatus claims may also be implemented by a single unit or device in software or hardware. The terms "first," "second," etc., are used to indicate names and do not indicate any particular order.

Claims

1. A processing method of an autonomous operation plan of a coupled train, characterized by, The method comprises: After the first train and the second train are coupled, communication between the two trains is established; After the communication is established, the first train and the second train are synchronized in data; If the communication between the two trains is normal, the master train and the slave train in the two trains are determined; The master train and the slave train receive the train plan from the central train automatic monitoring system; The master train executes the train plan and switches the identity when the master-slave control identity switching condition is met; The master train continues to execute the train plan after the identity is switched.

2. The method of claim 1, wherein, After the communication is established, the first train and the second train are synchronized in data, which comprises: The first train and the second train are synchronized in train status information, plan information and trackside information through a preset communication interface, wherein the train status information comprises train position, operation mode, train alignment state and control identity, the plan information comprises identification of the train plan, version number of the train plan, identification of the currently executed train plan task, identification of the currently executed train plan task section, route information being handled by the train, and the trackside information comprises identification of the most recently updated platform from the trackside and platform state of the train with the slave control identity which is not updated by the train with the master control identity.

3. The method of claim 2, wherein, The platform state of the train with the slave control identity which is not updated by the train with the master control identity is sent unidirectionally from the train with the master control identity to the train with the slave control identity.

4. The method of claim 2, wherein, The communication interface comprises an electrical interface and a wireless interface.

5. The method of claim 4, wherein, The first train and the second train are synchronized in train status information, plan information and trackside information through a preset communication interface, which comprises: The first train sends plan synchronization data to the second train through the electrical interface; The first train confirms that the communication is normal when it receives synchronization data from the second train through the electrical interface and the sequence number is correct; When the synchronization waiting time of the electrical interface exceeds the preset waiting time threshold, the first train sends the plan synchronization data to the second train through the wireless interface, and confirms that the communication is normal when it receives the synchronization data and the sequence number is correct; Under the condition that the communication is normal, the first train and the second train are synchronized in train status information, plan information and trackside information through bidirectional interaction.

6. The method of claim 2, wherein, The master train and the slave train receive the train plan from the central train automatic monitoring system, which comprises: If the communication between the two trains is normal, the master train and the slave train report to the central train automatic monitoring system that the synchronization communication is normal; The central train automatic monitoring system issues the train plan to the master train and the slave train; After receiving the train plan, the slave train sends the identification and version number of the train plan to the master train; When the identification and version number of the train plan from the slave train are consistent with the identification and version number of the train plan received by the master train, the master train reports to the central train automatic monitoring system the identification and version number of the received train plan, otherwise, the master train reports to the central train automatic monitoring system that the reception fails.

7. The method of claim 2, wherein, If the communication between the two coupled vehicles is normal, the master vehicle and the slave vehicle in the two coupled vehicles are determined, comprising: If the communication between the two coupled vehicles is normal and the control identities of the first train and the second train are both master vehicles or slave vehicles, the master vehicle and the slave vehicle are determined according to preset master-slave vehicle determination rules, wherein the master-slave vehicle determination rules comprise: setting the train with valid route in the first train and the second train as the master vehicle and setting the train without valid route as the slave vehicle; setting the aligned train in the first train and the second train as the master vehicle and setting the train without alignment as the slave vehicle; setting the train on the up track in the first train and the second train as the master vehicle and setting the train on the down track as the slave vehicle.

8. The method of claim 2, wherein, The master vehicle switches the control identity when the master-slave control identity switching condition is met, comprising: the master vehicle switches its control identity to the slave vehicle when it detects that the next station direction of the train plan is inconsistent with its own placement direction; the original slave vehicle switches its control identity to the master vehicle when it detects that the next station direction of the train plan is consistent with its own placement direction and the control identity of the original master vehicle is the slave vehicle.

9. A computer readable medium having stored thereon computer readable instructions executable by a processor to implement the method of any one of claims 1 to 8.

10. An electronic device comprising a memory for storing computer program instructions and a processor for executing the computer program instructions, wherein, When the computer program instructions are executed by the processor, the electronic device performs the method of any one of claims 1 to 8.

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