Time correction method and system for four-redundancy TCMS system

Abstract

The application provides a TCMS system quadruple redundancy time correction method and system, which determines a master clock of a train control and management system (TCMS); wherein, the TCMS has quadruple redundancy, and the TCMS comprises a master vehicle control unit (VCU) and a slave VCU; based on the master clock, the master VCU and the slave VCU are respectively corrected; after a preset time length, the master VCU and the slave VCU are re-corrected according to a current clock difference between the master VCU and the slave VCU. The method provided by the application determines the master clock of the TCMS with quadruple redundancy, corrects the master VCU and the slave VCU according to the master clock, and re-corrects the master VCU and the slave VCU according to the current clock difference between the master VCU and the slave VCU after the preset time length, so that more accurate and reliable clock correction is achieved.

Description

Technical Field

[0001] This application relates to the field of rail transit technology, and in particular to a quadruple redundancy time synchronization method and system for a TCMS system. Background Technology

[0002] With the rapid development of the rail transit industry, the requirements for the safety and stability of onboard TCMS (Train Control and Monitoring System) are becoming increasingly stringent, and the accuracy of the control information from various onboard subsystems required by the onboard controller is also increasing. Furthermore, as public transportation, trains must ensure that problems arising during operation do not affect their basic functions.

[0003] Currently, vehicle-mounted networks mainly adopt the Industrial Ethernet + TRDP (Train Real-time Data Protocol) mode. However, due to the limitations of real-time performance, under the network integrated bearer structure, the transmission performance of critical control information cannot be guaranteed after a large amount of network traffic is accessed. The IEEE 802.1AS clock synchronization algorithm of TSN (Time-Sensitive Network) has high accuracy, but it does not consider clock synchronization between devices outside the protocol family. Traditional ordinary clock synchronization technology has low accuracy, large clock intervals after synchronization, and is prone to clock inaccuracies caused by software operation after synchronization. Summary of the Invention

[0004] To address one of the aforementioned technical deficiencies, this application provides a quadruple redundancy time synchronization method and system for a TCMS system.

[0005] The first aspect of this application provides a quadruple redundancy time synchronization method for a TCMS system, the method comprising:

[0006] Determine the master clock of the Train Control and Management System (TCMS); the TCMS has quadruple redundancy and includes a master onboard controller (VCU) and slave VCUs.

[0007] Based on the master clock, the master VCU and slave VCU are synchronized respectively;

[0008] After the preset duration, the time is recalibrated based on the current clock difference between the master VCU and the slave VCU.

[0009] Optionally, after a preset duration, the time is recalibrated based on the current clock difference between the master VCU and the slave VCU, including:

[0010] After the preset duration, synchronize the current time synchronization status of the master VCU and slave VCU;

[0011] Determine the clock difference based on the current time synchronization status;

[0012] If the clock difference is greater than the preset threshold, the steps to determine the master clock of TCMS and subsequent steps will be repeated to recalibrate the time.

[0013] If the clock difference is not greater than the preset threshold, then after re-execution for the preset duration, the time synchronization step is performed based on the current clock difference between the master VCU and the slave VCU.

[0014] Optionally, the master clock of the Train Control and Management System (TCMS) is determined, including:

[0015] Check the status of the Train Automatic Protection System (ATP).

[0016] If the ATP's state meets the time synchronization requirements, then the first layer of redundancy is selected as the master clock; the first layer of redundancy is used to keep the time consistent with the external system control.

[0017] Optionally, after detecting the status of the Train Automatic Protection (ATP) system, the following steps are also included:

[0018] If the ATP does not meet the time synchronization conditions, then the state of the human-machine interface (HMI) is detected.

[0019] If the HMI's status meets the time synchronization requirements, then the second redundancy is selected as the master clock; the second redundancy is used to keep in line with the time when the driver takes instructions.

[0020] Optionally, after detecting the status of the human-machine interface (HMI), the following steps are also included:

[0021] If the HMI's status does not meet the time synchronization requirements, then check the status of the Time Sensitive Network (TSN) switch;

[0022] If the TSN switch is in a state that allows for time synchronization, then the third redundancy is selected as the master clock; the third redundancy is used to keep the time consistent with that of the TSN switch.

[0023] Optionally, after detecting the status of the Time-Sensitive Network (TSN) switch, the following steps are also included:

[0024] If the TSN switch does not meet the time synchronization requirements, the fourth redundancy is selected as the master clock; the fourth redundancy is used to ensure that the time of the master VCU and the slave VCU are consistent.

[0025] The second aspect of this application provides a quadruple redundancy time synchronization system for a TCMS system, which includes: a master clock selection module, a time calibration module, and a loop module;

[0026] The master clock selection module is used to determine the master clock of the Train Control and Management System (TCMS). The TCMS has quadruple redundancy and includes a master onboard controller (VCU) and a slave VCU.

[0027] The time calibration module is used to calibrate the time of the master VCU and the slave VCU based on the master clock determined by the master clock selection module.

[0028] The loop module is used to recalibrate the clock based on the current clock difference between the master VCU and the slave VCU after a preset duration.

[0029] Optionally, the loop module includes: a master-slave information comparison module and a condition judgment module;

[0030] The master-slave information comparison module is used to synchronize the current time synchronization status of the master VCU and the slave VCU after a preset time; and to determine the clock difference based on the current time synchronization status.

[0031] The condition judgment module is used to re-trigger the master clock selection module to determine the master clock of TCMS when the clock difference determined by the master-slave information comparison module is greater than a preset threshold, so as to recalibrate the time.

[0032] When the clock difference determined by the master-slave information comparison module is not greater than the preset threshold, the master-slave information comparison module is retried and, after a preset time, recalibrates the clock based on the current clock difference between the master VCU and the slave VCU.

[0033] Optionally, the master clock selection module includes: the Automatic Train Protection (ATP) clock source, the Human-Machine Interface (HMI) clock source, the Time-Sensitive Network (TSN) switch clock source, and the slave system VCU clock source.

[0034] Optionally,

[0035] The ATP clock source is used to detect the state of the ATP; when the state of the ATP meets the time synchronization conditions, the first redundancy is selected as the master clock; the first redundancy is used to keep the time consistent with the external system control.

[0036] The HMI clock source is used to detect the HMI status when the ATP status does not meet the time synchronization conditions; when the HMI status meets the time synchronization conditions, the second redundancy is selected as the master clock; the second redundancy is used to keep the time consistent with the driver's instructions.

[0037] The TSN switch clock source is used to detect the status of the time-sensitive network TSN switch when the HMI's status does not meet the time synchronization conditions; when the TSN switch's status meets the time synchronization conditions, the third redundancy is selected as the master clock; the third redundancy is used to keep the time consistent with the TSN switch.

[0038] The slave VCU clock source is used to select the fourth redundancy as the master clock when the TSN switch is not in a state where time synchronization is not possible; the fourth redundancy is used to ensure that the master VCU and slave VCU are in sync.

[0039] This application provides a quadruple redundancy time synchronization method and system for a TCMS system. The method determines the master clock of the TCMS. The TCMS has quadruple redundancy and includes a master VCU and a slave VCU. Based on the master clock, the master VCU and the slave VCU are synchronized. After a preset duration, the time is resynchronized according to the current clock difference between the master VCU and the slave VCU.

[0040] The method provided in this application determines the master clock of a TCMS with quadruple redundancy, synchronizes the master VCU and slave VCU according to the master clock, and resynchronizes the clock according to the current clock difference between the master VCU and slave VCU after a preset time, thereby achieving more accurate and reliable clock calibration.

[0041] In another implementation, after a preset duration, the clock is recalibrated based on the current clock difference between the master VCU and the slave VCU, achieving more accurate and reliable clock calibration.

[0042] In another implementation, when the ATP is in a state that meets the time synchronization conditions, the first redundancy is selected as the master clock, ensuring that the train priority is kept in line with the time controlled by the external system, thus achieving more accurate and reliable clock calibration.

[0043] In another implementation, when the ATP does not meet the time synchronization conditions but the HMI does, a second redundancy is selected as the master clock. This ensures that the train and the driver maintain consistency in the timing of issuing commands, achieving more accurate and reliable clock calibration.

[0044] In another implementation, when the ATP does not meet the time synchronization conditions, the HMI does meet the time synchronization conditions, but the TSN switch does meet the time synchronization conditions, the third redundancy is selected as the master clock. This ensures the effectiveness of the overall TSN function of the train network, meets the requirements for high-precision control data transmission and reception, and achieves more accurate and reliable clock calibration.

[0045] In another implementation, when the ATP, HMI, and TSN switch are all unable to meet the time synchronization conditions, the fourth redundancy is selected as the master clock. This ensures that the train master VCU and slave VCU are in sync, and that control commands do not jump during master-slave VCU switching, thus achieving more accurate and reliable clock calibration.

[0046] The system provided in this application includes a master clock selection module, a time calibration module, and a loop module. The master clock selection module determines the master clock that provides quadruple redundancy for the TCMS. The time calibration module calibrates the master VCU and slave VCU according to the master clock. The loop module recalibrates the clock according to the current clock difference between the master VCU and slave VCU after a preset time, thus achieving more accurate and reliable clock calibration.

[0047] In another implementation, the loop module includes a master-slave information comparison module and a condition judgment module. After a preset time, the clock is recalibrated based on the current clock difference between the master VCU and the slave VCU, thus achieving more accurate and reliable clock calibration.

[0048] In another implementation, the master clock selection module includes: an Automatic Train Protection System (ATP) clock source, a Human-Machine Interface (HMI) clock source, a Time-Sensitive Network (TSN) switch clock source, and a slave system VCU clock source. This mechanism enables four-fold master clock selection for the TCMS system, providing a redundant time synchronization mechanism in case of equipment failure, and achieving more accurate and reliable clock calibration.

[0049] In another implementation, the master clock is determined based on the status of the ATP, the HMI, and the TSN switch. This mechanism enables a four-fold master clock selection for the TCMS system, providing a redundant time synchronization mechanism in case of equipment failure, and achieving more accurate and reliable clock calibration. Attached Figure Description

[0050] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0051] Figure 1 A flowchart illustrating a quadruple redundancy time synchronization method for a TCMS system provided in this application embodiment;

[0052] Figure 2 A schematic diagram of a quadruple redundancy time synchronization system for a TCMS system provided in this application embodiment;

[0053] Figure 3 A schematic diagram of another TCMS system with quadruple redundancy time synchronization provided in this application embodiment;

[0054] Figure 4 This is a schematic diagram of the structure of a master clock selection module provided in an embodiment of this application. Detailed Implementation

[0055] To make the technical solutions and advantages of the embodiments of this application clearer, the exemplary embodiments of this application will be described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not an exhaustive list of all embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0056] In the process of developing this application, the inventors discovered that current vehicle networks mainly adopt the Industrial Ethernet + TRDP mode. However, due to real-time limitations, under the network integrated bearer structure, the transmission performance of critical control information cannot be guaranteed after large-volume network access. TSN's IEEE 802.1AS clock synchronization algorithm has high accuracy, but it does not consider clock synchronization between devices outside the protocol family. Traditional ordinary clock synchronization technology has low accuracy, large clock intervals after synchronization, and is prone to clock inaccuracies caused by software operation after synchronization.

[0057] To address the aforementioned issues, this application provides a quadruple redundancy time synchronization method and system for a TCMS system. The method determines the master clock of the TCMS; the TCMS has quadruple redundancy and includes a master VCU and slave VCUs; based on the master clock, the master VCU and slave VCUs are synchronized; after a preset duration, resynchronization is performed based on the current clock difference between the master VCU and slave VCUs. The method provided in this application determines the master clock of a quadruple redundancy TCMS, synchronizes the master VCU and slave VCUs based on the master clock, and resynchronizes based on the current clock difference between the master VCU and slave VCUs after a preset duration, achieving more accurate and reliable clock calibration.

[0058] See Figure 1 The implementation process of the quadruple redundancy time synchronization method for the TCMS system provided in this embodiment is as follows:

[0059] 101. Determine the master clock of TCMS.

[0060] The TCMS (Train Control and Monitoring System) has four redundancies. The first redundancy is used to keep the timing consistent with the external system control, the second redundancy is used to keep the timing consistent with the driver's instructions, the third redundancy is used to keep the timing consistent with the TSN switch, and the fourth redundancy is used to ensure the timing consistency between the master VCU and the slave VCU.

[0061] In addition, TCMS includes a primary VCU (Vehicle Control Unit) and a secondary VCU.

[0062] The implementation process of this step is as follows:

[0063] 1. Check the status of ATP (Automatic Train Protection).

[0064] 2. If the ATP's status meets the time synchronization requirements, the first redundancy is selected as the master clock. If the ATP's status does not meet the time synchronization requirements, then 1) check the status of the HMI (Human Machine Interface), 2) if the HMI's status meets the time synchronization requirements, the second redundancy is selected as the master clock. If the HMI's status does not meet the time synchronization requirements, then (1) check the status of the TSN (Time-Sensitive Network) switch, (2) if the TSN switch's status meets the time synchronization requirements, the third redundancy is selected as the master clock, and if the TSN switch's status does not meet the time synchronization requirements, the fourth redundancy is selected as the master clock.

[0065] This step analyzes the status of the TCMS system terminal to determine the master clock (quadruple redundancy) that the system should select as the trusted clock source for the entire TCMS system before proceeding with subsequent steps.

[0066] When determining the master clock of the TCMS, priority is given to using an external signal system for vehicle control (first layer of redundancy), ensuring consistency with the time controlled by the external system. Therefore...

[0067] First, the status of the ATP system is checked to determine if it meets the time synchronization requirements. If it does, it is selected as the master clock; otherwise, if the ATP is in an abnormal state (operational malfunction or fault), then...

[0068] Next, time synchronization is considered via the HMI display (secondary redundancy) to ensure consistency with the driver's command timing. Therefore, the HMI system status is monitored to determine if it meets the time synchronization requirements. If so, it is selected as the master clock; otherwise, if the HMI is malfunctioning (operating abnormally or malfunctioning), then...

[0069] Time synchronization is again considered via the TSN switch (third redundancy) to ensure the overall TSN function of the vehicle network is effective and to meet the requirements of high-precision control data transmission and reception. Therefore, the status of the signal TSN switch is monitored to determine whether it currently meets the time synchronization requirements. If it does, it is selected as the master clock; if the TSN switch is currently in an abnormal state (operational abnormality or malfunction), then...

[0070] Finally, the slave VCU is considered for time synchronization (fourth redundancy) to ensure that the master and slave times of the vehicle controller are consistent and that the control commands will not jump during master-slave switching. Therefore, the master VCU is selected as the master clock.

[0071] The above scheme enables a four-fold master clock selection mechanism for the TCMS system, providing a redundant time synchronization mechanism in case of equipment failure. Even with a maximum of three levels of train failure, the time synchronization function can be guaranteed, ensuring that the TCMS system can ensure that critical vehicle control data transmission does not jump even in the most extreme circumstances, thereby ensuring the safe and reliable operation of the train.

[0072] 102. Based on the master clock, the master VCU and slave VCU are synchronized.

[0073] This step uses a clock synchronization algorithm to obtain and calculate the clocks of the master VCU and slave VCU based on the master clock, and then calibrates them with the master clock.

[0074] 103. After the preset duration, the time is recalibrated based on the current clock difference between the master VCU and the slave VCU.

[0075] When implementing this step,

[0076] 1. After setting the preset duration, synchronize the current time synchronization status of the master VCU and slave VCU.

[0077] 2. Determine the clock difference based on the current time synchronization status.

[0078] 3. If the clock difference is greater than the preset threshold, the step of determining the master clock of the TCMS and subsequent steps are re-executed (i.e., step 101 and subsequent steps are re-executed, that is, the method provided in this embodiment is re-executed) in order to recalibrate the time. If the clock difference is not greater than the preset threshold, the step of recalibrating the time based on the current clock difference between the master VCU and the slave VCU after a preset duration is re-executed (i.e., step 103 is re-executed).

[0079] This step involves comparing information between the master VCU and slave VCU in the TCMS system over a period of time to synchronize their current time synchronization status. Based on the time synchronization information, a judgment is made: if the clock difference between the master and slave VCUs is greater than a set value, the TCMS system needs to be re-synchronized, and step 101 is executed again; if the master and slave VCUs are synchronized normally, the process returns to the master-slave information comparison module 103.

[0080] The quadruple redundancy time synchronization method for the TCMS system provided in this embodiment is based on time-sensitive networking technology and clock synchronization technology. It is applied in rail transit trains to determine the status of the system's operating clock and adjust the time synchronization source to accept different clock sources in the network. When abnormal equipment operation or fault is detected, the calibration clock source is switched. Based on handling up to three levels of faults, it ensures the clock accuracy of TSN and the traceability of log time, provides a quadruple redundancy time synchronization channel, and realizes secure and reliable data transmission.

[0081] In addition, the quadruple redundancy time synchronization method of the TCMS system provided in this embodiment can improve system stability. Based on different train states, different master clock sources are accepted, giving the TCMS system the ability to cope with multiple levels of fault points, ensuring clock synchronization when multiple levels of faults occur, realizing the function of no jump when train data is sent, and ensuring the safe and reliable operation of the train.

[0082] Furthermore, the quadruple redundancy time synchronization method for the TCMS system provided in this embodiment has strong network disaster recovery capabilities. It still has time synchronization function when a maximum of three-level faults occur. It can achieve redundancy mechanism while having the excellent bandwidth, latency guarantee, and high reliability of the TSN network. This ensures that the control data does not change when multiple fault points occur, thereby enhancing the safety of the TCMS system of rail transit trains and improving the performance of the next generation of intelligent trains.

[0083] The TCMS system quadruple redundancy time calibration method provided in this embodiment determines the master clock of the TCMS with quadruple redundancy, calibrates the master VCU and slave VCU according to the master clock, and recalibrates the time according to the current clock difference between the master VCU and slave VCU after a preset time, thus achieving more accurate and reliable clock calibration.

[0084] Based on the same inventive concept of the quadruple redundancy time synchronization method for TCMS systems, this embodiment provides a quadruple redundancy time synchronization system for TCMS systems, such as... Figure 2 As shown, the system includes a master clock selection module 201, a time calibration module 202, and a loop module 203.

[0085] The modules contained in the system provided in this embodiment may be located in the same device or in different devices. This embodiment does not limit the location of each module.

[0086] Specifically,

[0087] The master clock selection module 201 is used to determine the master clock of the Train Control and Management System (TCMS).

[0088] TCMS has four redundancies. The first redundancy is used to keep the time consistent with the external system control, the second redundancy is used to keep the time consistent with the driver's instructions, the third redundancy is used to keep the time consistent with the TSN switch, and the fourth redundancy is used to ensure the time consistency between the master VCU and the slave VCU.

[0089] In addition, TCMS includes the primary VCU and the secondary VCU.

[0090] The time calibration module 202 is used to calibrate the master VCU and slave VCU respectively based on the master clock determined by the master clock selection module 201.

[0091] The loop module 203 is used to recalibrate the time based on the current clock difference between the master VCU and the slave VCU after a preset duration.

[0092] See Figure 3 The loop module 203 includes: master-slave information comparison module 2031 and condition judgment module 2032.

[0093] The master-slave information comparison module 2031 is used to synchronize the current time synchronization status of the master VCU and the slave VCU after a preset time. The clock difference is determined based on the current time synchronization status.

[0094] The condition judgment module 2032 is used to re-trigger the master clock selection module 201 to determine the master clock of TCMS when the clock difference determined by the master-slave information comparison module 2031 is greater than a preset threshold, so as to recalibrate the time.

[0095] When the clock difference determined by the master-slave information comparison module 2031 is not greater than the preset threshold, the master-slave information comparison module 2031 is re-triggered to recalibrate the clock based on the current clock difference between the master VCU and the slave VCU after a preset time.

[0096] The TCMS system quadruple redundancy time synchronization system provided in this embodiment analyzes the status of the TCMS system terminals using a master clock selection module 201 to determine the appropriate master clock (quadruple redundancy) to serve as the trusted clock source for the entire TCMS system during subsequent steps. The time calibration module 202, based on the master clock determined by the master clock selection module 201, acquires and calculates the clocks of the master VCU and slave VCU using a clock synchronization algorithm, thereby calibrating them with the master clock. After a period of time, the master-slave information comparison module 2031 compares the information between the master and slave VCUs in the TCMS system, synchronizing their current time synchronization status and outputting the result to the condition judgment module 2032. Based on the time synchronization information output by the master-slave information comparison module 2031, the condition judgment module 2032 makes a judgment. If the clock difference between the master and slave VCUs is greater than a set value, the TCMS system needs to be recalibrated, and the master clock selection module 201 is triggered again; if the master-slave VCU time synchronization is normal, the result is returned to the master-slave information comparison module 2031.

[0097] Preferred, see Figure 4 The master clock selection module 201 specifically includes: ATP clock source 301, HMI clock source 302, TSN switch clock source 303, and slave VCU clock source 304.

[0098] The ATP clock source 301 is used to detect the state of the ATP. When the ATP state meets the time synchronization conditions, the first redundancy is selected as the master clock.

[0099] HMI clock source 302 is used to detect the state of HMI when the ATP state does not meet the time synchronization conditions. When the HMI state meets the time synchronization conditions, the second redundancy is selected as the master clock.

[0100] The TSN switch clock source 303 is used to detect the status of the time-sensitive network TSN switch when the HMI's status does not meet the time synchronization conditions. When the TSN switch's status meets the time synchronization conditions, the third redundancy is selected as the master clock.

[0101] The slave VCU clock source 304 is used to select the fourth redundancy as the master clock when the TSN switch is not in a state where time synchronization is not possible.

[0102] In practice,

[0103] The train prioritizes control by the external signaling system (first layer of redundancy) and maintains time consistency with the external system. The ATP clock source 301 detects the status of the ATP system signal to determine if the ATP currently meets the time synchronization requirements. If it does, it is selected as the master clock; if the ATP is currently in an abnormal state (operational abnormality or malfunction), it proceeds to the next level of judgment 401.

[0104] When proceeding to the next level of judgment 401, the train will secondly consider using the HMI display screen for time synchronization (secondary redundancy) to ensure consistency with the driver's command time. The HMI clock source 302 will detect the status of the signal HMI system to determine whether the HMI currently meets the time synchronization conditions. If it does, it will be selected as the master clock; if the HMI is currently in an abnormal state (operational abnormality or malfunction), it will proceed to the next level of judgment 402.

[0105] In the next step of judgment 402, the train again considers time synchronization via the TSN switch (third redundancy) to ensure the overall TSN function of the vehicle network is effective and meets the requirements for high-precision control data transmission and reception. The TSN switch clock source 303 detects the status of the TSN switch signal to determine whether the TSN switch currently meets the time synchronization conditions. If it does, it is selected as the master clock; if the TSN switch is currently in an abnormal state (operational abnormality or fault), it proceeds to the next step of judgment 403.

[0106] When making the next decision (403), the train ultimately considers using the slave VCU for time synchronization (fourth layer of redundancy) to ensure that the master and slave times of the onboard controller are consistent, and to ensure that control commands do not jump during master-slave switching. The slave VCU clock source 304 selects the master VCU as the master clock.

[0107] The quadruple redundancy time synchronization system for the TCMS system provided in this embodiment has a mechanism for selecting the master clock of the TCMS system in four ways, providing a redundant time synchronization mechanism in the event of equipment failure. Even with a maximum of three levels of train failure, the quadruple redundancy time synchronization system for the TCMS system provided in this embodiment can guarantee the time synchronization function, thus ensuring that the TCMS system can ensure that critical vehicle control data transmission does not jump even under the most extreme circumstances, thereby ensuring the safe and reliable operation of the train.

[0108] The TCMS system quadruple redundancy time synchronization system provided in this embodiment includes: a master clock selection module 201, a time calibration module 202, a master-slave information comparison module 2031, and a condition judgment module 2032. Based on time-sensitive networking technology and clock synchronization technology, this TCMS system quadruple redundancy time synchronization system is applied in rail transit trains. It determines the status of the system's operating clock and adjusts the time synchronization source, accepting different clock sources in the network. In the event of detected equipment malfunction or failure, it switches the calibration clock source. While handling up to three levels of faults, it ensures the clock accuracy of the TSN and the traceability of log time, providing a quadruple redundancy time synchronization channel to achieve secure and reliable data transmission.

[0109] The quadruple redundancy time synchronization system of the TCMS system provided in this embodiment can improve system stability. Based on different train states, it accepts different master clock sources, giving the TCMS system the ability to cope with multiple levels of fault points, ensuring clock synchronization when multiple levels of faults occur, realizing the function of no jump when train data is transmitted, and ensuring the safe and reliable operation of the train.

[0110] In addition, the quadruple redundancy time synchronization system of the TCMS system provided in this embodiment has strong network disaster recovery capabilities. It still has time synchronization function when a maximum of three-level fault occurs. It can achieve redundancy mechanism while having the excellent bandwidth, latency guarantee and high reliability of TSN network. It ensures that the control data does not change when multiple fault points occur, thereby enhancing the safety of the TCMS system of rail transit trains and improving the performance of the next generation of intelligent trains.

[0111] The system provided in this application includes a master clock selection module, a time calibration module, and a loop module. The master clock selection module determines the master clock that provides quadruple redundancy for the TCMS. The time calibration module calibrates the master VCU and slave VCU according to the master clock. The loop module recalibrates the clock according to the current clock difference between the master VCU and slave VCU after a preset time, thus achieving more accurate and reliable clock calibration.

[0112] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of this application can be implemented in various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0113] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0114] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0115] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0116] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0117] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0118] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A TCMS system quadruple redundancy time correction method, characterized in that, The method comprises: determining a master clock of a train control and management system (TCMS); wherein the TCMS has four redundancies, and the TCMS comprises a master vehicle control unit (VCU) and a slave VCU; based on the master clock, respectively, time calibrating the master VCU and the slave VCU; after a preset time period, re-calibrating the time difference between the master VCU and the slave VCU; after the preset time period, re-calibrating the time difference between the master VCU and the slave VCU, comprising: after the preset time period, synchronizing the current time calibration state of the master VCU and the slave VCU; determining the clock difference according to the current time calibration state; if the clock difference is greater than a preset threshold, re-executing the step of determining the master clock of the TCMS and the subsequent steps in order to re-calibrate the time; if the clock difference is not greater than the preset threshold, re-executing the step of re-calibrating the time difference between the master VCU and the slave VCU after the preset time period; the determination of the master clock of the TCMS comprises: detecting the state of an automatic train protection system (ATP); if the state of the ATP has a time calibration condition, selecting a first redundancy as the master clock; the first redundancy is used to keep consistent with the time controlled by an external system; after detecting the state of the ATP, further comprising: if the state of the ATP does not have a time calibration condition, detecting the state of a human-machine interface (HMI); if the state of the HMI has a time calibration condition, selecting a second redundancy as the master clock; the second redundancy is used to keep consistent with the time of a driver's instruction; after detecting the state of the HMI, further comprising: if the state of the HMI does not have a time calibration condition, detecting the state of a time sensitive network (TSN) switch; if the state of the TSN switch has a time calibration condition, selecting a third redundancy as the master clock; the third redundancy is used to keep consistent with the time of the TSN switch; after detecting the state of the TSN switch, further comprising: if the state of the TSN switch does not have a time calibration condition, selecting a fourth redundancy as the master clock; the fourth redundancy is used to ensure that the time of the master VCU and the slave VCU is consistent.

2. A TCMS system quad-redundant time synchronization system, characterized in that, The system comprises a master clock selection module, a time calibration module, and a cycle module; the master clock selection module is used to determine a master clock of a train control and management system (TCMS); wherein the TCMS has four redundancies, and the TCMS comprises a master vehicle control unit (VCU) and a slave VCU; the time calibration module is used to, based on the master clock determined by the master clock selection module, respectively, time calibrate the master VCU and the slave VCU; the cycle module is used to, after a preset time period, re-calibrate the time difference between the master VCU and the slave VCU; the cycle module comprises a master-slave information comparison module and a condition judgment module; the master-slave information comparison module is used to, after the preset time period, synchronize the current time calibration state of the master VCU and the slave VCU; and determine the clock difference according to the current time calibration state. The condition judging module is configured to re-trigger the master clock selection module to determine the master clock of the TCMS for re-time correction when the clock difference determined by the master-slave information comparison module is greater than the preset threshold value. The master-slave information comparison module is configured to re-trigger the master-slave information comparison module to perform re-time correction according to the current clock difference between the master VCU and the slave VCU after a preset time length when the clock difference determined by the master-slave information comparison module is not greater than the preset threshold value. The master clock selection module comprises an ATP clock source, an HMI clock source, a TSN switch clock source and a slave VCU clock source. The ATP clock source is configured to detect the state of the ATP, and select the first redundant clock as the master clock when the state of the ATP meets the time correction condition. The HMI clock source is configured to detect the state of the HMI when the state of the ATP does not meet the time correction condition, and select the second redundant clock as the master clock when the state of the HMI meets the time correction condition. The TSN switch clock source is configured to detect the state of the TSN switch when the state of the HMI does not meet the time correction condition, and select the third redundant clock as the master clock when the state of the TSN switch meets the time correction condition. The slave VCU clock source is configured to select the fourth redundant clock as the master clock when the state of the TSN switch does not meet the time correction condition, and ensure that the time of the master VCU and the slave VCU is consistent.

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