WO2022105865A1 - 车辆编组的方法、装置、系统、车辆及存储介质 - Google Patents

车辆编组的方法、装置、系统、车辆及存储介质 Download PDF

Info

Publication number
WO2022105865A1
WO2022105865A1 PCT/CN2021/131710 CN2021131710W WO2022105865A1 WO 2022105865 A1 WO2022105865 A1 WO 2022105865A1 CN 2021131710 W CN2021131710 W CN 2021131710W WO 2022105865 A1 WO2022105865 A1 WO 2022105865A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
distance
train
formation
inter
Prior art date
Application number
PCT/CN2021/131710
Other languages
English (en)
French (fr)
Inventor
卓开阔
陈楚君
刘伟华
吴智利
唐睿星
Original Assignee
比亚迪股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 比亚迪股份有限公司 filed Critical 比亚迪股份有限公司
Publication of WO2022105865A1 publication Critical patent/WO2022105865A1/zh
Priority to US18/196,224 priority Critical patent/US20230278609A1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/20—Trackside control of safe travel of vehicle or train, e.g. braking curve calculation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/34—Control, warning or like safety means along the route or between vehicles or trains for indicating the distance between vehicles or trains by the transmission of signals therebetween
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0018—Communication with or on the vehicle or train
    • B61L15/0027—Radio-based, e.g. using GSM-R
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/40—Handling position reports or trackside vehicle data

Definitions

  • the present disclosure relates to the field of vehicle control, and in particular, to a method, device, system, vehicle and storage medium for vehicle grouping.
  • Rail transit is a very important way of daily travel, such as trains, subways, high-speed rails, etc.
  • train operation it is a common control method to group vehicles according to the train capacity and the number of passengers.
  • most of the running lines have a very large number of passengers in one running direction, while the number of passengers in the other direction is very large.
  • the rail transit train adopts a virtual marshalling method based on vehicle-to-vehicle communication, but the safety of the virtual marshalling cannot be guaranteed, and there is a risk of vehicle collision during the marshalling process.
  • the present disclosure provides a method, device, system, vehicle and storage medium for vehicle grouping.
  • the present disclosure provides a method for vehicle formation, which can be applied to a first vehicle.
  • the method includes: receiving a train formation control instruction sent by a train control device, wherein the train formation control instruction is used to instruct a vehicle in a vehicle formation; determining a second vehicle to be formed according to the train formation control instruction; detecting a first vehicle distance with the second vehicle; receiving a second vehicle distance sent by the second vehicle, wherein the The second inter-vehicle distance is the distance between the first vehicle and the second vehicle detected by the second vehicle; the difference between the first inter-vehicle distance and the second inter-vehicle distance is less than or equal to the first distance
  • the first vehicle and the second vehicle are set as vehicles in the target train formation, and the first vehicle and the second vehicle are controlled to form the formation.
  • the present disclosure provides another vehicle formation method, which can be applied to a second vehicle.
  • the method includes: receiving a train formation control instruction sent by a train control device, wherein the train formation control instruction is used to indicate vehicles for vehicle formation; determine the first vehicle to be formed according to the train formation control instruction; detect the second vehicle distance between the second vehicle and the first vehicle; send the second vehicle distance to the first vehicle a vehicle so that the first vehicle controls the first vehicle and the second vehicle to form a group according to the second inter-vehicle distance.
  • the present disclosure provides a vehicle marshalling device, the device comprising: a memory on which a computer program is stored; and a processor for executing the computer program in the memory, so as to implement the above-mentioned first aspect the steps of the method.
  • the present disclosure provides a vehicle marshalling device, the device comprising: a memory on which a computer program is stored; and a processor for executing the computer program in the memory, so as to implement the above-mentioned second aspect the steps of the method.
  • the present disclosure provides a vehicle formation system, comprising: a train control device, a first vehicle, and a second vehicle; the train control device sends a train formation control instruction to the first vehicle and the second vehicle, the The train formation control instruction is used to instruct the vehicle for vehicle formation; the first vehicle includes the vehicle formation device described in the third aspect of the present disclosure; the second vehicle includes the vehicle formation device described in the fourth aspect of the present disclosure. .
  • the system further includes: a collision buffer assembly, the collision buffer assembly is provided at the connection between the first vehicle and the second vehicle, and is used for buffering the first vehicle and the second vehicle The impact of the collision.
  • a collision buffer assembly is provided at the connection between the first vehicle and the second vehicle, and is used for buffering the first vehicle and the second vehicle The impact of the collision.
  • the crash buffer assembly includes a semi-permanent drawbar.
  • the present disclosure provides a vehicle comprising the vehicle consist of the third aspect of the present disclosure.
  • the present disclosure provides a vehicle comprising the vehicle consist of the fourth aspect of the present disclosure.
  • the present disclosure provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements the steps of the method described in the first aspect of the present disclosure.
  • the present disclosure provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements the steps of the method described in the second aspect of the present disclosure.
  • the second vehicle to be formed is determined according to the train formation control instruction, the distance between the first vehicle and the second vehicle is detected, and the second vehicle sent by the second vehicle is received.
  • the second vehicle distance when the difference between the first vehicle distance and the second vehicle distance is less than or equal to the first distance threshold, take the first vehicle and the second vehicle as vehicles in the target train formation, and control the first vehicle and the second vehicle
  • the second vehicle is grouped to realize virtual grouping of vehicles.
  • the accuracy of the detected first vehicle distance is ensured by comparing the first vehicle distance with the second vehicle distance, and in the case of a fault in the distance measuring device, vehicle collisions caused by an error in the first vehicle distance detection can be avoided accidents, thereby improving the safety of vehicle marshalling.
  • FIG. 1 is a schematic diagram of a vehicle marshalling system provided by an embodiment of the present disclosure
  • FIG. 2 is a flowchart of a method for vehicle grouping provided by an embodiment of the present disclosure
  • FIG. 3 is a flowchart of a method for a second vehicle grouping provided by an embodiment of the present disclosure
  • FIG. 4 is a flowchart of a third vehicle grouping method provided by an embodiment of the present disclosure.
  • FIG. 5 is a schematic structural diagram of a vehicle marshalling device provided by an embodiment of the present disclosure.
  • FIG. 6 is a block diagram of a vehicle provided by an embodiment of the present disclosure.
  • the present disclosure can be applied to vehicle marshalling and control scenarios, especially the marshalling and control of rail transit trains.
  • rail transit trains use a virtual marshalling method based on vehicle-to-vehicle communication.
  • the virtual marshalling requires accurate inter-vehicle distances, and the accuracy of the vehicle's ranging equipment is relatively high. There is an error in the distance between the vehicles. Due to the inaccuracy of the obtained distance between the vehicles, it will lead to the failure of the vehicle grouping, and even the danger of vehicle collision during the vehicle grouping process, which is a potential safety hazard.
  • the measured distance is too large due to the fault of the ranging equipment, which may lead to vehicle collision; on the contrary, if the measured distance is too small due to the fault of the ranging equipment, the distance between vehicles may not reach the preset marshalling distance, resulting in vehicle marshalling. cannot be completed for a long time.
  • the present disclosure provides a method, device, system, vehicle, and storage medium for vehicle formation, the method comprising: after receiving a train formation control instruction sent by a train control device, determining a waiting group according to the train formation control instruction.
  • the second vehicle in the group detects the first vehicle distance with the second vehicle, and receives the second vehicle distance sent by the second vehicle; when the difference between the first vehicle distance and the second vehicle distance is less than or equal to the first distance threshold.
  • the first vehicle and the second vehicle are taken as the vehicles in the target train formation, and the first vehicle and the second vehicle are controlled to be formed to realize the virtual formation of the vehicles.
  • the accuracy of the detected first vehicle distance is ensured by comparing the first vehicle distance with the second vehicle distance, and in the case of a fault in the distance measuring device, vehicle collisions caused by an error in the first vehicle distance detection can be avoided accidents, thereby improving the safety of vehicle marshalling.
  • Fig. 1 is a schematic diagram of a vehicle marshalling system provided by an embodiment of the present disclosure.
  • the vehicle marshalling system includes: a first vehicle 101, a second vehicle 102, and a train control device 111, wherein:
  • the train control device 111 may be configured to send a train formation control instruction to the first vehicle and the second vehicle, where the train formation control instruction is used to instruct the vehicle for vehicle formation.
  • the first vehicle 101 and the second vehicle 102 are used as vehicles to be incorporated into the target train formation.
  • the first vehicle can be used as the rear vehicle to be incorporated into the target train formation, and the second vehicle can be used as the preceding vehicle to be incorporated into the target train formation.
  • a vehicle and a second vehicle can report their respective positions to the train control device. Wherein, the first vehicle and the second vehicle can communicate directly, thereby reducing the communication delay and improving the efficiency of vehicle grouping.
  • the first vehicle may also be a preceding vehicle to be incorporated into the target train formation
  • the second vehicle may be a rear vehicle to be incorporated into the target train formation, which is not limited in the present disclosure.
  • the first vehicle may be a single vehicle, or may be a vehicle after the formation is completed according to the above-mentioned train formation control instruction; similarly, the second vehicle may be a single vehicle, or may be formed according to the above-mentioned train formation control instruction A vehicle that has been assembled. The first vehicle and the second vehicle may be on the same train track for formation and control.
  • the vehicle formation system may further include: a collision buffer assembly, the collision buffer assembly is disposed at the connection between the first vehicle and the second vehicle, and is used for buffering the impact force of the collision between the first vehicle and the second vehicle.
  • a collision buffer assembly is disposed at the connection between the first vehicle and the second vehicle, and is used for buffering the impact force of the collision between the first vehicle and the second vehicle.
  • the collision buffer assembly may include a semi-permanent tow bar, and further, may also include a semi-permanent tow bar with a buffer function.
  • the crash buffer assembly may also include a coupler with a buffer function.
  • the above-mentioned train control device can also obtain an instruction to group the first vehicle and the second vehicle according to the control input of the train controller or the input of an automatic statistical algorithm.
  • the train control device can perform the following operations:
  • the position information of the first vehicle and the second vehicle is obtained, and the current distance between the first vehicle and the second vehicle is calculated.
  • the position information of the vehicle may be the relative position information of the vehicle on the track, which is obtained based on the positioning system of the vehicle and the track.
  • the accuracy of this location information may be relatively low, eg 2 meters, 5 meters, 10 meters or 20 meters.
  • a train composition control instruction is sent to the first vehicle and the second vehicle to instruct the vehicle to be composed.
  • the train formation control instruction may include the first target vehicle identifier and the second target vehicle identifier to be formed.
  • the first vehicle and the second vehicle may perform vehicle formation after receiving the train formation control instruction.
  • the specific manner in which the first vehicle and the second vehicle perform vehicle formation will be described in the following embodiments.
  • FIG. 2 is a method for vehicle grouping provided by an embodiment of the present disclosure.
  • the execution subject of the method may be the first vehicle, or may be a vehicle grouping device or electronic device included in the first vehicle , the method includes:
  • the train formation control instruction is used to instruct the vehicle for vehicle formation.
  • the train grouping control instruction can contain a variety of contents, and it can only contain the first instruction information, which is used to instruct the first vehicle to select a target vehicle with the closest distance in front to form the train; it can also include the vehicle identification to be grouped, which can be used with to instruct the first vehicle to select a corresponding target vehicle for grouping.
  • the train formation control instruction may be acquired and sent by the train control device.
  • the train formation control instruction only contains instruction information, then determine a target vehicle with the closest distance in front of the first vehicle as the second vehicle to be formed; if the train formation control instruction includes the first vehicle to be formed If there are two target vehicle identifiers, the first vehicle can determine the second vehicle to be grouped according to the second target vehicle identifier.
  • the first distance between the first vehicle and the second vehicle can be obtained by detecting the distance measuring device installed on the first vehicle, and the distance measuring device can be DLS (Direct Location System, direct positioning system),
  • DLS Direct Location System, direct positioning system
  • a distance measuring sensor may also be included, and the distance measuring sensor may measure the distance between the first vehicle and the opposite second vehicle by means of laser, radar, infrared or ultrasonic wave as the first vehicle distance.
  • the ranging sensor may be installed at the front position of the first vehicle, so as to improve the reliability of ranging. Conversely, when the first vehicle is the preceding vehicle, the ranging sensor may be installed at the rear of the first vehicle.
  • the ranging sensor may be a high-precision ranging sensor with a ranging accuracy less than or equal to 10 cm, so as to improve the accuracy of vehicle formation control.
  • S204 Receive a second vehicle distance sent by the second vehicle, where the second vehicle distance is a distance between the second vehicle and the first vehicle detected by the second vehicle.
  • the second inter-vehicle distance can also be detected by a distance measuring device installed on the second vehicle, and the received second inter-vehicle distance can be directly used as the second inter-vehicle distance sent by the second vehicle.
  • the second vehicle may send both the second vehicle distance and the second vehicle identification.
  • the train formation control instruction includes the second target vehicle identifier to be formed: if the received second vehicle identifier is the train formation control instruction If the second target vehicle identifier in the train set control instruction is not the second target vehicle identifier in the train formation control instruction, then confirm that the second vehicle distance is not to be received. Sent by the second vehicle in the marshalling, discarded and not used. In this way, the interference of other vehicles when multiple vehicles send commands at the same time can be avoided, and the accuracy of vehicle grouping can be improved.
  • the train formation control instruction received by the first vehicle is time-sensitive, that is, if the second vehicle spacing sent by the second vehicle is not received within the preset time, the current vehicle formation will be stopped, and the train control device will be notified. . In this way, the reliability of the vehicle composition can be further improved.
  • the first distance threshold may be 0, indicating that the distance between the first vehicle and the second vehicle is equal; it may also be set from 1 cm to Any distance between 1 meter, for example, in the case that the ranging accuracy of the ranging sensor is less than or equal to 10 cm, the first distance threshold may be 10 cm or 20 cm.
  • the difference between the first inter-vehicle distance and the second inter-vehicle distance is less than or equal to the first distance threshold, it is used to confirm the accuracy of the detected first inter-vehicle distance and avoid the failure of the distance measuring equipment or the existence of obstacles in the middle of the vehicle. An issue that caused the first detected vehicle spacing to be incorrect.
  • the first vehicle may also be controlled to drive toward the second vehicle at the preset vehicle speed until the first vehicle distance between the first vehicle and the second vehicle is less than or equal to
  • the first vehicle and the second vehicle are used as vehicles in the target train set.
  • a group request can be sent to the second vehicle first, so that the second vehicle can reduce the speed or enter a stationary state after receiving the group request, and then control the second vehicle.
  • a vehicle travels towards the second vehicle at a preset speed until the first vehicle distance between the first vehicle and the second vehicle is less than or equal to the preset composition distance, the first vehicle and the second vehicle are regarded as the train group in the target train composition. vehicle.
  • the second vehicle to be formed is determined according to the train formation control instruction, the first vehicle distance from the second vehicle is detected, and the first vehicle sent by the second vehicle is received.
  • Two-vehicle distance when the difference between the first vehicle distance and the second vehicle distance is less than or equal to the first distance threshold, take the first vehicle and the second vehicle as the vehicles in the target train formation, and control the first vehicle and the second vehicle. The two vehicles are grouped to realize the virtual grouping of vehicles.
  • the accuracy of the detected first vehicle distance is ensured by comparing the first vehicle distance with the second vehicle distance, and in the case of a fault in the distance measuring device, vehicle collisions caused by an error in the first vehicle distance detection can be avoided accidents, thereby improving the reliability of vehicle marshalling.
  • the method further includes:
  • the driving of the first vehicle is controlled to shorten the first inter-vehicle distance between the first vehicle and the second vehicle.
  • the manner of controlling the driving of the first vehicle may include any one of the following control manners:
  • the traction force may be applied to control the first vehicle to travel in the direction of the second vehicle, so as to shorten the first inter-vehicle distance between the first vehicle and the second vehicle.
  • the traction force can be increased, for example, the traction force is increased from 5% to 10% of the total traction force of the vehicle, and the speed of the first vehicle is increased to shorten the distance between the first vehicle and the first vehicle. 2.
  • the braking force When the first vehicle is in a running state and a relatively large braking force is applied, the braking force may be reduced, and the vehicle speed of the first vehicle may be increased, so as to shorten the first vehicle distance between the first vehicle and the second vehicle.
  • the first inter-vehicle distance is large (for example, the first inter-vehicle distance is 20 meters or 30 meters) or the difference between the first inter-vehicle distance and the preset grouping distance is large (for example, the preset grouping distance is 1 meter, the first inter-vehicle distance is 1 meter).
  • the distance between vehicles is 10 meters
  • a larger traction force can be applied, for example, 20% traction force can be applied to control the first vehicle to drive at a faster speed, so as to quickly shorten the first vehicle between the first vehicle and the second vehicle. spacing;
  • the first inter-vehicle distance is small (for example, the first inter-vehicle distance is 2 meters) or the difference between the first inter-vehicle distance and the preset grouping distance is small (for example, the preset grouping distance is 10 meters, and the first inter-vehicle distance is 11 meters)
  • a smaller traction force such as 2% traction force, can be added to control the first vehicle to drive at a slower speed, so that the first vehicle distance between the first vehicle and the second vehicle can be precisely controlled to be less than or equal to the preset grouping distance without the first vehicle colliding with the second vehicle.
  • the first vehicle spacing is periodically detected, and if the first vehicle spacing detected in a continuous preset number of cycles is less than or equal to the preset formation distance, the first vehicle and the second vehicle are used as the target train formation. and control the first vehicle and the second vehicle to be grouped.
  • the detection period for detecting the first inter-vehicle distance can be any preset time period between 1 millisecond and 10 seconds, and can be set according to the control accuracy requirements of the first inter-vehicle distance and the grouping target distance according to the vehicle grouping. For high control accuracy, a smaller detection period can be used; on the contrary, if the requirements for control accuracy are not high, in order to reduce the load of the control system, a larger detection period can be used.
  • the above preset number can also be set according to the requirements of control accuracy and grouping time. For example, if the control accuracy is high and the grouping time is low, a larger preset number can be set, for example, when the detection period is 10 In the case of milliseconds, the preset number can be set to 300; in the case of the detection period of 50 milliseconds, the preset number can be set to 100. For another example, if the grouping duration is required to be relatively high, that is, the grouping is required to be completed in a short time, a smaller preset number can be set, for example, when the detection period is 10 milliseconds, the preset number can be set to 20; In the case where the detection period is 50 ms, the preset number can be set to 10.
  • the judgment condition that the first inter-vehicle distances detected within a continuous preset number of cycles are all less than or equal to the preset grouping distance can also be used as the judgment condition that the first inter-vehicle distances detected within a continuous preset period of time are all less than or equal to the preset grouping distance.
  • the preset grouping distance is used as a judgment condition, and the preset time can be any time between 100 milliseconds and 10 seconds.
  • the distance between the first vehicle and the second vehicle is judged to be relatively stable under the condition that the first vehicle distance detected in the consecutive preset number of cycles is less than or equal to the preset grouping distance, and at this time, the distance between the first vehicle and the second vehicle is determined to be relatively stable.
  • the first vehicle and the second vehicle are used as vehicles in the target train formation, which further improves the reliability of the vehicle formation.
  • FIG. 3 is a second vehicle grouping method provided by an embodiment of the present disclosure.
  • the execution body of the method may be the second vehicle, or may be an electronic device included in the second vehicle for vehicle grouping , the method includes:
  • S301 Receive a train formation control instruction sent by a train control device.
  • the train formation control instruction is used to instruct the vehicle for vehicle formation.
  • the content that the train composition control instruction can contain can be in multiple ways, and it can only contain the second instruction information, and the second knowledge information is used to instruct the second vehicle to select a target vehicle with the closest distance behind the vehicle for composition; also The identifier of the first vehicle to be grouped may be included to instruct the second vehicle to select a corresponding target vehicle for grouping.
  • the train formation control instruction may be acquired and sent by the train control device.
  • the backward operation is prohibited during the train formation process or during the synchronous operation process after the train formation is successful. If the train formation fails or the train formation is cancelled, the original operation mode can be restored, and the backward operation is allowed to be performed according to the original operation mode.
  • step S202 for the specific method of determining the first vehicle, reference may be made to the method of determining the second vehicle in the above-mentioned step S202, which will not be repeated here.
  • step S203 for the specific method of detecting the second vehicle distance, reference may be made to the method of detecting the first vehicle distance in the above step S203, which will not be repeated here.
  • the first vehicle to be formed is determined according to the train formation control instruction, the second vehicle distance from the first vehicle is detected, and the second vehicle distance is sent to the first vehicle.
  • One vehicle so that the first vehicle controls the first vehicle and the second vehicle to form a group according to the second inter-vehicle distance, thereby realizing the virtual grouping of the vehicles.
  • the vehicle grouping time can be reduced and the grouping efficiency can be improved.
  • the comparison between the first vehicle distance and the second vehicle distance can ensure the accuracy of the detection of the first vehicle distance and avoid vehicle collisions caused by errors in the first vehicle distance detection. accidents, thereby improving the reliability of vehicle marshalling.
  • the second vehicle distance between the second vehicle and the first vehicle may also be periodically detected, in a continuous preset number of times.
  • the second inter-vehicle distances detected in the period are all less than or equal to the preset composition distance, the first vehicle and the second vehicle are used as vehicles in the target train composition.
  • the judgment condition that the second inter-vehicle distances detected within a continuous preset number of cycles are all less than or equal to the preset grouping distance can also be used as the judgment condition that the second vehicle-to-vehicle distances detected within the continuous preset period of time are all less than or equal to the preset grouping distance.
  • the preset grouping distance is used as a judgment condition, and the preset time can be any time between 100 milliseconds and 10 seconds.
  • the distance between the first vehicle and the second vehicle is relatively stable under the condition that the second vehicle distance detected in a continuous preset number of cycles is less than or equal to the preset grouping distance.
  • the first vehicle and the second vehicle are used as vehicles in the target train formation, which further improves the reliability of the vehicle formation.
  • FIG. 4 is a third vehicle grouping method provided by an embodiment of the present disclosure. As shown in FIG. 4 , the method includes:
  • the train control device sends a train composition control instruction to the first vehicle and the second vehicle.
  • the train control device may determine the first vehicle and the second vehicle to be composed based on the control instruction of the controller, and send the train composition control instruction to the first vehicle and the second vehicle, where the train composition control instruction is used to indicate Vehicles for vehicle grouping.
  • the train composition control instruction may include a first target vehicle identification and a second target vehicle identification to be composed.
  • the first target vehicle identification may be the identification of the following vehicle to be grouped
  • the second target vehicle identification may be the identification of the preceding vehicle to be grouped.
  • the train formation control command may be time-sensitive, that is, after the train control center sends the train formation control command, if the train formation completion command sent by the first vehicle and the second vehicle is not received within a preset time, the train formation completion command will be confirmed. If the train formation fails this time, a train formation stop command can be sent to the first vehicle and the second vehicle. Similarly, if the first vehicle or the second vehicle does not complete the current vehicle formation within the preset time after receiving the train formation control instruction, the first vehicle or the second vehicle can stop the current vehicle formation and notify the train control device. In this way, the reliability and effectiveness of the vehicle formation can be improved, and the problem that the train cannot be stopped in time after the failure of the formation can be avoided.
  • the first vehicle receives the train formation control instruction sent by the train control device.
  • the first vehicle determines whether the first vehicle identifier is the first target vehicle identifier in the train composition control instruction.
  • the first vehicle identification of the above-mentioned first vehicle may be a preset identification in the vehicle control software, or may be a hardware identification set on the first vehicle, for example, may be the hardware identification of the vehicle's on-board control system, or the vehicle's Directly locate the hardware identification of the system. In this way, it is possible to avoid receiving an erroneous formation control instruction and triggering an erroneous formation control, thereby improving the reliability and safety of vehicle formation.
  • the vehicle formation is stopped, and subsequent steps are not performed. At this time, the formation can also be sent to the train control device. Deny the order.
  • the first vehicle determines the second vehicle to be formed according to the train formation control instruction.
  • a candidate vehicle may be determined first according to the train formation control instruction; then vehicle identification verification is performed on the candidate vehicle to determine whether the vehicle identification of the candidate vehicle is the second target vehicle identification in the train formation control instruction; after determining If the first vehicle identifier of the first vehicle is the first target vehicle identifier in the train formation control instruction, and the vehicle identifier of the candidate vehicle is the second target vehicle identifier in the train formation control instruction, the candidate vehicle is used as the first target vehicle identifier.
  • Second vehicle perform the above steps of controlling the first vehicle and the second vehicle to form a group; when it is determined that the vehicle identifier of the candidate vehicle is not the second target vehicle identifier in the train formation control instruction, stop the vehicle formation and no longer execute
  • a formation rejection instruction may also be sent to the train control device, so that the train control device notifies the second vehicle to stop the vehicle formation after receiving the formation rejection instruction.
  • the first vehicle sends the first vehicle identification of the first vehicle to the candidate vehicle.
  • the candidate vehicle receives the first vehicle identification, it is determined whether the first vehicle identification is the first target vehicle identification in the train composition control instruction, where the first vehicle identification is the first target vehicle in the train composition control instruction In the case of the identification, a successful vehicle identification verification instruction is sent to the first vehicle. In addition, the candidate vehicle may also carry the vehicle identification of the candidate vehicle in the identification verification success instruction. If the first vehicle identification is not the first target vehicle identification in the train composition control instruction, an identification verification failure instruction is sent to the first vehicle or no instruction is sent to the first vehicle. It should be noted that the candidate vehicle has received the train group control instruction sent by the train control device before receiving the connection establishment request. If the train composition control instruction is not received, no instruction may be sent to the first vehicle.
  • the first vehicle receives the successful identification verification instruction sent by the candidate vehicle, it is determined that the vehicle identification verification is successful, that is, it is determined that the vehicle identification of the candidate vehicle is the second target vehicle identification in the train formation control instruction.
  • the first vehicle may also perform identification verification according to the vehicle identification of the candidate vehicle and the identification of the second target vehicle in the train formation control instruction.
  • the candidate vehicle is regarded as the second vehicle, and the vehicle formation is continued, thus realizing the two-way verification of the vehicle identification and further improving the safety.
  • the vehicle identification verification has failed, that is, it is determined that the vehicle identification of the candidate vehicle is not in the train formation control instruction. the second target vehicle identification.
  • the above-mentioned process of vehicle identification verification with the candidate vehicle can also be initiated by the candidate vehicle, that is, the candidate vehicle first sends the vehicle identification of the candidate vehicle, and after the first vehicle receives the vehicle identification of the candidate vehicle, the candidate vehicle is sent to the candidate vehicle.
  • the above-mentioned vehicle identification verification with the candidate vehicle may also be performed during the process of establishing the connection between the first vehicle and the candidate vehicle, in the following manner:
  • the first vehicle sends a connection establishment request to the candidate vehicle, and the connection establishment request carries the first vehicle identification of the first vehicle.
  • the candidate vehicle determines whether the first vehicle identifier in the connection establishment request is the first target vehicle identifier in the received train formation control instruction, where the first vehicle identifier is the train formation control instruction In the case of the first target vehicle identification in the train, send the connection establishment successful instruction to the first vehicle; if the first vehicle identification is not the first target vehicle identification in the train formation control instruction, send to the first vehicle. Connection establishment fails command or no command is sent to the first vehicle. It should be noted that the candidate vehicle has received the train group control instruction sent by the train control device before receiving the connection establishment request. If the train composition control instruction is not received, the connection establishment request may not be processed, and no instruction may be sent to the first vehicle.
  • the vehicle identification verification is successful, that is, it is determined that the vehicle identification of the candidate vehicle is the second target vehicle identification in the train formation control instruction. Conversely, if the first vehicle receives the connection establishment failure instruction sent by the candidate vehicle or fails to receive the connection establishment successful instruction within a certain period of time, it is determined that the vehicle identification verification fails, that is, it is determined that the vehicle identification of the candidate vehicle is not in the train formation control instruction. the second target vehicle identification.
  • the vehicle identification verification is performed with the candidate vehicle, and the candidate vehicle can also actively initiate a connection establishment request and carry the vehicle identification of the candidate vehicle.
  • the first vehicle receives the connection establishment request, and according to the candidate vehicle
  • the vehicle identification and the second target vehicle identification in the train composition control instruction are subjected to identification verification to determine whether the vehicle identification of the candidate vehicle is the second target vehicle identification in the train composition control instruction.
  • the vehicle-to-vehicle communication delay between the first vehicle and the second vehicle can also be detected, and in the case that the vehicle-to-vehicle communication delay is less than or equal to the first delay threshold, continue to execute the subsequent steps. Step, control the first vehicle and the second vehicle to group; otherwise, stop the vehicle grouping. In this way, the real-time control of the vehicle by the vehicle-mounted control system can be ensured during the vehicle grouping process.
  • the first delay threshold can be set to any value between 1 millisecond and 1000 milliseconds according to the precision of vehicle control. For example, if the control precision is required to be high, it can be 1 millisecond, 10 milliseconds or 50 milliseconds. The control precision is low, which can be 100 milliseconds or 500 milliseconds.
  • the detection of the above vehicle-to-vehicle communication delay may be detected and acquired by the first vehicle and the second vehicle sending a delay detection message to each other, or may be detected and acquired by using an interaction message established by a communication connection.
  • a system self-check may be performed, and whether the first vehicle is in safe operation is determined according to the system self-check result. state; when the first vehicle is in a safe running state, the first vehicle and the second vehicle are controlled to form groups; otherwise, the vehicle grouping is stopped. In this way, the safety and effectiveness of vehicle grouping can be ensured, and safety accidents can be avoided during the vehicle grouping process.
  • the system self-check may be self-check on the communication state, driving output performance and braking output performance of the vehicle. It should be noted that, in order to ensure the safety of the train formation, when the first vehicle is the rear vehicle, it is necessary to perform self-check on the braking output performance, so that when an abnormality occurs in the formation, the emergency braking can be successfully performed to avoid The occurrence of train collisions.
  • the second vehicle receives the train formation control instruction sent by the train control device.
  • the second vehicle determines whether the second vehicle identifier of the second vehicle is the second target vehicle identifier in the train composition control instruction.
  • the second vehicle determines the first vehicle to be formed according to the train formation control instruction.
  • the first vehicle detects the first vehicle distance from the second vehicle.
  • the second vehicle detects the second vehicle distance from the first vehicle, and sends the second vehicle distance to the first vehicle.
  • the first vehicle can control the vehicle to perform the train formation according to the second inter-vehicle distance.
  • step S408 for the implementation manner of detecting the first inter-vehicle distance in step S408 and detecting the second vehicle in step S409, reference may be made to the manner in the above-mentioned step S203, which will not be repeated here.
  • the first vehicle receives the second vehicle distance sent by the second vehicle, and in the case that the difference between the first vehicle distance and the second vehicle distance is less than or equal to the first distance threshold, the first vehicle and the second vehicle are used as targets Vehicles in the train formation, control the first vehicle and the second vehicle to make up.
  • the method of controlling the grouping of the first vehicle and the second vehicle may include: first, controlling the driving of the first vehicle to shorten the first vehicle distance between the first vehicle and the second vehicle; secondly, periodically detecting the first vehicle distance , in the case that the first vehicle distances detected in the consecutive preset number of cycles are all less than or equal to the preset formation distance, the first vehicle and the second vehicle are used as vehicles in the target train formation.
  • the above-mentioned second vehicle may be the preceding vehicle of the first vehicle.
  • the above-mentioned manner of controlling the driving of the first vehicle may also be implemented in the following manner:
  • the second vehicle may send a first control command to the first vehicle, wherein the first control command may include traction or braking force of the second vehicle.
  • the first vehicle receives the first control instruction sent by the second vehicle, and controls the traction force or braking force of the first vehicle according to the first control instruction, so as to control the running of the first vehicle.
  • the manner of controlling the traction force or braking force of the first vehicle may include any one of the following manners:
  • the tractive force of the second vehicle is greater than or equal to the tractive force of the first vehicle
  • the tractive force of the first vehicle is increased. It should be noted that, due to the large traction force of the second vehicle, it can be determined that the speed of the second vehicle is faster than that of the first vehicle when the weights of the first vehicle and the second vehicle are basically the same. The distance of the vehicle needs to increase the traction force of the first vehicle and increase the speed of the first vehicle.
  • the tractive force of the second vehicle is less than the tractive force of the first vehicle
  • the tractive force of the first vehicle is maintained.
  • the traction force of the second vehicle is smaller than that of the first vehicle, it can be determined that the speed of the second vehicle is slower than that of the first vehicle. Therefore, maintaining the traction force of the first vehicle can shorten the distance between the first vehicle and the second vehicle. distance.
  • the traction force of the first vehicle can also be increased to shorten the distance between the first vehicle and the second vehicle more quickly.
  • the braking force of the second vehicle is less than or equal to the braking force of the first vehicle
  • the braking force of the first vehicle is reduced. It should be noted that when both the first vehicle and the second vehicle are braking, and the braking force of the second vehicle is less than or equal to the braking force of the first vehicle, it can be determined that the speed of the second vehicle is faster than that of the first vehicle, Therefore, in order to shorten the distance between the first vehicle and the second vehicle, it is necessary to reduce the braking force of the first vehicle, or cancel the braking force of the first vehicle, and increase the traction force of the first vehicle, so as to shorten the distance between the first vehicle and the second vehicle more quickly. The distance between the two vehicles.
  • the braking force of the second vehicle is greater than the braking force of the first vehicle
  • the braking force of the first vehicle is maintained.
  • the braking force of the second vehicle is greater than the braking force of the first vehicle, and it can be determined that the speed of the second vehicle is slower than that of the first vehicle, so the first vehicle is maintained.
  • the braking force of the vehicle can also shorten the distance between the first vehicle and the second vehicle.
  • the distance between the first vehicles is relatively large, the braking force of the first vehicle may also be reduced or the traction force of the first vehicle may be increased, so as to shorten the distance between the first vehicle and the second vehicle more quickly.
  • the speed of the first vehicle can be controlled to be greater than the speed of the second vehicle, so as to shorten the distance between the first vehicle and the second vehicle.
  • the second vehicle in the process of controlling the first vehicle and the second vehicle to form a group, may also continue to periodically detect the second vehicle distance, and use the detected second vehicle distance.
  • the inter-vehicle distance is sent to the first vehicle; similarly, the first vehicle also continues to periodically detect the first inter-vehicle distance, and periodically receives the second inter-vehicle distance sent by the second vehicle.
  • the value is greater than the second distance threshold, stop the grouping of the first vehicle and the second vehicle; when the difference between the first vehicle distance and the second vehicle distance is less than or equal to the second distance threshold, continue to control the first vehicle distance.
  • a vehicle travels to shorten the first vehicle distance between the first vehicle and the second vehicle.
  • the second distance threshold may be equal to the above-mentioned first distance threshold, or may be greater than the above-mentioned first distance threshold.
  • both the second distance threshold and the first distance threshold may be 0.
  • the second distance threshold may be 40 centimeters. In this way, when the vehicle is running, it is possible to avoid the distance that occurs due to the difference in the moment when the first vehicle and the second vehicle detect the distance between the vehicles. difference.
  • first inter-vehicle distance and second inter-vehicle distance may be obtained by the first vehicle in the same cycle, or may be obtained in two adjacent cycles, but in order to ensure accuracy, the time and The time difference between the times when the second inter-vehicle distance is obtained is less than or equal to the preset time.
  • the preset time may be an integer multiple of the detection period.
  • the difference between the second inter-vehicle distance and the first inter-vehicle distance is greater than the second distance threshold, it is determined that the first inter-vehicle distance is unreliable, which may be caused by the failure of the distance detection device of the first vehicle or the second vehicle.
  • the grouping of the first vehicle and the second vehicle is stopped, thereby improving the safety in the vehicle grouping process.
  • the difference between the first vehicle distance and the second vehicle distance is less than or equal to the second distance threshold, it is confirmed that the first vehicle distance is credible, and the first vehicle can continue to be controlled to drive and continue vehicle grouping.
  • the second vehicle in the process of controlling the first vehicle and the second vehicle to form a group, may also periodically send a first control command to the first vehicle, and the first control The command may include the traction force or braking force of the second vehicle; similarly, the first vehicle may also periodically receive the first control command sent by the second vehicle, and the first vehicle adjusts and controls the first vehicle according to the first control command.
  • the traction force or the braking force continues to control the driving of the first vehicle, so as to shorten the first vehicle distance between the first vehicle and the second vehicle. This allows for more precise vehicle formation control.
  • the first vehicle in the process of controlling the first vehicle and the second vehicle to form a group, if the first vehicle receives a stop grouping instruction sent by the train control center, the first vehicle can stop the vehicle. Make up, and send a stop formation command to the second vehicle.
  • the second vehicle receives a stop formation instruction sent by the train control center, the vehicle formation can also be stopped, and a stop formation instruction is sent to the first vehicle. In this way, the flexibility and reliability of vehicle formation can be improved through the control of the train control center.
  • the first vehicle may also send a train formation completion instruction to the second vehicle, and/or, Send a train formation completion command to the train control device.
  • the first vehicle may also stop controlling the first vehicle to continue to shorten the distance with the second vehicle.
  • the second vehicle may also periodically detect the second inter-vehicle distance, and in the case that the detected second inter-vehicle distances in a continuous preset number of cycles are all less than or equal to the preset grouping distance, the first vehicle and the The second vehicle is used as the vehicle in the target train formation, and the first vehicle and the second vehicle may be used as the vehicle in the target train formation after receiving the train formation completion instruction sent by the first vehicle.
  • the second vehicle can also send a train formation completion instruction to the first vehicle and/or the train control device.
  • the first vehicle and the second vehicle can be regarded as the vehicles in the target train formation, and the vehicles in the target train formation can be regarded as one train. Synchronized control.
  • the first vehicle and the second vehicle are used as vehicles in the target train formation, the first vehicle will no longer report the vehicle position information to the train control system, but the first vehicle will not report the vehicle position information to the train control system.
  • the second vehicle reports the position information as the position information of the target train formation.
  • the second vehicle can also calculate the body length of the target train composition according to the body length of the first vehicle and the window length of the second vehicle, and report the body length of the target train composition to the train control device.
  • the first vehicle and the second vehicle after the first vehicle and the second vehicle are used as vehicles in the target train formation, the first vehicle and the second vehicle enter the formation synchronization control state, and at this time, the first vehicle and the second vehicle enter the formation synchronization control state.
  • the second vehicle needs to be uniformly controlled by the second vehicle, and the unified control method may include:
  • a synchronization control command is generated according to the target vehicle operation.
  • the target vehicle operation may include one or more of towing, braking, opening and closing doors, vehicle alerts, and vehicle announcements performed by the second vehicle.
  • the second vehicle sends the synchronization control command to the first vehicle.
  • the first vehicle receives the synchronization control instruction sent by the second vehicle, and controls the first vehicle to synchronously execute the target vehicle operation according to the synchronization control instruction.
  • the first vehicle uses the first vehicle and the second vehicle as the vehicles in the target train formation, if one or more of the following conditions are satisfied, the first vehicle A vehicle can ungroup a train with a second vehicle:
  • Condition 1-1 Manual operation command is received: If the target train formation is only carried out in the automatic driving state, after receiving the manual operation command, the train formation needs to be cancelled. Of course, if the target train formation can be performed under manual operation, it is not necessary to cancel the train formation at this time.
  • Condition 1-2 A train formation release instruction sent by the second vehicle is received, the train formation release instruction is used to instruct the first vehicle to release the train formation with the second vehicle.
  • Condition 1-3 The train formation release instruction sent by the train control device is received, and the same train formation release instruction is used to instruct the first vehicle to release the train formation with the second vehicle.
  • Condition 1-4 It is detected that the vehicle-to-vehicle communication delay between the first vehicle and the second vehicle is greater than a second delay threshold, and the second delay threshold and the first delay threshold may be the same or different.
  • the train-to-vehicle communication delay is greater than the second delay threshold, the obtained second train spacing is inaccurate due to the communication delay, and can no longer be used to calibrate the first train spacing. Therefore, based on safety considerations, the train marshalling can be cancelled. .
  • Condition 1-5 It is detected that the vehicle-to-vehicle communication connection between the first vehicle and the second vehicle is interrupted.
  • Condition 1-6 It is detected that the difference between the first inter-vehicle distance and the second inter-vehicle distance is greater than a third distance threshold, and the third distance threshold and the second distance threshold may be the same or different.
  • the difference between the first vehicle distance and the second vehicle distance is greater than the second distance threshold, confirm that the detected first vehicle distance or the second vehicle distance is inaccurate. , based on safety considerations, the train marshalling can be released.
  • Condition 1-7 After receiving the synchronization control instruction sent by the second vehicle, the control of the first vehicle to synchronously execute the target vehicle operation fails. It should be noted that the occurrence of an operation failure of the target vehicle indicates that the first vehicle fails to run synchronously with the second vehicle. Based on safety considerations, the train formation with the second vehicle can be cancelled.
  • Condition 1-8 The backward command sent by the second vehicle is received. It should be noted that, in the process of train marshalling, in order to ensure the safety of vehicle operation, the vehicle is not allowed to retreat.
  • canceling the train formation with the second vehicle may include one or more of the following operations:
  • Release operation 1-1 Send a train formation release command to the second vehicle, so that the second vehicle releases the train formation with the first vehicle.
  • Release operation 1-2 Send a train formation release command to the train control device, so that the train control device sends a train formation release command to the second vehicle.
  • Release operation 1-3 when the first vehicle is in a driving state, control the first vehicle to brake so that the distance between the first vehicle and the second vehicle is greater than a preset safety distance.
  • the preset safety distance may be 10 meters or 20 meters.
  • the braking force applied to the first vehicle needs to be greater than that of the second vehicle, so that the distance between the two vehicles increases.
  • Release operation 1-4 when the first vehicle is in a stationary state, keep the stationary state of the first vehicle and wait for the second vehicle to move forward until it is detected that the distance between the first vehicle and the second vehicle is greater than the preset safety distance After that, the first vehicle enters a normal running state. That is, a tractive force can be applied to the first vehicle.
  • the first vehicle after the first vehicle is released from the train formation with the second vehicle, it can also acquire the first position information of the first vehicle, and send the first position information to the train control device, so that the train control device can monitor the first vehicle. Take control.
  • the first vehicle after the train formation is released, the first vehicle needs to perform a downgrade operation, initialize the first position information of the first vehicle, and obtain credible position information after calibration.
  • the first vehicle does not perform the downgrade operation, and it is confirmed that the first position information at this time is a trusted position, and there is no need to re-calibrate the position. In this way, the first vehicle can continue to operate normally after the grouping is released, which improves the efficiency of vehicle operation.
  • the second vehicle can also cancel the train set with the first vehicle if one or more of the following conditions are satisfied :
  • Condition 2-1 Receipt of vehicle back-up command: During the train marshalling operation, due to the inertia of the vehicle, once the vehicle moves backward, it may cause a collision between the first vehicle and the second vehicle. Therefore, during the train marshalling operation, no execution The vehicle backward command, after receiving the vehicle backward command, it is necessary to ungroup first, and then execute the backward command.
  • Condition 2-2 A manual operation instruction is received.
  • Condition 2-3 The train formation release command sent by the first vehicle is received.
  • Condition 2-4 The train formation release command sent by the train control device is received.
  • Condition 2-5 It is detected that the vehicle-to-vehicle communication connection between the first vehicle and the second vehicle is interrupted.
  • the release of the second vehicle from the train formation of the first vehicle also includes one or more of the following operations:
  • Release operation 2-1 Send a train formation release command to the first vehicle.
  • Release operation 2-2 Send a train formation release command to the train control device.
  • Release operation 2-3 control the second vehicle to drive forward, so that the distance between the second vehicle and the first vehicle is greater than the preset safety distance.
  • the second position information of the second vehicle may also be acquired, and the second position information may be sent to the train control device.
  • the train control device can also actively initiate the operation of canceling the train formation according to the instructions of the controller, and send the train formation cancellation instruction to the first vehicle and the second vehicle respectively. After receiving the train formation cancellation instruction, the first vehicle and the second vehicle can respectively Ungroup the train.
  • step S403 may be performed before step S404, or may be performed after step S404; S401 and S405 may be performed simultaneously; S406 and S407 may also be performed simultaneously; S408 and S409 can also be executed simultaneously.
  • FIG. 5 is a block diagram of a vehicle grouping apparatus 500 according to an exemplary embodiment.
  • the vehicle consist apparatus includes a processor 522 , which may be one or more in number, and a memory 532 for storing a computer program executable by the processor 522 .
  • the computer program stored in memory 532 may include one or more modules, each corresponding to a set of instructions.
  • the processor 522 may be configured to execute the computer program to perform the above-described method of vehicle grouping.
  • the vehicle consist may also include a power supply assembly 526, which may be configured to perform power management of the vehicle consist, and a communication component 550, which may be configured to enable communications of the vehicle consist, For example, wired or wireless communication.
  • the vehicle consist may also include an input/output (I/O) interface 558 .
  • the vehicle consist may operate based on an operating system stored in memory 532, such as Windows Server, Mac OS X, Unix, Linux, Android, etc.
  • a computer-readable storage medium comprising program instructions that, when executed by a processor, implement the steps of the above-described vehicle grouping method.
  • the computer-readable storage medium may be the above-mentioned memory 532 including program instructions, and the above-mentioned program instructions may be executed by the processor 522 of the vehicle grouping apparatus to complete the above-mentioned vehicle grouping method.
  • a computer program product comprising a computer program executable by a programmable apparatus, the computer program having, when executed by the programmable apparatus, for performing the above The code section of the vehicle marshalling method.
  • FIG. 6 is a vehicle provided by the present disclosure, and the vehicle may include any of the above-mentioned vehicle formation devices.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

一种车辆编组的方法其中，包括接收列车控制设备发送的列车编组控制指令（S201），根据列车编组控制指令确定待编组的第二车辆（S202），检测与第二车辆的第一车间距（S203），接收第二车辆发送的第二车间距，其中，第二车间距为第二车辆检测到的第二车辆与第一车辆的距离（S204）；在第一车间距与第二车间距的差值小于或等于第一距离阈值的情况下，将第一车辆和第二车辆作为目标列车编组中的车辆，控制第一车辆和第二车辆进行编组（S205）。实现了车辆的虚拟编组，保障了检测到的第一车间距的准确性，在测距设备故障的情况下，可以避免由于第一车间距检测错误导致的车辆碰撞事故，从而提高了车辆编组的安全性。同时，还提出了一种车辆编组装置、车辆编组系统、车辆及计算机可读存储介质。

Description

车辆编组的方法、装置、系统、车辆及存储介质
相关申请的交叉引用
本公开要求于2020年11月20日提交的申请号为202011312259.1、名称为“车辆编组的方法、装置、系统、车辆及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及车辆控制领域，具体地，涉及一种车辆编组的方法、装置、系统、车辆及存储介质。
背景技术
轨道交通是一种非常重要的日常出行方式，例如火车、地铁、高铁等。在列车运行中，根据列车运力和乘客数量，进行车辆编组是一种常见的控制方式，例如，在早晚高峰时段，运行线路上大多一个运行方向乘客数量非常大，而另一个方向则乘客数量很少，这样列车从一个方向转到另一个方向时，需要重新进行车辆编组，以提高列车的运营效率。在相关技术中，轨道交通列车采用了基于车车通信的虚拟编组的方式，但虚拟编组的安全性无法保障，存在编组过程中发生车辆碰撞的风险。
发明内容
为了解决上述问题，本公开提供了一种车辆编组的方法、装置、系统、车辆及存储介质。
第一方面，本公开提供了一种车辆编组的方法，可以应用于第一车辆，所述方法包括：接收列车控制设备发送的列车编组控制指令，其中，所述列车编组控制指令用于指示进行车辆编组的车辆；根据所述列车编组控制指令确定待编组的第二车辆；检测与所述第二车辆的第一车间距；接收所述第二车辆发送的第二车间距，其中，所述第二车间距为所述第二车辆检测到的所述第一车辆与所述第二车辆的距离；在所述第一车间距与所述第二车间距的差值小于或等于第一距离阈值的情况下，将所述第一车辆和所述第二车辆作为目标列车编组中的车辆，控制所述第一车辆和所述第二车辆进行编组。
第二方面，本公开提供了另一种车辆编组的方法，可以应用于第二车辆，所述方法包括：接收列车控制设备发送的列车编组控制指令，其中，所述列车编组控制指令用于指示进行车辆编组的车辆；根据所述列车编组控制指令确定待编组的第一车辆；检测所述第二 车辆与所述第一车辆的第二车间距；发送所述第二车间距至所述第一车辆，以便所述第一车辆根据所述第二车间距控制所述第一车辆和所述第二车辆进行编组。
第三方面，本公开提供了一种车辆编组装置，所述装置包括：存储器，其上存储有计算机程序；处理器，用于执行所述存储器中的所述计算机程序，以实现上述第一方面所述方法的步骤。
第四方面，本公开提供了一种车辆编组装置，所述装置包括：存储器，其上存储有计算机程序；处理器，用于执行所述存储器中的所述计算机程序，以实现上述第二方面所述方法的步骤。
第五方面，本公开提供了一种车辆编组系统，包括：列车控制设备、第一车辆以及第二车辆；所述列车控制设备，向第一车辆和第二车辆发送列车编组控制指令，所述列车编组控制指令用于指示进行车辆编组的车辆；所述第一车辆包括本公开上述第三方面所述的车辆编组装置；所述第二车辆包括本公开上述第四方面所述的车辆编组装置。
可选地，所述系统还包括：碰撞缓冲组件，所述碰撞缓冲组件设置在所述第一车辆和所述第二车辆的连接处，用于缓冲所述第一车辆和所述第二车辆碰撞的冲击力。
可选地，所述碰撞缓冲组件包括半永久牵引杆。
第六方面，本公开提供了一种车辆，所述车辆包括本公开第三方面所述的车辆编组装置。
第七方面，本公开提供了一种车辆，所述车辆包括本公开第四方面所述的车辆编组装置。
第八方面，本公开提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现本公开第一方面所述方法的步骤。
第九方面，本公开提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现本公开第二方面所述方法的步骤。
通过上述技术方案，在接收列车控制设备发送的列车编组控制指令后，根据该列车编组控制指令确定待编组的第二车辆，检测与第二车辆的第一车间距，并接收第二车辆发送的第二车间距；在第一车间距与第二车间距的差值小于或等于第一距离阈值的情况下，将第一车辆和第二车辆作为目标列车编组中的车辆，控制第一车辆和第二车辆进行编组，实现了车辆的虚拟编组。这样，通过第一车间距与第二车间距的对比，保障了检测到的第一车间距的准确性，在测距设备故障的情况下，可以避免由于第一车间距检测错误导致的车辆碰撞事故，从而提高了车辆编组的安全性。
本公开的其他特征和优点将在随后的具体实施方式部分予以详细说明。
附图说明
附图是用来提供对本公开的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本公开，但并不构成对本公开的限制。在附图中：
图1是本公开实施例提供的一种车辆编组系统的示意图；
图2是本公开实施例提供的一种车辆编组的方法的流程图；
图3是本公开实施例提供的第二种车辆编组的方法的流程图；
图4是本公开实施例提供的第三种车辆编组的方法的流程图；
图5是本公开实施例提供的一种车辆编组装置的结构示意图；
图6是本公开实施例提供的一种车辆的框图。
具体实施方式
以下结合附图对本公开的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本公开，并不用于限制本公开。
在下文中的描述中，“第一”、“第二”等词汇，仅用于区分描述的目的，而不能理解为指示或暗示相对重要性，也不能理解为指示或暗示顺序。
首先，对本公开的应用场景进行说明。本公开可以应用于车辆编组和控制场景，尤其是轨道交通列车的编组和控制。在相关技术中，轨道交通列车采用基于车车通信的虚拟编组的方式，虚拟编组要求获得准确的车辆间的距离，对车辆的测距设备的准确性要求较高，若测距设备故障导致测量的距离出现误差，由于获取的车辆间距离不准确，会导致车辆编组失败，甚至车辆编组过程中发生车辆碰撞的危险，存在安全隐患。例如由于测距设备故障导致测量的距离偏大，可能导致车辆发生碰撞；反之，若由于测距设备故障导致测量的距离偏小，则可能导致车辆间距离无法达到预设编组距离，导致车辆编组长时间无法完成。
为了解决上述问题，本公开提供了一种车辆编组的方法、装置、系统、车辆及存储介质，该方法包括：在接收列车控制设备发送的列车编组控制指令后，根据该列车编组控制指令确定待编组的第二车辆，检测与第二车辆的第一车间距，并接收第二车辆发送的第二车间距；在第一车间距与第二车间距的差值小于或等于第一距离阈值的情况下，将第一车辆和第二车辆作为目标列车编组中的车辆，控制第一车辆和第二车辆进行编组，实现了车辆的虚拟编组。这样，通过第一车间距与第二车间距的对比，保障了检测到的第一车间距的准确性，在测距设备故障的情况下，可以避免由于第一车间距检测错误导致的车辆碰撞事故，从而提高了车辆编组的安全性。
以下结合附图对本公开的具体实施方式进行详细说明。
图1是本公开实施例提供的一种车辆编组系统的示意图，如图1所示，该车辆编组系 统包括：第一车辆101、第二车辆102、列车控制设备111，其中：
列车控制设备111，可以用于向第一车辆和第二车辆发送列车编组控制指令，该列车编组控制指令用于指示进行车辆编组的车辆。
第一车辆101与第二车辆102作为待编入目标列车编组的车辆，第一车辆可以作为待编入目标列车编组的后车，第二车辆可以作为待编入目标列车编组的前车，第一车辆与第二车辆可以将各自的位置上报列车控制设备。其中，第一车辆和第二车辆之间可以直接通信，从而降低了通信时延，提高了车辆编组的效率。
需要说明的是，第一车辆也可以是待编入目标列车编组的前车，第二车辆可以是待编入目标列车编组的后车，本公开对此不作限制。
另外，第一车辆可以是单独的一个车辆，也可以是按照上述列车编组控制指令完成编组后的一个车辆；同样地，第二车辆可以是单独的一个车辆，也可以是按照上述列车编组控制指令完成编组后的一个车辆。第一车辆和第二车辆可以处于同一条列车轨道上，以便进行编组和控制。
可选地，该车辆编组系统还可以包括：碰撞缓冲组件，该碰撞缓冲组件设置在第一车辆和第二车辆的连接处，用于缓冲第一车辆和第二车辆碰撞的冲击力。
可选地，该碰撞缓冲组件可以包括半永久牵引杆，进一步地，也可以包括带缓冲功能的半永久牵引杆。该碰撞缓冲组件也可以包括带缓冲功能的车钩。
可选地，上述列车控制设备还可以根据列车控制人员的控制输入，或者自动统计算法的输入，得到需要将第一车辆和第二车辆进行编组的指令，此时列车控制设备可以执行以下操作：
首先，获取第一车辆和第二车辆的位置信息，并计算第一车辆和第二车辆的当前车间距。
需要说明的是，车辆的位置信息可以是该车辆在轨道上的相对位置信息，基于车辆和轨道的定位系统获取。该位置信息的精度可以相对较低，例如精度为2米、5米、10米或20米。
其次，在上述当前车间距小于预设编组启动距离的情况下，向第一车辆和第二车辆发送列车编组控制指令，用于指示进行车辆编组的车辆。
其中，该列车编组控制指令可以包含待编组的第一目标车辆标识和第二目标车辆标识。
第一车辆和第二车辆可以在接收到该列车编组控制指令后，进行车辆编组，第一车辆和第二车辆进行车辆编组的具体方式将在以下的实施例进行说明。
图2是本公开实施例提供的一种车辆编组的方法，如图2所示，该方法的执行主体可以是第一车辆，也可以是第一车辆上包含的用于车辆编组装置或电子设备，该方法包括：
S201、接收列车控制设备发送的列车编组控制指令。
其中，列车编组控制指令用于指示进行车辆编组的车辆。
该列车编组控制指令可以包含的内容可以有多种方式，可以仅包含第一指示信息，用于指示第一车辆选择前方距离最近的一个目标车辆进行编组；也可以包含待编组的车辆标识，用于指示第一车辆选择对应的目标车辆进行编组。另外，该列车编组控制指令可以是由列车控制设备获取并发送的。
S202、根据该列车编组控制指令确定待编组的第二车辆。
在本步骤中，若该列车编组控制指令仅包含指示信息，则确定第一车辆的车头前方距离最近的一个目标车辆作为待编组的第二车辆；若该列车编组控制指令中包括待编组的第二目标车辆标识，则第一车辆可以根据该第二目标车辆标识确定待编组的第二车辆。
S203、检测与第二车辆的第一车间距。
在本步骤中，可以通过安装在第一车辆上的测距设备检测得到第一车辆与该第二车辆的第一车间距，该测距设备可以是DLS(Direct Location System，直接定位系统)，也可以包括测距传感器，该测距传感器可以通过激光、雷达、红外或超声波等方法测量得到第一车辆与对面的第二车辆之间的距离作为第一车间距。
在第一车辆为后车的情况下，该测距传感器可以安装在第一车辆的车头位置，以提高测距的可靠性。相反的，在第一车辆为前车的情况下，该测距传感器可以安装在第一车辆的车尾位置。
可选地，该测距传感器可以是测距精度小于或等于10cm的高精度测距传感器，以提高车辆编组控制的精度。
S204、接收第二车辆发送的第二车间距，其中，第二车间距为第二车辆检测到的第二车辆与第一车辆的距离。
同样地，第二车间距也可以是通过安装在第二车辆上的测距设备检测得到的，可以将接收到的第二车间距直接作为第二车辆发送的第二车间距。
可选地，在本公开另外的实施例中；第二车辆可以既发送第二车间距，也发送第二车辆标识。在接收到第二车辆发送的第二车间距和第二车辆标识，且列车编组控制指令中包括待编组的第二目标车辆标识的情况下：若接收到的第二车辆标识是列车编组控制指令中的第二目标车辆标识，则确认接收到该第二车间距；否则，若接收到的第二车辆标识不是列车编组控制指令中的第二目标车辆标识，则确认该第二车间距不是待编组的第二车辆发送的，丢弃不使用。这样，可以避免多个车辆同时发送指令时其他车辆的干扰，提高车辆编组的准确性。
可选地，第一车辆收到的该列车编组控制指令有时效性，即在预设时间内未接收到第 二车辆发送的第二车间距，则停止本次车辆编组，并通知列车控制设备。这样，可以进一步提高车辆编组的可靠性。
S205、在第一车间距与第二车间距的差值小于或等于第一距离阈值的情况下，将第一车辆和第二车辆作为目标列车编组中的车辆，控制第一车辆和第二车辆进行编组。
在本步骤中，第一距离阈值可以是0，表示第一车间距和第二车间距相等；也可以根据第一车辆和第二车辆上使用的测距传感器的测距精度设置为1厘米到1米之间的任意距离，例如在测距传感器的测距精度都小于或等于10厘米的情况下，该第一距离阈值可以是10厘米或20厘米。
通过确认第一车间距与第二车间距的差值小于或等于第一距离阈值，用于确认检测到的第一车间距的准确性，避免由于测距设备故障或车辆中间存在障碍物等原因导致检测到的第一车间距错误的问题。
控制第一车辆和第二车辆进行编组有多种方式：
在第二车辆处于静止状态的情况或下，可以控制第一车辆以预设车速向第二车辆行驶，直到第一车辆与第二车辆的第一车间距小于或等于预设编组距离的情况下，将第一车辆和第二车辆作为目标列车编组中的车辆。
在第二车辆处于移动状态且车速小于预设车速阈值的情况下，也可以控制第一车辆以预设车速向第二车辆行驶，直到第一车辆与第二车辆的第一车间距小于或等于预设编组距离的情况下，将第一车辆和第二车辆作为目标列车编组中的车辆。
在第二车辆处于移动状态且车速大于预设车速阈值的情况下，可以首先通过向第二车辆发送编组请求，以便第二车辆在收到该编组请求后降低车速或进入静止状态，然后控制第一车辆以预设车速向第二车辆行驶，直到第一车辆与第二车辆的第一车间距小于或等于预设编组距离的情况下，将第一车辆和第二车辆作为目标列车编组中的车辆。
采用上述方法，在接收列车控制设备发送的列车编组控制指令后，根据该列车编组控制指令确定待编组的第二车辆，检测与第二车辆的第一车间距，并接收第二车辆发送的第二车间距；在第一车间距与第二车间距的差值小于或等于第一距离阈值的情况下，将第一车辆和第二车辆作为目标列车编组中的车辆，控制第一车辆和第二车辆进行编组，实现了车辆的虚拟编组。这样，通过第一车间距与第二车间距的对比，保障了检测到的第一车间距的准确性，在测距设备故障的情况下，可以避免由于第一车间距检测错误导致的车辆碰撞事故，从而提高了车辆编组的可靠性。
可选地，在本公开的另一实施例中，在第一车间距与第二车间距的差值小于或等于第一距离阈值的情况下之后，该方法还包括：
首先，控制第一车辆行驶，以缩短第一车辆与第二车辆的第一车间距。
控制第一车辆行驶的方式可以包括以下几种控制方式的中任意一种：
在第一车辆处于静止状态且未施加牵引力的情况下，可以施加牵引力，控制第一车辆向第二车辆的方向行驶，以缩短第一车辆与第二车辆的第一车间距。
在第一车辆处于行驶状态且施加了较小牵引力的情况下，可以增加牵引力，例如将牵引力从车辆总牵引力的5％增加到10％，增加第一车辆的车速，以缩短第一车辆与第二车辆的第一车间距。
在第一车辆处于行驶状态且施加了较大制动力的情况下，可以减少制动力，增加第一车辆的车速，以缩短第一车辆与第二车辆的第一车间距。
进一步地，在第一车间距较大(例如第一车间距为20米或30米)或第一车间距与预设编组距离的差值较大(例如预设编组距离为1米，第一车间距为10米)的情况下，可以施加较大的牵引力，例如施加20％的牵引力，控制第一车辆的以较快的车速行驶，以便快速缩短第一车辆与第二车辆的第一车间距；
在第一车间距较小(例如第一车间距为2米)或第一车间距与预设编组距离的差值较小(例如预设编组距离为10米，第一车间距为11米)的情况下，可以增加较小的牵引力，例如2％的牵引力，控制第一车辆以较慢的车速行驶，以便精确控制第一车辆与第二车辆的第一车间距能够小于或等预设编组距离，而又不出现第一车辆与第二车辆碰撞的情况。
其次，周期性检测第一车间距，在连续预设数量个周期内检测到的第一车间距均小于或等于预设编组距离的情况下，执行将第一车辆和第二车辆作为目标列车编组中的车辆的步骤，并控制第一车辆和第二车辆进行编组。
其中，检测第一车间距的检测周期可以是预设的1毫秒到10秒之间的任意时间周期，可以根据车辆编组对第一车间距与编组目标距离的控制精度要求进行设置，若要求较高的控制精度，可以使用较小的检测周期；反之，若对控制精度的要求不高，为了减少控制系统的负荷，可以使用较大的检测周期。
上述预设数量也可以根据控制准确度和编组时长的要求设定，例如对控制准确度要求较高，对编组时长要求较低，则可以设置较大的预设数量，例如在检测周期为10毫秒的情况下，预设数量可以设置为300；在检测周期为50毫秒的情况下，预设数量可以设置为100。再例如，对编组时长要求较高，即要求在较短的时间内完成编组，则可以设置较小的预设数量，例如在检测周期为10毫秒的情况下，预设数量可以设置为20；在检测周期为50毫秒的情况下，预设数量可以设置为10。
同样地，在连续预设数量个周期内检测到的第一车间距均小于或等于预设编组距离的判断条件，也可以使用在连续预设时间内检测到的第一车间距均小于或等于预设编组距离作为判断条件，该预设时间可以是100毫秒到10秒之间的任意时间。
这样，采用上述方式，通过在连续预设数量个周期内检测到的第一车间距均小于或等于预设编组距离的情况下，判断第一车辆和第二车辆的距离相对稳定，此时将第一车辆和第二车辆作为目标列车编组中的车辆，进一步提高了车辆编组的可靠性。
图3是本公开实施例提供的第二种车辆编组的方法，如图3所示，该方法的执行主体可以是第二车辆，也可以是第二车辆上包含的用于车辆编组的电子设备，该方法包括：
S301、接收列车控制设备发送的列车编组控制指令。
其中，列车编组控制指令用于指示进行车辆编组的车辆。
同样地，该列车编组控制指令可以包含的内容可以有多种方式，可以仅包含第二指示信息，该第二知识信息用于指示第二车辆选择车辆后方距离最近的一个目标车辆进行编组；也可以包含待编组的第一车辆标识，用于指示第二车辆选择对应的目标车辆进行编组。另外，该列车编组控制指令可以是由列车控制设备获取并发送的。
可选地，在接收列车控制设备发送的列车编组控制指令之后，为了确保列车编组的安全性，在列车编组过程中或列车编组成功后的同步运行过程中，都禁止执行后退操作。若列车编组失败或者解除列车编组后，可以恢复原有操作模式，按照原有操作模式允许执行后退操作。
S302、根据列车编组控制指令确定待编组的第一车辆。
在本步骤中，确定第一车辆的具体方式可以参考与上述S202步骤确定第二车辆的方式，此处不再赘述。
S303、检测第二车辆与第一车辆的第二车间距。
同样地，在本步骤中，检测第二车间距的具体方式可以参考与上述S203步骤检测第一车间距的方式，此处不再赘述。
S304、发送第二车间距至第一车辆，以便第一车辆根据该第二车间距控制第一车辆和第二车辆进行编组。
采用上述方法，在接收列车控制设备发送的列车编组控制指令后，根据该列车编组控制指令确定待编组的第一车辆，检测与第一车辆的第二车间距，并发送第二车间距至第一车辆，以便第一车辆根据该第二车间距控制第一车辆和第二车辆进行编组，实现了车辆的虚拟编组。这样，可以降低车辆编组时间，提高编组效率，同时也通过第一车间距与第二车间距的对比，确保检测到第一车间距的准确性，避免由于第一车间距检测错误导致的车辆碰撞事故，从而提高了车辆编组的可靠性。
可选地，在本公开的另外一些实施例中，在发送第二车间距至第一车辆之后，还可以周期性检测第二车辆与第一车辆的第二车间距，在连续预设数量个周期内检测到的第二车间距均小于或等于预设编组距离的情况下，将第一车辆和第二车辆作为目标列车编组中的 车辆。
同样地，在连续预设数量个周期内检测到的第二车间距均小于或等于预设编组距离的判断条件，也可以使用在连续预设时间内检测到的第二车间距均小于或等于预设编组距离作为判断条件，该预设时间可以是100毫秒到10秒之间的任意时间。
这样，采用上述方式，通过在连续预设数量个周期内检测到的第二车间距均小于或等于预设编组距离的情况下，判断第一车辆和第二车辆的距离相对稳定，此时将第一车辆和第二车辆作为目标列车编组中的车辆，进一步提高了车辆编组的可靠性。
图4是本公开实施例提供的第三种车辆编组的方法，如图4所示，该方法包括：
S401、列车控制设备向第一车辆和第二车辆发送列车编组控制指令。
在本步骤中，列车控制设备可以基于控制人员的控制指令确定待编组的第一车辆和第二车辆，并向第一车辆和第二车辆发送列车编组控制指令，该列车编组控制指令用于指示进行车辆编组的车辆。该列车编组控制指令中可以包括待编组的第一目标车辆标识和第二目标车辆标识。可选地，第一目标车辆标识可以为待编组的后车车辆标识，第二目标车辆标识可以为待编组的前车车辆标识。
可选地，该列车编组控制指令可以具有时效性，即列车控制中心发出该列车编组控制指令后，在预设时间内未收到第一车辆和第二车辆发送的列车编组完成指令，则确认此次列车编组失败，可以向第一车辆和第二车辆发送列车编组停止指令。同样地，第一车辆或第二车辆在收到列车编组控制指令后的预设时间内未完成本次车辆编组，则第一车辆或第二车辆可以停止本次车辆编组并通知列车控制设备。这样，可以提高车辆编组的可靠性和有效性，避免出现列车编组失败后无法及时停止的问题。
S402、第一车辆接收列车控制设备发送的列车编组控制指令。
S403、第一车辆确定第一车辆标识是否是列车编组控制指令中的第一目标车辆标识。
上述第一车辆的第一车辆标识可以是车辆控制软件中的预设标识，也可以是设置在第一车辆上的硬件标识，例如可以是车辆的车载控制系统的硬件标识，也可以是车辆的直接定位系统的硬件标识。这样可以避免接收到错误的编组控制指令触发了错误的编组控制，提高车辆编组的可靠性和安全性。
进一步地，在第一车辆的第一车辆标识不是列车编组控制指令中的第一目标车辆标识的情况下，停止车辆编组，并不再执行后续步骤，此时，还可以向列车控制设备发送编组拒绝指令。
S404、第一车辆根据列车编组控制指令确定待编组的第二车辆。
在本步骤中，可以首先根据列车编组控制指令确定候选车辆；然后对该候选车辆进行 车辆标识验证，以确定该候选车辆的车辆标识是否是列车编组控制指令中的第二目标车辆标识；在确定第一车辆的第一车辆标识是列车编组控制指令中的第一目标车辆标识，且该候选车辆的车辆标识是列车编组控制指令中的第二目标车辆标识的情况下，将该候选车辆作为第二车辆，执行上述控制第一车辆和第二车辆进行编组的步骤；在确定该候选车辆的车辆标识不是列车编组控制指令中的第二目标车辆标识的情况下，停止车辆编组，并不再执行后续步骤，此时，还可以向列车控制设备发送编组拒绝指令，以便列车控制设备接收到该编组拒绝指令后，通知第二车辆停止车辆编组。
上述对候选车辆进行车辆标识验证，还可以通过以下方式进行：
首先，第一车辆向候选车辆发送第一车辆的第一车辆标识。
其次，候选车辆收到该第一车辆标识后，确定该第一车辆标识是否是列车编组控制指令中的第一目标车辆标识，在该第一车辆标识是列车编组控制指令中的第一目标车辆标识的情况下，则向第一车辆发送车辆标识验证成功指令。另外，候选车辆还可以在标识验证成功指令中携带候选车辆的车辆标识。在该第一车辆标识不是列车编组控制指令中的第一目标车辆标识的情况下，则向第一车辆发送标识验证失败指令或不向第一车辆发送任何指令。需要说明的是候选车辆在收到连接建立请求前已经收到列车控制设备发送的列车编组控制指令。若未收到列车编组控制指令，则可以不向第一车辆发送任何指令。
最后，第一车辆收到候选车辆发送的标识验证成功指令，则确定车辆标识验证成功，即确定该候选车辆的车辆标识是列车编组控制指令中的第二目标车辆标识。另外，在标识验证成功指令中携带了候选车辆的车辆标识的情况下，第一车辆还可以根据候选车辆的车辆标识和列车编组控制指令中的第二目标车辆标识进行标识验证，当确定该候选车辆的车辆标识是列车编组控制指令中的第二目标车辆标识时，将该候选车辆作为第二车辆，继续进行车辆编组，这样实现了车辆标识的双向验证，进一步提高了安全性。反之，若第一车辆收到了候选车辆发送的标识验证失败指令或在一定时间内未收到连接建立成功指令，则确定车辆标识验证失败，即确定该候选车辆的车辆标识不是列车编组控制指令中的第二目标车辆标识。
可选地，上述与候选车辆进行车辆标识验证的过程，也可以由候选车辆主动发起，即候选车辆首先发送候选车辆的车辆标识，第一车辆接收该候选车辆的车辆标识后，将该候选车辆的车辆标识和列车编组控制指令中的第二目标车辆标识进行标识验证，确定该候选车辆的车辆标识是否是第二目标车辆标识。
另外，上述与候选车辆进行车辆标识验证也可以在第一车辆与候选车辆建立连接的过程中进行，方式如下：
首先，第一车辆向候选车辆发送连接建立请求，并在连接建立请求中携带第一车辆的 第一车辆标识。
其次，候选车辆收到该连接建立请求后，确定连接建立请求中的第一车辆标识是否是接收到的列车编组控制指令中的第一目标车辆标识，在该第一车辆标识是列车编组控制指令中的第一目标车辆标识的情况下，则向第一车辆发送连接建立成功指令；在该第一车辆标识不是列车编组控制指令中的第一目标车辆标识的情况下，则向第一车辆发送连接建立失败指令或不向第一车辆发送任何指令。需要说明的是候选车辆在收到连接建立请求前已经收到列车控制设备发送的列车编组控制指令。若未收到列车编组控制指令，则可以不处理该连接建立请求，也不向第一车辆发送任何指令。
最后，第一车辆收到候选车辆发送的连接建立成功指令，则确定车辆标识验证成功，即确定该候选车辆的车辆标识是列车编组控制指令中的第二目标车辆标识。反之，若第一车辆收到了候选车辆发送的连接建立失败指令或在一定时间内未收到连接建立成功指令，则确定车辆标识验证失败，即确定该候选车辆的车辆标识不是列车编组控制指令中的第二目标车辆标识。
同样地，在连接建立的过程中进行与候选车辆进行车辆标识验证，也可以由候选车辆主动发起连接建立请求并携带候选车辆的车辆标识，第一车辆接收该连接建立请求，并根据候选车辆的车辆标识和列车编组控制指令中的第二目标车辆标识进行标识验证，确定该候选车辆的车辆标识是否是列车编组控制指令中的第二目标车辆标识。
这样，通过与第二车辆进行车辆标识校验，可以确认第二车辆是正确的待编组的目标车辆，进一步提高了车辆编组的可靠性和安全性。
进一步地，在确定上述第二车辆后，还可以检测第一车辆与第二车辆的车车通信时延，在该车车通信时延小于或等于第一时延阈值的情况下，继续执行后续步骤，控制第一车辆与第二车辆进行编组；否则停止车辆编组。这样，可以保证在车辆编组过程中，车载控制系统对车辆控制的实时性。
其中，该第一时延阈值可以根据车辆控制的精度设定为1毫秒到1000毫秒之间的任意数值，例如，若对控制精度要求较高，可以是1毫秒、10毫秒或50毫秒，若对控制精度要求较低，可以是100毫秒或500毫秒。
上述车车通信时延的检测可以通过第一车辆与第二车辆互相发送时延检测报文来检测获取，也可以使用通信连接建立的交互报文来检测获取。
可选地，在本公开的另外一些实施例中，在根据列车编组控制指令确定待编组的第二车辆之后，还可以进行系统自检，并根据系统自检结果确定第一车辆是否处于安全运行状态；在第一车辆处于安全运行状态的情况下，控制第一车辆和第二车辆进行编组；否则停止车辆编组。这样，可以保证在车辆编组的安全性和有效性，避免车辆编组过程中出现安 全事故。
其中，系统自检可以是对车辆的通信状态、驱动输出性能和制动输出性能进行自检。特别需要说明的是，为了保障列车编组的安全性，在第一车辆为后车的情况下，需要对制动输出性能进行自检，以便在编组中出现异常时，可以紧急制动成功，避免列车碰撞事故的发生。
S405、第二车辆接收列车控制设备发送的列车编组控制指令。
S406、第二车辆确定第二车辆的第二车辆标识是否是列车编组控制指令中的第二目标车辆标识。
S407、第二车辆根据列车编组控制指令确定待编组的第一车辆。
需要说明的是，上述S405至S407步骤的实现方式，可以参考上述S402至S404步骤的方式，此处不再赘述。
S408、第一车辆检测与第二车辆的第一车间距。
S409、第二车辆检测与第一车辆的第二车间距，并发送第二车间距至第一车辆。
这样，可以由第一车辆根据第二车间距控制车辆进行列车编组。
同样的，S408步骤中检测第一车间距和S409步骤中检测第二车间的实现方式，可以参考上述S203步骤的方式，此处不再赘述。
S410、第一车辆接收第二车辆发送的第二车间距，在第一车间距与第二车间距的差值小于或等于第一距离阈值的情况下，将第一车辆和第二车辆作为目标列车编组中的车辆，控制第一车辆和第二车辆进行编组。
本步骤中控制第一车辆和第二车辆进行编组的方式可以包括：首先，控制第一车辆行驶，以缩短第一车辆与第二车辆的第一车间距；其次，周期性检测第一车间距，在连续预设数量个周期内检测到的第一车间距均小于或等于预设编组距离的情况下，将第一车辆和第二车辆作为目标列车编组中的车辆。
可选地，在本公开的另外一些实施例中，上述第二车辆可以是第一车辆的前车，这样，上述控制第一车辆行驶的方式，也可以通过以下实现方式：
首先，第二车辆可以发送第一控制指令至第一车辆，其中，第一控制指令可以包括第二车辆的牵引力或制动力。
其次，第一车辆接收第二车辆发送的第一控制指令，并根据该第一控制指令，控制第一车辆的牵引力或制动力，以控制第一车辆行驶。其中，控制第一车辆的牵引力或制动力的方式可以包括以下任意一种方式：
在第二车辆的牵引力大于或等于第一车辆的牵引力的情况下，增大第一车辆的牵引力。需要说明的是，由于第二车辆的牵引力大，可以判断在第一车辆和第二车辆重量基本一致 的情况下，第二车辆的车速比第一车辆更快，为了缩短第一车辆与第二车辆的距离，需要增大第一车辆的牵引力，增加第一车辆的车速。
在第二车辆的牵引力小于第一车辆的牵引力的情况下，保持第一车辆的牵引力。需要说明的是，第二车辆的牵引力小于第一车辆的情况下，可以判断第二车辆的车速慢于第一车辆，因此，保持第一车辆的牵引力，可以缩短第一车辆与第二车辆的距离。当然若第一车间距较大，也可以增加第一车辆的牵引力，以更快的缩短第一车辆与第二车辆的距离。
在第二车辆的制动力小于或等于第一车辆的制动力的情况下，减小第一车辆的制动力。需要说明的是，第一车辆和第二车辆都在制动的情况下，第二车辆的制动力小于或等于第一车辆的制动力，可以判断第二车辆的车速比第一车辆更快，因此，为了缩短第一车辆与第二车辆的距离，需要减小第一车辆的制动力，或者取消第一车辆的制动力，增加第一车辆的牵引力，以更快的缩短第一车辆与第二车辆的距离。
在第二车辆的制动力大于第一车辆的制动力的情况下，保持第一车辆的制动力。同样地，在第一车辆和第二车辆都在制动的情况下，第二车辆的制动力大于第一车辆的制动力，可以判断第二车辆的车速慢于第一车辆，因此保持第一车辆的制动力，也可以缩短第一车辆与第二车辆的距离。当然若第一车间距较大，也可以减小第一车辆的制动力或者增加第一车辆的牵引力，以更快的缩短第一车辆与第二车辆的距离。
通过上述方式，可以控制第一车辆的车速大于第二车辆的车速，以缩短第一车辆与第二车辆的距离。
可选地，在本公开的另外一些实施例中，在控制第一车辆和第二车辆进行编组的过程中，第二车辆还可以继续周期性检测第二车间距，并将检测到的第二车间距发送至第一车辆；同样地，第一车辆也继续周期性检测第一车间距，并周期性接收第二车辆发送的第二车间距，在第二车间距与第一车间距的差值大于第二距离阈值的情况下，停止进行第一车辆和第二车辆的编组；在第一车间距与第二车间距的差值小于或等于该第二距离阈值的情况下，继续控制第一车辆行驶，以缩短第一车辆与第二车辆的第一车间距。
其中，该第二距离阈值可以与上述第一距离阈值相等，也可以大于上述第一距离阈值。例如：第二距离阈值和第一距离阈值可以都是0。再例如：第一距离阈值是20厘米的情况下，第二距离阈值可以是40厘米，这样在车辆行驶中，可以避免由于第一车辆和第二车辆检测车间距的时刻的不同而出现的距离差异。
上述第一车间距和第二车间距可以是第一车辆在同一个周期内获得的，也可以是在相邻两个周期内获得的，但为了保证准确性，获得第一车间距的时间和获得第二车间距的时间的时间差小于或等于预设时间。可选地，该预设时间可以是检测周期的整数倍。
若第二车间距与第一车间距的差值大于第二距离阈值，则确认该第一车间距不可信， 可能是第一车辆或第二车辆的距离检测装置出现故障导致，此时为了避免车辆行驶过程中发生碰撞，停止进行第一车辆和第二车辆的编组，从而提高车辆编组过程中的安全性。同样地，若第一车间距与第二车间距的差值小于或等于该第二距离阈值，则确认该第一车间距是可信的，可以继续控制第一车辆行驶，继续进行车辆编组。
可选地，在本公开的另外一些实施例中，在控制第一车辆和第二车辆进行编组的过程中，第二车辆还可以周期性发送第一控制指令至第一车辆，该第一控制指令可以包括第二车辆的牵引力或制动力；同样地，第一车辆也可以周期性接收第二车辆发送的该第一控制指令，第一车辆根据该第一控制指令，调整控制第一车辆的牵引力或制动力，继续控制第一车辆行驶，以缩短第一车辆与第二车辆的第一车间距。这样可以实现更加精确的车辆编组控制。
可选地，在本公开的另外一些实施例中，控制第一车辆和第二车辆进行编组的过程中，若第一车辆收到列车控制中心发送的停止编组指令，则第一车辆可以停止车辆编组，并向第二车辆发送停止编组指令。同样地，在车辆编组过程中，若第二车辆收到列车控制中心发送的停止编组指令，同样可以停止车辆编组，并向第一车辆发送停止编组指令。这样，通过列车控制中心的控制，可以提高车辆编组的灵活性和可靠性。
可选地，在本公开的另外一些实施例中，将第一车辆和第二车辆作为目标列车编组中的车辆后，第一车辆还可以向第二车辆发送列车编组完成指令，和/或，向列车控制设备发送列车编组完成指令。另外，第一车辆还可以停止控制第一车辆继续缩短与第二车辆的距离。
同样地，第二车辆也可以通过周期性检测第二车间距，在连续预设数量个周期内检测到的第二车间距均小于或等于预设编组距离的情况下，将第一车辆和第二车辆作为目标列车编组中的车辆，也可以在收到第一车辆发送的列车编组完成指令，再将第一车辆和第二车辆作为目标列车编组中的车辆。在将第一车辆和第二车辆作为目标列车编组中的车辆后，第二车辆同样也可以向第一车辆和/或列车控制设备发送列车编组完成指令。
列车控制设备分别接收到第一车辆和第二车辆发送的列车编组完成消息后，可以将第一车辆和第二车辆作为目标列车编组中的车辆，将目标列车编组中的车辆作为一辆列车进行同步控制。
可选地，在本公开的另外一些实施例中，将第一车辆和第二车辆作为目标列车编组中的车辆后，第一车辆将不再向列车控制系统上报车辆位置信息，而是由第二车辆上报位置信息作为目标列车编组的位置信息。另外，第二车辆还可以根据第一车辆的车身长度和第二车辆的车窗长度计算得到目标列车编组的车身长度，并将该目标列车编组的车身长度上报到列车控制设备。
可选地，在本公开的另外一些实施例中，将第一车辆和第二车辆作为目标列车编组中的车辆后，第一车辆和第二车辆进入编组同步控制状态，此时第一车辆和第二车辆需要由第二车辆统一控制，统一控制的方式可以包括：
首先，第二车辆在执行目标车辆操作的情况下，根据目标车辆操作生成同步控制指令。该目标车辆操作可以包括第二车辆执行的牵引、制动、开关车门、车辆警示和车辆广播中的一种或多种。
其次，第二车辆将该同步控制指令发送至第一车辆。
再次，第一车辆接收第二车辆发送的该同步控制指令，并控制第一车辆根据同步控制指令同步执行目标车辆操作。
这样，实现了目标列车编组中第一车辆和第二车辆的统一控制。
可选地，在本公开的另外一些实施例中，第一车辆将第一车辆和第二车辆作为目标列车编组中的车辆后，在满足以下条件中的一个或多个的情况下，第一车辆可以解除与第二车辆的列车编组：
条件1-1：接收到人工操作指令：若目标列车编组仅在自动驾驶状态下进行，接收到人工操作指令后，需要解除列车编组。当然，若目标列车编组可以在人工操作下进行，则此时不需要解除列车编组。
条件1-2：接收到第二车辆发送的列车编组解除指令，该列车编组解除指令用于指示第一车辆解除与第二车辆的列车编组。
条件1-3：接收到列车控制设备发送的列车编组解除指令，同样的该列车编组解除指令用于指示第一车辆解除与第二车辆的列车编组。
条件1-4：检测到第一车辆与第二车辆的车车通信时延大于第二时延阈值，该第二时延阈值与第一时延阈值可以相同，也可以不同。在车车通信时延大于第二时延阈值的情况下，由于通信延迟，获取的第二车间距不准确，无法再用于校准第一车间距，因此，基于安全性考虑，可以解除列车编组。
条件1-5：检测到第一车辆与第二车辆的车车通信连接中断。
条件1-6：检测到第一车间距与第二车间距的差值大于第三距离阈值，该第三距离阈值与第二距离阈值可以相同，也可以不同。在第一车间距与第二车间距的差值大于第二距离阈值的情况下，确认检测到的第一车间距或第二车间距不准确，若继续编组运行有车辆碰撞的安全隐患，因此，基于安全性考虑，可以解除列车编组。
条件1-7：接收到第二车辆发送的同步控制指令后，控制第一车辆同步执行目标车辆操作失败。需要说明的是，目标车辆操作失败的发生说明第一车辆发生故障导致无法与第二车辆同步行驶，基于安全考虑，可以解除与第二车辆的列车编组。
条件1-8：接收到第二车辆发送的后退指令。需要说明的是，在列车编组运行过程中，为了保障车辆运行的安全性，不允许车辆后退。
其中，在第二车辆为第一车辆的前车的情况下，解除与第二车辆的列车编组可以包括以下操作中的一种或多种：
解除操作1-1：向第二车辆发送列车编组解除指令，以便第二车辆解除与第一车辆的列车编组。
解除操作1-2：向列车控制设备发送列车编组解除指令，以便列车控制设备向第二车辆发送列车编组解除指令。
解除操作1-3：在第一车辆处于行驶状态的情况下，控制第一车辆进行制动，以使得第一车辆与第二车辆的距离大于预设安全距离。示例地，该预设安全距离可以是10米或20米。另外，对第一车辆施加的制动力需要大于第二车辆的制动力，以使得两车之间的距离增大。
解除操作1-4：在第一车辆处于静止状态的情况下，保持第一车辆的静止状态，等待第二车辆向前移动，直至检测到第一车辆与第二车辆的距离大于预设安全距离后，第一车辆进入正常运行状态。也就是可以对第一车辆施加牵引力。
可选地，第一车辆在解除与第二车辆的列车编组之后，还可以获取第一车辆的第一位置信息，并将第一位置信息发送至列车控制设备，以便列车控制设备对第一车辆进行控制。
需要说明的是，在相关技术中，列车编组被解除后，第一车辆需要进行降级作业，将第一车辆的第一位置信息进行初始化，并经过校准后才能得到可信的位置信息，而本公开实施例中，第一车辆不进行降级作业，确认此时的第一位置信息是可信位置，不需要重新对位置进行校准。这样，解除编组后第一车辆可以继续正常运行，提高了车辆运行的效率。
同样地，第二车辆将第一车辆和第二车辆作为目标列车编组中的车辆后，在满足以下条件中的一个或多个的情况下，第二车辆也可以解除与第一车辆的列车编组：
条件2-1：接收到车辆后退指令：在列车编组运行过程中，由于车辆的惯性，一旦后退行驶，可能会引起第一车辆和第二车辆的碰撞，因此在列车编组运行过程中，不执行车辆后退指令，在接收到车辆后退指令后，需要先解除编组，然后再执行后退指令。
条件2-2：接收到人工操作指令。
条件2-3：接收到第一车辆发送的列车编组解除指令。
条件2-4：接收到列车控制设备发送的列车编组解除指令。
条件2-5：检测到第一车辆与第二车辆的车车通信连接中断。
其中，第二车辆解除与第一车辆的列车编组同样也包括以下操作中的一种或多种：
解除操作2-1：向第一车辆发送列车编组解除指令。
解除操作2-2：向列车控制设备发送列车编组解除指令。
解除操作2-3：控制第二车辆向前行驶，以使得第二车辆与第一车辆的距离大于预设安全距离。
同样地，第二车辆在解除与第一车辆的列车编组之后，还可以获取第二车辆的第二位置信息，并将第二位置信息发送至列车控制设备。
列车控制设备也可以根据控制人员的指令主动发起解除列车编组的操作，分别向第一车辆和第二车辆发送列车编组解除指令，第一车辆和第二车辆收到该列车编组解除指令后可以分别解除列车编组。
需要说明的是，对于上述方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本公开并不受所描述的动作顺序的限制，因为依据本公开，某些步骤可以采用其他顺序或者同时进行，例如，S403步骤可以在S404步骤之前执行，也可以在S404之后执行；S401和S405可以同时执行；S406和S407也可以同时执行；S408和S409也可以同时执行。
这样，采用上述方法，在目标列车编组运行过程中，出现满足上述解除列车编组条件的情况下，可以解除列车编组，恢复第一车辆和第二车辆的独立运行，从而确保了车辆编组运行中车辆的安全性和可靠性。
图5是根据一示例性实施例示出的一种车辆编组装置500的框图。参照图5，该车辆编组装置包括处理器522，其数量可以为一个或多个，以及存储器532，用于存储可由处理器522执行的计算机程序。存储器532中存储的计算机程序可以包括一个或一个以上的每一个对应于一组指令的模块。此外，处理器522可以被配置为执行该计算机程序，以执行上述的车辆编组的方法。
另外，该车辆编组装置还可以包括电源组件526和通信组件550，该电源组件526可以被配置为执行该车辆编组装置的电源管理，该通信组件550可以被配置为实现该车辆编组装置的通信，例如，有线或无线通信。此外，该车辆编组装置还可以包括输入/输出(I/O)接口558。该车辆编组装置可以操作基于存储在存储器532的操作系统，例如Windows Server，Mac OS X，Unix，Linux，Android等等。
在另一示例性实施例中，还提供了一种包括程序指令的计算机可读存储介质，该程序指令被处理器执行时实现上述的车辆编组的方法的步骤。例如，该计算机可读存储介质可以为上述包括程序指令的存储器532，上述程序指令可由该车辆编组装置的处理器522执行以完成上述的车辆编组的方法。
在另一示例性实施例中，还提供一种计算机程序产品，该计算机程序产品包含能够由可编程的装置执行的计算机程序，该计算机程序具有当由该可编程的装置执行时用于执行 上述的车辆编组的方法的代码部分。
图6是本公开提供的一种车辆，该车辆可以包括上述任一种车辆编组装置。
以上结合附图详细描述了本公开的优选实施方式，但是，本公开并不限于上述实施方式中的具体细节，在本公开的技术构思范围内，可以对本公开的技术方案进行多种简单变型，这些简单变型均属于本公开的保护范围。
另外需要说明的是，在上述具体实施方式中所描述的各个具体技术特征，在不矛盾的情况下，可以通过任何合适的方式进行组合。为了避免不必要的重复，本公开对各种可能的组合方式不再另行说明。
此外，本公开的各种不同的实施方式之间也可以进行任意组合，只要其不违背本公开的思想，其同样应当视为本公开所公开的内容。

Claims (22)

  1. 一种车辆编组的方法，应用于第一车辆，其特征在于，所述方法包括：
    接收列车控制设备发送的列车编组控制指令，其中，所述列车编组控制指令用于指示进行车辆编组的车辆；
    根据所述列车编组控制指令确定待编组的第二车辆；
    检测与所述第二车辆的第一车间距；
    接收所述第二车辆发送的第二车间距，其中，所述第二车间距为所述第二车辆检测到的所述第一车辆与所述第二车辆的距离；
    在所述第一车间距与所述第二车间距的差值小于或等于第一距离阈值的情况下，将所述第一车辆和所述第二车辆作为目标列车编组中的车辆，控制所述第一车辆和所述第二车辆进行编组。
  2. 根据权利要求1所述的方法，其特征在于，在所述第一车间距与所述第二车间距的差值小于或等于第一距离阈值的情况下之后，包括：
    控制所述第一车辆行驶，以缩短所述第一车辆与所述第二车辆的第一车间距；
    周期性检测与所述第二车辆的第一车间距，在连续预设数量个周期内检测到的第一车间距均小于或等于预设编组距离的情况下，执行所述将所述第一车辆和所述第二车辆作为目标列车编组中的车辆步骤。
  3. 根据权利要求2所述的方法，其特征在于，所述方法还包括：
    在周期性检测与所述第二车辆的第一车间距的过程中，继续接收所述第二车辆周期性发送的第二车间距；
    在所述第二车间距与所述第一车间距的差值大于第二距离阈值的情况下，停止进行所述第一车辆和所述第二车辆的编组。
  4. 根据权利要求2所述的方法，其特征在于，所述控制所述第一车辆行驶，以缩短所述第一车辆与所述第二车辆的第一车间距，包括：
    接收所述第二车辆发送的第一控制指令，其中，所述第一控制指令包括第二车辆的牵引力或制动力；
    根据所述第二车辆的牵引力或制动力控制所述第一车辆行驶，以缩短所述第一车辆与所述第二车辆的第一车间距。
  5. 根据权利要求4所述的方法，其特征在于，在所述第二车辆为所述第一车辆的前车的情况下，根据所述第二车辆的牵引力或制动力控制所述第一车辆行驶包括：
    在所述第二车辆的牵引力大于或等于所述第一车辆的牵引力的情况下，增大所述第一车辆的牵引力；或者，
    在所述第二车辆的牵引力小于所述第一车辆的牵引力的情况下，保持所述第一车辆的牵引力；或者，
    在所述第二车辆的制动力小于或等于所述第一车辆的制动力的情况下，减小所述第一车辆的制动力；或者，
    在所述第二车辆的制动力大于所述第一车辆的制动力的情况下，保持或增大所述第一车辆的制动力。
  6. 根据权利要求1所述的方法，其特征在于，所述列车编组控制指令包括待编组的第一目标车辆标识和第二目标车辆标识，在所述控制所述第一车辆和所述第二车辆进行编组之前，所述方法还包括：
    确定所述第一车辆的第一车辆标识是否是所述第一目标车辆标识；
    根据所述列车编组控制指令确定候选车辆；
    对所述候选车辆进行车辆标识验证，以确定所述候选车辆的车辆标识是否是所述第二目标车辆标识；
    在确定所述第一车辆的第一车辆标识是所述第一目标车辆标识，且所述候选车辆的车辆标识是所述第二目标车辆标识的情况下，将所述候选车辆作为所述第二车辆，执行所述控制所述第一车辆和所述第二车辆进行编组的步骤。
  7. 根据权利要求1所述的方法，其特征在于，在根据所述列车编组控制指令确定待编组的第二车辆之后，所述方法还包括：
    进行系统自检，并根据系统自检结果确定所述第一车辆是否处于安全运行状态；
    在所述第一车辆处于安全运行状态的情况下，执行所述控制所述第一车辆和所述第二车辆进行编组的步骤。
  8. 根据权利要求1所述的方法，其特征在于，在根据所述列车编组控制指令确定待编组的第二车辆之后，所述方法还包括：
    检测所述第一车辆与所述第二车辆的车车通信时延；
    在所述车车通信时延小于或等于第一时延阈值的情况下，执行所述控制所述第一车辆 和所述第二车辆进行编组的步骤。
  9. 根据权利要求2所述的方法，其特征在于，在将所述第一车辆和所述第二车辆作为目标列车编组中的车辆后，所述方法还包括：
    向所述第二车辆发送列车编组完成指令；和/或
    向所述列车控制设备发送列车编组完成指令。
  10. 根据权利要求2所述的方法，其特征在于，在将所述第一车辆和所述第二车辆作为目标列车编组中的车辆后，所述方法还包括：
    接收所述第二车辆发送的同步控制指令，所述同步控制指令包含所述第二车辆执行的目标车辆操作；
    根据所述同步控制指令同步执行所述目标车辆操作。
  11. 根据权利要求10所述的方法，其特征在于，在将所述第一车辆和所述第二车辆作为目标列车编组中的车辆后，所述方法还包括：
    在满足以下条件中的一个或多个的情况下，解除与所述第二车辆的列车编组：
    接收到人工操作指令；
    接收到所述第二车辆发送的列车编组解除指令；
    接收到所述列车控制设备发送的列车编组解除指令；
    检测到所述第一车辆与所述第二车辆的车车通信时延大于第二时延阈值；
    检测到所述第一车辆与所述第二车辆的车车通信连接中断；
    检测到所述第一车间距与所述第二车间距的差值大于第三距离阈值；
    接收到所述第二车辆发送的所述同步控制指令后，执行所述目标车辆操作失败；
    接收到所述第二车辆发送的后退指令。
  12. 根据权利要求11所述的方法，其特征在于，在所述第二车辆为所述第一车辆的前车的情况下，所述解除与所述第二车辆的列车编组包括以下操作中的一种或多种：
    在所述第一车辆处于行驶状态的情况下，控制所述第一车辆进行制动，以使得所述第一车辆与所述第二车辆的距离大于预设安全距离；
    在所述第一车辆处于静止状态的情况下，保持所述第一车辆的制动状态，直至检测到所述第一车辆与所述第二车辆的距离大于预设安全距离后，所述第一车辆进入正常运行状态；
    向所述第二车辆发送列车编组解除指令，以便所述第二车辆解除与所述第一车辆的列车编组；
    向所述列车控制设备发送列车编组解除指令，以便所述列车控制设备向所述第二车辆发送列车编组解除指令。
  13. 根据权利要求11所述的方法，其特征在于，在所述解除与所述第二车辆的列车编组之后，所述方法还包括：
    将所述第一车辆的第一位置信息发送至列车控制设备，以便所述列车控制设备对所述第一车辆进行控制。
  14. 一种车辆编组的方法，应用于第二车辆，其特征在于，所述方法包括：
    接收列车控制设备发送的列车编组控制指令，其中，所述列车编组控制指令用于指示进行车辆编组的车辆；
    根据所述列车编组控制指令确定待编组的第一车辆；
    检测所述第二车辆与所述第一车辆的第二车间距；
    发送所述第二车间距至所述第一车辆，以便所述第一车辆根据所述第二车间距控制所述第一车辆和所述第二车辆进行编组。
  15. 根据权利要求14所述的方法，其特征在于，在接收列车控制设备发送的列车编组控制指令之后，所述方法还包括：
    禁止执行后退操作。
  16. 一种车辆编组装置，其特征在于，包括：
    存储器，其上存储有计算机程序；
    处理器，用于执行所述存储器中的所述计算机程序，以实现权利要求1至13中任一项所述方法的步骤。
  17. 一种车辆编组装置，其特征在于，包括：
    存储器，其上存储有计算机程序；
    处理器，用于执行所述存储器中的所述计算机程序，以实现权利要求14至15中任一项所述方法的步骤。
  18. 一种车辆编组系统，其特征在于，所述系统包括：列车控制设备、第一车辆以及第二车辆，其中：
    所述列车控制设备，向第一车辆和第二车辆发送列车编组控制指令，所述列车编组控制指令用于指示进行车辆编组的车辆；
    所述第一车辆包括上述权利要求16所述的车辆编组装置；
    所述第二车辆包括上述权利要求17所述的车辆编组装置。
  19. 根据权利要求18所述的系统，其特征在于，所述系统还包括：
    碰撞缓冲组件，所述碰撞缓冲组件设置在所述第一车辆和所述第二车辆的连接处，用于缓冲所述第一车辆和所述第二车辆碰撞的冲击力。
  20. 根据权利要求19所述的系统，其特征在于，所述碰撞缓冲组件包括半永久牵引杆。
  21. 一种车辆，其特征在于，所述车辆包括权利要求16所述的车辆编组装置，或者，所述车辆包括权利要求17所述的车辆编组装置。
  22. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现权利要求1至13中任一项所述方法的步骤，或者，该程序被处理器执行时实现权利要求14至16中任一项所述方法的步骤。
PCT/CN2021/131710 2020-11-20 2021-11-19 车辆编组的方法、装置、系统、车辆及存储介质 WO2022105865A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US18/196,224 US20230278609A1 (en) 2020-11-20 2023-05-11 Vehicle consisting method, apparatus, and system, vehicle, and storage medium

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202011312259.1 2020-11-20
CN202011312259.1A CN114524005B (zh) 2020-11-20 2020-11-20 车辆编组的方法、装置、系统、车辆及存储介质

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US18/196,224 Continuation US20230278609A1 (en) 2020-11-20 2023-05-11 Vehicle consisting method, apparatus, and system, vehicle, and storage medium

Publications (1)

Publication Number Publication Date
WO2022105865A1 true WO2022105865A1 (zh) 2022-05-27

Family

ID=81619391

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/131710 WO2022105865A1 (zh) 2020-11-20 2021-11-19 车辆编组的方法、装置、系统、车辆及存储介质

Country Status (3)

Country Link
US (1) US20230278609A1 (zh)
CN (1) CN114524005B (zh)
WO (1) WO2022105865A1 (zh)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005156308A (ja) * 2003-11-25 2005-06-16 Sumitomo Electric Ind Ltd 移動体軌跡情報の異常判定方法及びプログラム
CN103223961A (zh) * 2013-04-18 2013-07-31 株洲南车时代电气股份有限公司 一种基于零距离的机车无线重联方法及装置
US20140129154A1 (en) * 2012-05-23 2014-05-08 General Electric Company System and method for inspecting a route during movement of a vehicle system over the route
CN109383527A (zh) * 2017-08-03 2019-02-26 比亚迪股份有限公司 列车编组方法、编组控制器及列车
CN110682943A (zh) * 2019-10-12 2020-01-14 中车工业研究院有限公司 列车编组方法及装置
CN110962888A (zh) * 2019-12-09 2020-04-07 中南大学 列车的实时动态编组方法及系统
CN111086523A (zh) * 2020-01-02 2020-05-01 中车株洲电力机车有限公司 一种机车、适用于自由编组的非机械联挂方法、装置和设备
CN111770482A (zh) * 2020-06-12 2020-10-13 戴建荣 一种适用于智能设备的移动测距方法及应用

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104424779B (zh) * 2013-08-30 2017-12-12 比亚迪股份有限公司 通过移动终端控制车辆的系统、方法
WO2015132948A1 (ja) * 2014-03-07 2015-09-11 株式会社日立製作所 列車併合制御システム及び列車併合方法
US10542464B2 (en) * 2016-04-01 2020-01-21 Futurewei Technologies, Inc. Methods for data communication to a platoon of connected vehicles
KR102096963B1 (ko) * 2017-07-26 2020-04-03 한국철도기술연구원 열차 간 가상 연결 방법 및 이를 위한 열차 제어 장치
CN109664923B (zh) * 2017-10-17 2021-03-12 交控科技股份有限公司 基于车车通信的城市轨道交通列控系统
CN110803195A (zh) * 2019-11-28 2020-02-18 通号城市轨道交通技术有限公司 一种列车的虚拟联挂模式的切换方法及装置
CN111776018B (zh) * 2020-06-29 2022-12-20 交控科技股份有限公司 一种列车编队跟踪控制方法及装置

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005156308A (ja) * 2003-11-25 2005-06-16 Sumitomo Electric Ind Ltd 移動体軌跡情報の異常判定方法及びプログラム
US20140129154A1 (en) * 2012-05-23 2014-05-08 General Electric Company System and method for inspecting a route during movement of a vehicle system over the route
CN103223961A (zh) * 2013-04-18 2013-07-31 株洲南车时代电气股份有限公司 一种基于零距离的机车无线重联方法及装置
CN109383527A (zh) * 2017-08-03 2019-02-26 比亚迪股份有限公司 列车编组方法、编组控制器及列车
CN110682943A (zh) * 2019-10-12 2020-01-14 中车工业研究院有限公司 列车编组方法及装置
CN110962888A (zh) * 2019-12-09 2020-04-07 中南大学 列车的实时动态编组方法及系统
CN111086523A (zh) * 2020-01-02 2020-05-01 中车株洲电力机车有限公司 一种机车、适用于自由编组的非机械联挂方法、装置和设备
CN111770482A (zh) * 2020-06-12 2020-10-13 戴建荣 一种适用于智能设备的移动测距方法及应用

Also Published As

Publication number Publication date
CN114524005A (zh) 2022-05-24
US20230278609A1 (en) 2023-09-07
CN114524005B (zh) 2023-08-08

Similar Documents

Publication Publication Date Title
WO2018121583A1 (zh) 列车的移动授权的生成方法及装置、车载atp及zc
CN111845862B (zh) 一种基于相对速度的列车安全追踪防护方法和装置
EP2620828B1 (en) Vehicle fleet management system and inter vehicle distance control method
CN110979401B (zh) 一种协同编队列车防撞方法及装置
CN110588723A (zh) 一种列车动态追踪安全防护模型
KR20190078663A (ko) 선두 차량의 군집 주행 제어 장치 및 방법
KR102606258B1 (ko) 협력 주행 제어 장치 및 방법
WO2017067163A1 (zh) 车辆制动方法及其装置和车辆
CN105894858A (zh) 一种车辆紧急刹车预警系统
CN102700573B (zh) 一种主动式轨道车辆防碰撞系统及其防碰撞方法
CN110497909A (zh) 应用于车辆的碰撞检测和避免方法及装置
JP2017033386A (ja) 隊列走行制御システム
CN113844493B (zh) 道岔控制方法及装置
WO2022105865A1 (zh) 车辆编组的方法、装置、系统、车辆及存储介质
CN115056831A (zh) 列车虚拟联挂融合控制系统及其控制方法
GB2539125A (en) Vehicle coupling control system, vehicle coupling control method, and vehicle control system fault detection device
US20220281498A1 (en) Railway vehicle and control method and system therefor, and train control and management system
WO2015019431A1 (ja) 列車制御システム及びこれを備えた列車
CN107878514B (zh) 一种列车自动驾驶ato设备故障的安全处理方法及系统
CN109204388B (zh) 列车速度控制方法、系统、设备及计算机可读存储介质
JP3788168B2 (ja) 車両の走行支援装置
WO2022105863A1 (zh) 控制车辆的方法、装置、存储介质及车辆
WO2022083113A1 (zh) 一种车辆制动方法、装置及列车
CN205344923U (zh) 一种基于点对点精确测距的铁路列车防碰撞防追尾装置
CN113844503B (zh) 列车回段控制方法、装置、电子设备及存储介质

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21894012

Country of ref document: EP

Kind code of ref document: A1

REG Reference to national code

Ref country code: BR

Ref legal event code: B01A

Ref document number: 112023009064

Country of ref document: BR

ENP Entry into the national phase

Ref document number: 112023009064

Country of ref document: BR

Kind code of ref document: A2

Effective date: 20230511

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21894012

Country of ref document: EP

Kind code of ref document: A1