Train automatic coupling method, system and equipment and storage medium

The invention relates to an automatic train coupling method, system and device and a storage medium. The method comprises the following steps: detecting a coupled train in real time through navigation and radar equipment on the train according to a pre-established train template library and a map; based on the navigation information, the course of the coupled train and the position of the coupled train in a pre-established map are determined, and the coupled train and an intrusion obstacle are recognized based on the laser point cloud; according to the recognition result, when only the coupled train exists in front of the coupled train, the ATO is notified to run forwards at different speeds, and the motion state of the coupled train is corrected; and after the motion state of the coupled train is corrected, tracking the coupled train, converting the tracked position coordinates of the coupled train into a coupled train coordinate system, and controlling the coupled train to complete the trailer operation thr