本发明公开了一种基于车轨协同的道岔补偿控制系统，包括安装在车辆上的车载控制系统和安装在轨道上的轨道控制装置；车载控制系统包括车轨定位系统、车载通信装置和车载控制器；车轨定位系统和车载控制器均通过车载通信装置与外部装置通信；轨道控制装置包括轨旁通信装置、道岔补偿控制器和道岔补偿装置，道岔补偿控制器和道岔补偿装置均通过轨旁通信装置与外部装置通信，道岔补偿控制器与道岔补偿装置连接，道岔补偿控制器控制道岔补偿装置的补偿状态；车载通信装置与轨旁通信装置通过无线进行连接，实现车载控制系统与轨道控制装置的信息交互；车轨定位系统通过车载通信装置实时将车辆位置信息发送给道岔补偿控制器，道岔补偿控制器通过逻辑计算后控制道岔补偿装置动作，道岔补偿装置通过轨旁通信装置将补偿状态信息发送给车载控制器，车载控制器根据车辆运行情况和补偿状态信息对车辆运行状态进行控制。本发明还公开了上述控制系统的控制方法。

The invention discloses a control method of a turnout compensation control system based on vehicle-rail cooperation, and the method specifically comprises the steps that a turnout compensation controller obtains the position and state information of a plurality of vehicles before entering a turnout in real time, a first-in first-out waiting queue is established, and the sequence that queue elements enter the queue is consistent with the sequence that the vehicles pass through the turnout; the turnout compensation controller takes out a first queue element from the waiting queue, and if no queue element exists, waiting is carried out all the time; the compensation state of the turnout compensation device is controlled according to the vehicle steering demand information in the queue elements; the safe distance Ds between the vehicle and the front vehicle is calculated according to the speed of the vehicle, the time needed by the action of the turnout compensation device and the running state information of the front vehicle, and the distance between the vehicle and the front vehicle is controlled to be kept at the safe distance; before the vehicle passes through a distance X in front of the fork, state information of the compensation rail device is obtained, whether the state information is consistent with the steering requirement of the vehicle or not is judged, if yes, the vehicle continues to pass, and if not, braking is conducted; and the turnout compensation controller judges that the vehicle passes through the crossroad and runs out of the safe distance Y, and compensation control is carried out on the next vehicle which will pass through the crossroad.