Method and device for controlling train formation tracking

A device for controlling train formation tracking, comprising:

• a measurement lidar sensor of a first train, configured to obtain a current distance between the first train and a second train in a train formation, wherein the first train is adjacent to the second train and located behind the second train;
• a processor, configured to determine a target tracking mode of the first train based on the current distance between the first train and the second train in the train formation with the target tracking mode being selected from a speed tracking mode, a distance tracking mode and a braking mode;
• the speed tracking mode is a mode in which a maximum safe speed of the first train with respect to the second train is tracked as a control target through a speed tracking controller, the distance tracking mode is a mode in which an ideal distance between the first train and the second train is tracked as a control target through a distance tracking controller without triggering the braking mode of the first train, and the braking mode is a mode in which a braking is applied at a maximum braking rate of the first train through a brake;
• and
• a low-level controller, configured to track the second train based on the target tracking mode.