Virtual marshalling train cooperative control method, device, equipment and medium

The invention provides a virtual marshalling train cooperative control method and device, equipment and a medium. The method comprises the steps that a following adaptive area of a following train is set; the method comprises the following steps: setting an adaptive law following an adaptive region; a dynamical model of the virtual marshalling train is constructed, and a control model is constructed based on marshalling control strategies inside and outside a set following train operation following adaptive area; wherein the control strategy in the operation following adaptive area takes the speed convergence of the front and rear trains as a target, and the control strategy out of the operation following adaptive area takes the speed convergence of the front and rear trains and the minimum deviation distance between the following train and the following adaptive area as a target; and based on the state information of each train, following the adaptive law and the control model of the adaptive region, solving