Vehicle consisting method, apparatus, and system, vehicle, and storage medium

Abstract

A method of consisting a train, includes: by a first vehicle, receiving the train consist control instruction transmitted by the train control device, where the train consist control instruction is configured to instruct the first vehicle for consisting the train; determining a second vehicle for consisting the train according to the train consist control instruction; detecting a first inter-vehicle distance between the first vehicle and the second vehicle; receiving a second inter-vehicle distance between the first vehicle and the second vehicle transmitted by the second vehicle, where the second inter-vehicle distance comprises a distance between the first vehicle and the second vehicle detected by the second vehicle; and in response to that a difference between the first inter-vehicle distance and the second inter-vehicle distance is less than or equal to a first distance threshold, controlling the first vehicle to couple to the second vehicle to consist the train.

What is claimed is: 
     
         1 . A method of consisting a train, the method comprising:
 receiving, by a first vehicle, a train consist control instruction transmitted by a train control device, wherein the train consist control instruction is configured to instruct the first vehicle for consisting the train;   determining, by the first vehicle, a second vehicle configured to consisting the train according to the train consist control instruction;   detecting, by the first vehicle, a first inter-vehicle distance between the first vehicle and the second vehicle;   receiving, by the first vehicle, a second inter-vehicle distance transmitted by the second vehicle, wherein the second inter-vehicle distance comprises a distance between the first vehicle and the second vehicle detected by the second vehicle; and   in response to that a difference between the first inter-vehicle distance and the second inter-vehicle distance is less than or equal to a first distance threshold, controlling, by the first vehicle, the first vehicle to couple to the second vehicle to consist the train.   
     
     
         2 . The method according to  claim 1 , wherein controlling, by the first vehicle, the first vehicle to couple to the second vehicle to consist the train comprises:
 controlling the first vehicle to travel to shorten the first inter-vehicle distance between the first vehicle and the second vehicle; and   periodically detecting a distance between the first vehicle and the second vehicle to obtained a plurality of first inter-vehicle distances, and in response to that each of the first inter-vehicle distances detected in N consecutive periods is less than or equal to a train-consisting distance, controlling the first vehicle and the second vehicle to consist the train, wherein N is an integer greater than two.   
     
     
         3 . The method according to  claim 2 , further comprising:
 periodically receiving a distance between the first vehicle and the second vehicle detected by the second vehicle from the second vehicle to obtain a plurality of second inter-vehicle distances corresponding to the plurality of first inter-vehicle distances; and   in response to that a difference between one of the second inter-vehicle distances and a corresponding one of the first inter-vehicle distances is greater than a second distance threshold, stopping coupling the first vehicle with the second vehicle.   
     
     
         4 . The method according to  claim 2 , wherein the controlling the first vehicle to travel to shorten the first inter-vehicle distance between the first vehicle and the second vehicle comprises:
 receiving a control instruction transmitted by the second vehicle, wherein the control instruction transmitted by the second vehicle comprises a traction force or a braking force of the second vehicle; and   controlling the first vehicle to travel according to the traction force or the braking force of the second vehicle, to shorten the first inter-vehicle distance between the first vehicle and the second vehicle.   
     
     
         5 . The method according to  claim 4 , wherein in response to that the second vehicle is a preceding vehicle of the first vehicle, the controlling the first vehicle to travel according to the traction force or the braking force of the second vehicle comprises:
 increasing a traction force of the first vehicle in response to that the traction force of the second vehicle is greater than or equal to the traction force of the first vehicle; or   maintaining the traction force of the first vehicle in response to that the traction force of the second vehicle is less than the traction force of the first vehicle; or   reducing a braking force of the first vehicle in response to that the braking force of the second vehicle is less than or equal to the braking force of the first vehicle; or   maintaining or increasing the braking force of the first vehicle when the braking force of the second vehicle is greater than the braking force of the first vehicle.   
     
     
         6 . The method according to  claim 1 , wherein
 the train consist control instruction comprises a first target vehicle identifier and a second target vehicle identifier for consisting the train; and   before the controlling the first vehicle to couple to the second vehicle to consist the train, the method further comprises:
 determining whether a first vehicle identifier of the first vehicle matches the first target vehicle identifier; 
 determining a candidate vehicle according to the train consist control instruction; 
 determining whether a vehicle identifier of the candidate vehicle matches the second target vehicle identifier; and 
 in response to determining that the first vehicle identifier of the first vehicle matches the first target vehicle identifier and the vehicle identifier of the candidate vehicle matches the second target vehicle identifier, controlling the first vehicle to couple to the second vehicle to consist the train. 
   
     
     
         7 . The method according to  claim 1 , wherein after the determining the second vehicle for consisting the train according to the train consist control instruction, the method further comprises:
 performing a system self-test to obtain a test result, and determining whether the first vehicle is in a safe operating state according to the test result; and   in response to determining that the first vehicle is in the safe operating state, controlling the first vehicle to couple to the second vehicle to consist the train.   
     
     
         8 . The method according to  claim 1 , wherein after the determining the second vehicle for consisting the train according to the train consist control instruction, the method further comprises:
 detecting a vehicle-to-vehicle communication delay between the first vehicle and the second vehicle; and   in response to that the vehicle-to-vehicle communication delay is less than or equal to a first delay threshold, controlling the first vehicle to couple to the second vehicle to consist the train.   
     
     
         9 . The method according to  claim 2 , further comprising:
 transmitting a train consisting completion instruction to the second vehicle; or   transmitting the train consist completion instruction to the train control device.   
     
     
         10 . The method according to  claim 2 , further comprising:
 receiving, by the first vehicle, a synchronous control instruction from the second vehicle, wherein the synchronous control instruction comprises a target vehicle operation performed by the second vehicle; and   synchronously performing, by the first vehicle, the target vehicle operation according to the synchronous control instruction.   
     
     
         11 . The method according to  claim 10 , wherein after controlling the first vehicle to couple to the second vehicle to consist the train, the method further comprises:
 removing the second vehicle from consisting the train, in response to one or more of the following conditions:   receiving a manual operation instruction;   receiving a train consist removal instruction transmitted by the second vehicle or by the train control device;   detecting that a vehicle-to-vehicle communication delay between the first vehicle and the second vehicle is greater than a second delay threshold;   detecting that a vehicle-to-vehicle communication connection between the first vehicle and the second vehicle is interrupted;   detecting that the difference between the first inter-vehicle distance and the second inter-vehicle distance is greater than a third distance threshold;   failing to perform the target vehicle operation after receiving the synchronous control instruction transmitted by the second vehicle; and   receiving a retreat instruction from the second vehicle.   
     
     
         12 . The method according to  claim 11 , wherein in response to that the second vehicle is a preceding vehicle of the first vehicle, the removing the second vehicle from consisting the train comprises one or more of:
 in response to that the first vehicle is in a traveling state, controlling a distance between the first vehicle and the second vehicle to be greater than a safety distance by braking the first vehicle;   maintaining a braking state of the first vehicle when the first vehicle is in a stationary state, and in response to detecting that the distance between the first vehicle and the second vehicle is greater than the safety distance, controlling the first vehicle to enter a normal operating state;   transmitting the train consist removal instruction to the second vehicle, and removing the second vehicle from consisting the train; and   relaying the train consist removal instruction to the second vehicle via the train control device.   
     
     
         13 . The method according to  claim 11 , wherein after the removing the second vehicle from consisting the train, the method further comprises:
 transmitting first position information of the first vehicle to the train control device.   
     
     
         14 . A method of consisting a train, the method comprising:
 receiving, by a second vehicle, a train consist control instruction transmitted by a train control device, wherein the train consist control instruction is configured to instruct the second vehicle to consist the train;   determining, by the second vehicle, a first vehicle configured to consist the train according to the train consist control instruction;   detecting, by the second vehicle, a second inter-vehicle distance between the second vehicle and the first vehicle; and   transmitting, by the second vehicle, the second inter-vehicle distance to the first vehicle, to enable the first vehicle to couple to the second vehicle to consist the train according to the second inter-vehicle distance.   
     
     
         15 . The method according to  claim 14 , wherein after receiving the train consist control instruction transmitted by the train control device, the method further comprises:
 prohibiting the second vehicle from performing a retreat operation.   
     
     
         16 . A system of consisting a train comprising a train control device, a first vehicle, and a second vehicle, wherein
 the train control device transmits a train consist control instruction to the first vehicle and the second vehicle;   the train consist control instruction is configured to instruct the first vehicle and the second vehicle for consisting the train;   the first vehicle is configured to perform first operations comprising:
 receiving the train consist control instruction transmitted by the train control device; 
 determining the second vehicle for consisting the train according to the train consist control instruction; 
 detecting a first inter-vehicle distance between the first vehicle and the second vehicle; 
 receiving a second inter-vehicle distance between the first vehicle and the second vehicle transmitted by the second vehicle; and 
 in response to that a difference between the first inter-vehicle distance and the second inter-vehicle distance is less than or equal to a first distance threshold, controlling the first vehicle to couple to the second vehicle to consist the train; and 
   the second vehicle is configured to perform second operations comprising:
 receiving the train consist control instruction transmitted by the train control device; 
 determining the first vehicle for consisting the train according to the train consist control instruction; 
 detecting the second inter-vehicle distance between the second vehicle and the first vehicle; and 
 transmitting the second inter-vehicle distance to the first vehicle, to enable the first vehicle to couple to the second vehicle to consist the train according to the second inter-vehicle distance. 
   
     
     
         17 . The system according to  claim 16 , further comprising:
 a collision buffer assembly, disposed at a joint of the first vehicle and the second vehicle, wherein the collision buffer assembly is configured to buffer an impact force of a collision between the first vehicle and the second vehicle.   
     
     
         18 . The system according to  claim 17 , wherein the collision buffer assembly comprises a semi-permanent drawbar. 
     
     
         19 . A vehicle, comprising the system according to  claim 16 . 
     
     
         20 . A non-transitory computer-readable storage medium storing a computer program, wherein when the computer program is executed by one or more processors, the computer program causes the one or more processors to implement the first operations and the second operations according to  claim 16 .