Dual-computer hot standby redundancy switching method and device for train logic control unit (LCU, LogicalControl Unit)

Abstract

The invention discloses a dual-computer hot standby redundancy switching method and device for a logic control unit (LCU), and relates to the technical field of rail vehicle control. The A-system control unit sends a first handshake instruction to the B-system control unit; the A-system control unit generates first configuration information when receiving first response information sent by the B-system control unit in response to the first handshake instruction; the A-system control unit sends a second handshake instruction to the B-system control unit; the second handshake instruction carries the first configuration information; the B-system control unit responds to the second handshake instruction to generate second response information, sends the second response information to the A-system control unit, and switches to a standby mode based on the second handshake instruction; and under the condition that the A-series control unit receives the second response information, the A-series control unit is switched to the operation mode. According to the scheme provided by the invention, the reliability of redundancy switching can be improved on the basis that the cost and the system design complexity are not increased.

Description

Technical Field

[0001] The present application relates to the field of rail vehicle control technology, and in particular to a dual-machine hot standby redundant switching method and device for LCU. Background Art

[0002] As the core control unit of the train, the safety and stability of LCU are of paramount importance; the train LCU mostly adopts a hot standby redundant design of two series modules, A and B, and consists of two series A and B with the same structure to form a complete set of machines. The two series exchange data through the network, serial port and other means.

[0003] In the related art, the dual-machine hot standby redundant switching method is mostly to actively inform the backup machine after detecting the main machine failure, and then switch the backup machine to the running state to replace the faulty main machine; however, with this method, when the host has an abnormal restart, abnormal power failure, etc., it cannot switch normally and the reliability is low; if a third-party monitoring device is added to monitor and pay attention to this abnormal situation, it will bring many problems such as increased cost and increased system complexity.

[0004] Therefore, how to improve the reliability of redundant switching without increasing the cost and complexity of system design is a problem that needs to be solved urgently. Summary of the invention

[0005] In order to solve the related technical problems, the embodiments of the present application provide a dual-machine hot standby redundant switching method and device for train LCU, which can improve the reliability of redundant switching without increasing the cost and complexity of system design.

[0006] The embodiment of the present application provides a dual-machine hot standby redundant switching method for a train LCU, wherein the LCU includes an A-series control unit and a B-series control unit, and the method includes:

[0007] The A series control unit sends a first handshake instruction to the B series control unit; the first handshake instruction is used to initiate a negotiation request;

[0008] When the A series control unit receives the first response information sent by the B series control unit in response to the first handshake instruction, the first configuration information is generated; the first configuration information is used to configure the working mode of the A series control unit and the B series control unit, and the working mode is the running mode or the standby mode;

[0009] The A series control unit sends a second handshake instruction to the B series control unit; the second handshake instruction carries the first configuration information;

[0010] The B-series control unit generates a second response message in response to the second handshake instruction and sends the second response message to the A-series control unit, and switches to a standby mode based on the second handshake instruction;

[0011] The A series control unit switches to the operation mode when receiving the second response information.

[0012] In the above solution, after the A series control unit sends the second handshake instruction to the B series control unit, the method further includes:

[0013] Determine whether the A series control unit receives the second response information sent by the B series control unit in response to the second handshake instruction within a first period of time after sending the second handshake instruction, and obtain a first determination result;

[0014] If the first judgment result indicates that the second response information is not received after the first time period of sending the second handshake instruction, resending the second handshake instruction to the B-series control unit;

[0015] Determine whether the second response information is received after the second time period of resending the second handshake instruction, and obtain a second determination result;

[0016] When the second judgment result indicates that the second response information is not received after the second time period of resending the second handshake instruction, the A series control unit is switched to the running state.

[0017] In the above solution, when the first judgment result indicates that the second response information is not received after the first time length of sending the second handshake instruction, re-sending the second handshake instruction to the B-series control unit includes:

[0018] If the first judgment result indicates that the second response information is not received after the first time period of sending the second handshake instruction, directly resending the second handshake instruction;

[0019] Determine whether the second response information is received after directly sending the second handshake instruction for a third time period, and obtain a third determination result;

[0020] When the third judgment result indicates that the second response information is not received after the third time period of directly sending the second handshake instruction, the first communication interface currently used for communication is switched to the second communication interface, and the second handshake instruction is resent using the second communication interface.

[0021] In the above solution, when the working mode of the A series control unit is the operation mode, the method further includes:

[0022] The A series control unit sends heartbeat frames to the B series control unit at intervals according to a first period;

[0023] The B-series control unit performs data synchronization based on the received heartbeat frame.

[0024] In the above scheme, the method further includes:

[0025] Determine whether the B-series control unit receives the heartbeat frame within the heartbeat duration to obtain a heartbeat determination result; the heartbeat duration includes N first cycles, where N is a positive integer;

[0026] When the heartbeat judgment structure indicates that the B-series control unit has not received the heartbeat frame within the heartbeat duration, the working mode of the B-series control is switched from the standby mode to the running mode, and a switching command is sent to the A-series control unit.

[0027] In the above scheme, the A series control unit sends a heartbeat frame to the B series control unit using the first channel and the second channel, and the determination of whether the B series control unit receives the heartbeat frame within the heartbeat duration to obtain a heartbeat determination result includes:

[0028] The B series control unit determines whether the first channel and the second channel detect a heartbeat frame within the heartbeat duration;

[0029] When neither the first channel nor the second channel detects a heartbeat frame, the heartbeat determination result indicates that the B-series control unit has not received the heartbeat frame within the heartbeat duration.

[0030] In the above solution, before the A series control unit sends the first handshake instruction to the B series control unit, the method further includes:

[0031] Determining a driving mode of the train; the driving mode includes automatic driving or manual driving;

[0032] When the driving mode of the train is automatic driving, the A series control unit sends a first handshake instruction to the B series control unit.

[0033] In the above scheme, the method further includes:

[0034] When the driving mode of the train is manual driving, generating second configuration information in response to a configuration operation performed on an operation interface;

[0035] Based on the second configuration information, the operating modes of the A series control unit and the B series control unit are configured.

[0036] In the above scheme, the method further includes:

[0037] Determine the operating status of the control unit currently in the operating mode;

[0038] When the operating state of the control unit currently in the operating mode is abnormal, or when receiving a switching instruction sent by the TCMS system, the control unit currently in the standby mode is switched from the standby mode to the operating mode.

[0039] The embodiment of the present application also provides a dual-machine hot standby redundant switching device for a train element LCU, wherein the LCU includes an A-series control unit and a B-series control unit, and the device includes:

[0040] A first communication unit, used for the A series control unit to send a first handshake instruction to the B series control unit; the first handshake instruction is used to initiate a negotiation request; and used for the A series control unit to send a second handshake instruction to the B series control unit; the second handshake instruction carries first configuration information;

[0041] a first processing unit, configured to generate the first configuration information when the A-series control unit receives the first response information sent by the B-series control unit in response to the first handshake instruction; and to switch the A-series control unit to the operation mode when receiving the second response information; the first configuration information is used to configure the operation mode of the A-series control unit and the B-series control unit, the operation being the operation mode or the standby mode;

[0042] a second processing unit, configured for the B-series control unit to generate second response information in response to the second handshake instruction, and switch to a standby mode based on the second handshake instruction;

[0043] The second communication unit is used for the B-series control unit to send the second response information to the A-series control unit.

[0044] The dual-machine hot standby redundant switching method and device for LCU proposed in the present application realize automatic switching of dual-machine hot standby redundant by negotiating between the two control units in a two-way handshake manner and configuring the working states of the two control units according to the results of the two handshakes. Since it is possible to monitor abnormal conditions of the host including abnormal restart and power failure, it realizes automatic and comprehensive monitoring of the switching trigger conditions, thereby ensuring the timeliness and reliability of the switching results. Furthermore, since there is no need to configure an additional third-party monitoring device, it is possible to improve the switching reliability without increasing the cost and system complexity, thereby improving practicality.

[0045] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A schematic diagram of an LCU architecture provided in an embodiment of the present application;

[0047] Figure 2 A schematic flow chart of a dual-machine hot standby redundant switching method for LCU provided in an embodiment of the present application;

[0048] Figure 3 This is a schematic diagram of the power-on negotiation process in the dual-machine power-on negotiation and hot standby redundant switching method for LCU used in the application example of this application;

[0049] Figure 4 This is a schematic diagram of the preemptive switching process in the dual-machine power-on negotiation and hot standby redundant switching method for LCU used in the application example of this application;

[0050] Figure 5 This is a schematic diagram of the active switching process in the dual-machine power-on negotiation and hot standby redundant switching method for LCU used in the application example of this application;

[0051] Figure 6 A schematic diagram of the structure of a dual-machine hot standby redundant switching device for LCU provided in an embodiment of the present application. DETAILED DESCRIPTION

[0052] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0053] The present application embodiment provides an LCU, such as Figure 1 As shown, the LCU includes an A-series control unit and a B-series control unit;

[0054] In actual application, the working modes of the A series control unit and the B series control unit will be configured as one is the running mode and the other is the standby mode; among them, the control unit in the running mode can also be called the running machine, and the control unit in the standby mode can also be called the standby machine.

[0055] In actual application, the control unit can be called a board, the A series control unit can be called an A series board, and the B series control unit can be called a B series board; the A series control unit and the B series control unit are two series boards with exactly the same structure; Figure 1 As shown, the A series control unit and the B series control unit both include a CPU board, a power board, a communication board, and an input / output board. The two series boards communicate with each other via Ethernet, and the boards communicate with each other via CAN.

[0056] In actual application, the CPU board serves as the control core of the entire system. Each board has four CAN channels, two of which are connected to the power board and the input and output board in the form of a bus. The two CAN channels are redundant with each other. CAN0 and CAN1 are used as backup during normal operation; the other two CAN channels are connected to the communication board. The two CAN channels are redundant with each other. CAN2 and CAN3 are used as backup during normal operation; the two series of CPU boards are connected through two Ethernet channels, which are redundant with each other. ETH0 and ETH1 are used as backup during normal operation; the two series of hosts communicate with the train control and management system (TCMS) through the communication board.

[0057] Based on the above LCU architecture, the present application embodiment provides a dual-machine hot standby redundant switching method for LCU, which is applied to electronic equipment, and can be specifically applied to electronic equipment such as computers, vehicle-mounted computers, servers, and cloud servers; Figure 2 As shown, the method may include:

[0058] Step 201: the A-series control unit sends a first handshake instruction to the B-series control unit; the first handshake instruction is used to initiate a negotiation request;

[0059] Step 202: When the A-series control unit receives the first response information sent by the B-series control unit in response to the first handshake instruction, the first configuration information is generated; the first configuration information is used to configure: the working mode of the A-series control unit and the B-series control unit, the working mode being the running mode or the standby mode;

[0060] Step 203: the A series control unit sends a second handshake instruction to the B series control unit; the second handshake instruction carries the first configuration information;

[0061] Step 204: the B-series control unit generates a second response message in response to the second handshake instruction and sends the second response message to the A-series control unit, and switches to the standby mode based on the second handshake instruction;

[0062] Step 205: Upon receiving the second response information, the A series control unit switches to the operation mode.

[0063] It should be pointed out that step 204 and step 205 are executed when the B series control unit can respond normally. When the B series control unit cannot respond normally, in order to ensure the normal operation of the LCU, the A series control unit can automatically determine the switching type and switching timing.

[0064] Based on this, in one embodiment, after the A series control unit sends the second handshake instruction to the B series control unit, the method may further include:

[0065] Determine whether the A series control unit receives the second response information sent by the B series control unit in response to the second handshake instruction within a first period of time after sending the second handshake instruction, and obtain a first determination result;

[0066] If the first judgment result indicates that the second response information is not received after the first time period of sending the second handshake instruction, resending the second handshake instruction to the B-series control unit;

[0067] Determine whether the second response information is received after the second time period of resending the second handshake instruction, and obtain a second determination result;

[0068] When the second judgment result indicates that the second response information is not received after the second time period of resending the second handshake instruction, the A series control unit is switched to the running state.

[0069] In one embodiment, when the first judgment result indicates that the second response information is not received after the first time length of sending the second handshake instruction, re-sending the second handshake instruction to the B-series control unit may include:

[0070] If the first judgment result indicates that the second response information is not received after the first time period of sending the second handshake instruction, directly resending the second handshake instruction;

[0071] Determine whether the second response information is received after directly sending the second handshake instruction for a third time period, and obtain a third determination result;

[0072] When the third judgment result indicates that the second response information is not received after the third time period of directly sending the second handshake instruction, the first communication interface currently used for communication is switched to the second communication interface, and the second handshake instruction is resent using the second communication interface.

[0073] Here, the first communication interface may be a default interface, such as ETH0, and the second communication interface may be a backup interface, such as ETH1.

[0074] The first duration may be 100 ms; considering that there may be a time difference when the system is started, the second duration may be 5 s, and the third duration may be 2 m.

[0075] In actual application, after configuring the working state according to the configuration information, the state of the running control unit can be monitored by real-time monitoring of the running machine during daily operation.

[0076] Based on this, in one embodiment, when the working mode of the A series control unit is the operation mode, the method may further include:

[0077] The A series control unit sends heartbeat frames to the B series control unit at intervals according to a first period;

[0078] The B-series control unit performs data synchronization based on the received heartbeat frame.

[0079] Here, the first cycle can be configured as 10ms, that is, the running machine sends a heartbeat frame to the standby machine every 10ms; for an LCU configured with two network ports (ETH0 and ETH1), the heartbeat frame can be sent through both network ports.

[0080] In one embodiment, the method may further include:

[0081] Determine whether the B-series control unit receives the heartbeat frame within the heartbeat duration to obtain a heartbeat determination result; the heartbeat duration includes N first cycles, where N is a positive integer;

[0082] When the heartbeat judgment structure indicates that the B-series control unit has not received the heartbeat frame within the heartbeat duration, the working mode of the B-series control is switched from the standby mode to the running mode, and a switching command is sent to the A-series control unit.

[0083] Here, when the standby machine does not receive heartbeat frames in N cycles, it can be determined that an abnormal fault has occurred in the running machine. At this time, the standby machine switches to the running state and sends a switching command to the running machine through the network port. Even if no reply is received from the running machine, the state is switched to ensure the normal operation of the LCU; among them, N can be configured as 10.

[0084] In one embodiment, the A series control unit sends a heartbeat frame to the B series control unit using the first channel and the second channel, and the determining whether the B series control unit receives the heartbeat frame within the heartbeat duration to obtain a heartbeat determination result includes:

[0085] The B series control unit determines whether the first channel and the second channel detect a heartbeat frame within the heartbeat duration;

[0086] When neither the first channel nor the second channel detects a heartbeat frame, the heartbeat determination result indicates that the B-series control unit has not received the heartbeat frame within the heartbeat duration.

[0087] Here, the first channel may represent an interface channel in normal use, that is, a first interface channel, such as an ETH0 channel, and the second channel may represent a standby interface channel, that is, a second interface channel, such as an ETH1 channel.

[0088] Exemplarily, when a heartbeat frame sending cycle is 10ms, if the standby machine cannot receive heartbeat frames at both network ports for 10 cycles totaling 100ms, it is determined that an operation failure occurs, and the standby machine directly switches to the operation mode.

[0089] In actual application, in order to improve the comprehensiveness of the switching trigger signal monitoring, redundant switching can be performed on the basis of monitoring the heartbeat frame when a fault occurs in the running machine itself or an instruction to switch is received.

[0090] Based on this, in one embodiment, the method may further include:

[0091] Determine the operating status of the control unit currently in the operating mode;

[0092] When the operating state of the control unit currently in the operating mode is abnormal, or when receiving a switching instruction sent by the TCMS system, the control unit currently in the standby mode is switched from the standby mode to the operating mode.

[0093] In actual application, the operating status of the control unit currently in the running mode is judged. It can be that the running machine detects that the current system sub-board has a fault. Some faults do not affect the normal operation of the system and do not need to be switched, while some faults such as input and output board abnormalities, CAN communication abnormalities, etc. will affect normal operation. At this time, state switching is required. At this time, the running machine sends a switching instruction to the standby machine, the standby machine switches to the running state and replies to the confirmation frame. After receiving the confirmation frame, the running machine switches to the standby state. If no confirmation frame is received, the state switching cannot be performed. At this time, it is considered that both systems have failed and an emergency alarm is required.

[0094] In actual application, in order to adapt to the actual application scenario of the train, before executing step 201, the application scenario of the train can be determined first, and when the application scenario is an automatic control scenario, steps 201 to 205 can be executed.

[0095] Based on this, in one embodiment, before executing step 201, the method may further include:

[0096] Determining a driving mode of the train; the driving mode includes automatic driving or manual driving;

[0097] When the driving mode of the train is automatic driving, the A series control unit sends a first handshake instruction to the B series control unit.

[0098] Here, the driving mode of the train can be determined based on the input signal. For example, the current train can be determined to be automatically driven or manually driven based on the information selected by the staff in the configuration interface.

[0099] In one embodiment, the method may further include:

[0100] When the driving mode of the train is manual driving, generating second configuration information in response to a configuration operation performed on an operation interface;

[0101] Based on the second configuration information, the operating modes of the A series control unit and the B series control unit are configured.

[0102] Here, the second configuration information may indicate the working mode of the two-system control system.

[0103] In summary, the dual-machine hot standby redundant switching method for LCU proposed in the present application realizes automatic switching of dual-machine hot standby redundancy by negotiating between the two control units in a two-way handshake manner and configuring the working status of the two control units according to the results of the two handshakes. Since it can monitor abnormal conditions of the host including abnormal restart and power failure, it realizes automatic and comprehensive monitoring of switching trigger conditions, thereby ensuring the timeliness and reliability of the switching results. Furthermore, since there is no need to additionally configure a third-party monitoring device, it is possible to improve the switching reliability without increasing the cost and system complexity, thereby improving practicality.

[0104] The technical solution of the present application is further described in detail below through specific application examples.

[0105] The application example of this application provides a method for power-on negotiation and hot standby redundancy switching of dual machines for LCU; Figures 3 to 5 As shown, the application examples of this application include:

[0106] Step 1: Power on and initialize. Both CPUs are initialized to standby state.

[0107] Here, before executing step 2, you can first determine whether the train usage scenario is manual control or automatic control; in automatic control mode, follow the steps below to negotiate and switch between the two machines for hot standby redundancy; no switching is performed in manual mode, and which host system is running is determined according to the settings of the train controller; after determining to be in automatic control mode, the two CPU boards confirm whether they are A series or B series according to their positions in the chassis, and the A series CPU is responsible for initiating the negotiation process.

[0108] Step 2: Series A CPU sends handshake instruction 1.

[0109] Step 3: System B receives handshake command 1, determines its own status, and replies to handshake command 1.

[0110] Step 4: Series A CPU sends handshake instruction 2.

[0111] Step 5: System B receives handshake command 2, switches to run / standby state, and replies to handshake command 2. After system A CPU receives the reply, it switches to run / standby state.

[0112] Step 6: When executing steps 2-5, system A uses ETH0 to send data by default. When system B receives the data, it replies through this network port. If system A does not receive a reply within 100ms, it will resend. Considering that there may be a time difference when the system starts, the time will be appropriately extended. If no reply is received after 2s, ETH1 will be used for sending. If no reply is received after 5s, it is considered that system B is abnormal, and system A switches to running mode, and system B defaults to standby mode.

[0113] Here, the process from step 1 to step 6 is called the power-on negotiation process. Figure 3 shown.

[0114] Step 7: According to the input signal (DI) detection, determine whether the train is in automatic mode. If yes, jump to step 9. If not, execute step 8.

[0115] Step 8: In manual mode, detect the DI signal again, set the A series operation or B series operation according to the DI signal, and do not execute further.

[0116] Step 9: In automatic mode, the running machine sends a heartbeat frame every 10ms. The heartbeat frame is sent through both network ports. The standby machine monitors the heartbeat frame and performs data synchronization. If the standby machine does not receive the heartbeat frame through both network ports for 10 cycles (100ms), it is considered that the running machine has an abnormal fault. The standby machine switches to the running state and sends a switching command to the running machine through the network port. The state is switched even if no reply is received from the running machine.

[0117] Here, the execution process of step 9 can also be called preemptive switching, such as Figure 4As shown; if the two systems start normally, the result after the negotiation is completed is that system A becomes the running machine and system B becomes the standby machine. Considering that a system may restart abnormally or lose power abnormally during operation, if system A loses power abnormally, system B will switch to the running state. At this time, system A will negotiate after it is powered on again. At this time, system A will not preempt the running state, and system B will still maintain the running state; after the system power-on negotiation is completed, the CPU in the running mode sends a heartbeat frame at an interval of 10ms, and the CPU in the standby mode listens to the heartbeat frame and replies to the heartbeat frame. When the CPU in the standby state does not receive the heartbeat frame for a period of time, it is considered that the running machine is faulty, and the standby machine switches to the running state in a preemptive manner and sends a switching instruction to the running machine. After receiving the instruction, the running machine switches to the standby machine, thus completing the switching between the running machine and the standby machine; in addition to indicating that the CPU program is running normally, the heartbeat frame can also exchange data between the two systems. Through data synchronization, it is ensured that there will be no output control jitter when the two systems are switched.

[0118] Step 10: If the heartbeat frame of the running machine is sent normally, the standby machine cannot actively seize the running machine.

[0119] Step 11: The running machine detects that the current system board has a fault. Some faults do not affect the normal operation of the system and do not need to be switched. However, some faults, such as abnormal input and output boards and abnormal CAN communication, will affect normal operation. At this time, state switching is required. At this time, the running machine sends a switching command to the standby machine. The standby machine switches to the running state and replies to the confirmation frame. After receiving the confirmation frame, the running machine switches to the standby state. If no confirmation frame is received, the state switching cannot be performed. At this time, it is considered that both systems have faults and an emergency alarm is required.

[0120] Here, when the heartbeat frame is not lost, the running machine may also fail, such as DO control failure, CAN communication abnormality and other failures. At this time, switching is also required. The switching at this time is not preemptive, but the running machine sends a switching command to the standby machine, which can be called active switching, such as Figure 5 As shown; after receiving the switching command, the standby machine replies with a confirmation frame and switches to the running state, and the running machine switches to the standby state after receiving the confirmation frame.

[0121] In order to implement the dual-machine hot standby redundant switching method for LCU of the present application, the embodiment of the present application also provides a dual-machine hot standby redundant switching device for LCU, which is arranged on an electronic device, such as Figure 6 As shown, the device may include:

[0122] A first communication unit 601 is used for the A series control unit to send a first handshake instruction to the B series control unit; the first handshake instruction is used to initiate a negotiation request; and for the A series control unit to send a second handshake instruction to the B series control unit; the second handshake instruction carries first configuration information;

[0123] The first processing unit 602 is used to generate the first configuration information when the A series control unit receives the first response information sent by the B series control unit in response to the first handshake instruction; and the A series control unit switches to the operation mode when receiving the second response information; the first configuration information is used to configure the operation mode of the A series control unit and the B series control unit, and the operation is the operation mode or the standby mode;

[0124] A second processing unit 603, configured for the B-series control unit to generate second response information in response to the second handshake instruction, and switch to a standby mode based on the second handshake instruction;

[0125] The second communication unit 604 is used for the B-series control unit to send the second response information to the A-series control unit.

[0126] In one embodiment, the first processing unit 602 may also be used for:

[0127] Determine whether the A series control unit receives the second response information sent by the B series control unit in response to the second handshake instruction within a first period of time after sending the second handshake instruction, and obtain a first determination result;

[0128] When the first judgment result indicates that the second response information is not received after the first time period of sending the second handshake instruction, the first communication unit 601 is used to resend the second handshake instruction to the B-series control unit;

[0129] Determine whether the second response information is received after the second time period of resending the second handshake instruction, and obtain a second determination result;

[0130] When the second judgment result indicates that the second response information is not received after the second time period of resending the second handshake instruction, the A series control unit is switched to the running state.

[0131] In one embodiment, when the first judgment result indicates that the second response information is not received after the first time length of sending the second handshake instruction, re-sending the second handshake instruction to the B-series control unit includes:

[0132] If the first judgment result indicates that the second response information is not received after the first time period of sending the second handshake instruction, directly resending the second handshake instruction;

[0133] Determine whether the second response information is received after directly sending the second handshake instruction for a third time period, and obtain a third determination result;

[0134] When the third judgment result indicates that the second response information is not received after the third time period of directly sending the second handshake instruction, the first communication interface currently used for communication is switched to the second communication interface, and the second handshake instruction is resent using the second communication interface.

[0135] In one embodiment, the first communication unit 601 may also be used for:

[0136] sending heartbeat frames to the B-series control unit at intervals according to a first period;

[0137] The second processing unit 603 may also be configured to perform data synchronization based on the received heartbeat frame.

[0138] In one embodiment, the second processing unit 603 may also be used for:

[0139] Determine whether the B-series control unit receives the heartbeat frame within the heartbeat duration to obtain a heartbeat determination result; the heartbeat duration includes N first cycles, where N is a positive integer;

[0140] When the heartbeat judgment structure indicates that the B-series control unit has not received the heartbeat frame within the heartbeat duration, the working mode of the B-series control is switched from the standby mode to the running mode, and a switching command is sent to the A-series control unit.

[0141] In one embodiment, the A series control unit sends a heartbeat frame to the B series control unit using the first channel and the second channel, and the determining whether the B series control unit receives the heartbeat frame within the heartbeat duration to obtain a heartbeat determination result includes:

[0142] The B series control unit determines whether the first channel and the second channel detect a heartbeat frame within the heartbeat duration;

[0143] When neither the first channel nor the second channel detects a heartbeat frame, the heartbeat determination result indicates that the B-series control unit has not received the heartbeat frame within the heartbeat duration.

[0144] In one embodiment, before the A-series control unit sends the first handshake instruction to the B-series control unit, the first processing unit 602 may also be used to:

[0145] Determining a driving mode of the train; the driving mode includes automatic driving or manual driving;

[0146] When the driving mode of the train is automatic driving, the A series control unit sends a first handshake instruction to the B series control unit.

[0147] In one embodiment, the first processing unit 602 may also be used for:

[0148] When the driving mode of the train is manual driving, generating second configuration information in response to a configuration operation performed on an operation interface;

[0149] Based on the second configuration information, the operating modes of the A series control unit and the B series control unit are configured.

[0150] In one embodiment, the first processing unit 602 may also be used for:

[0151] Determine the operating status of the control unit currently in the operating mode;

[0152] When the operating state of the control unit currently in the operating mode is abnormal, or when receiving a switching instruction sent by the TCMS system, the control unit currently in the standby mode is switched from the standby mode to the operating mode.

[0153] It should be noted that: the dual-machine hot standby redundant switching device for LCU provided in the above embodiment only uses the division of the above program modules as an example when performing high-voltage monitoring. In actual applications, the above processing can be assigned to different program modules as needed, that is, the internal structure of the device can be divided into different program modules to complete all or part of the processing described above. In addition, the dual-machine hot standby redundant switching device for LCU provided in the above embodiment and the dual-machine hot standby redundant switching method embodiment for LCU belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0154] It should be noted that: "first", "second", etc. are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0155] In addition, the technical solutions described in the embodiments of the present application can be combined arbitrarily without conflict.

[0156] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application.

Claims

1. A dual-machine hot standby redundant switching method for a train logic control unit LCU, characterized in that: The LCU includes an A-series control unit and a B-series control unit, and the method includes: The A series control unit sends a first handshake instruction to the B series control unit; the first handshake instruction is used to initiate a negotiation request; When the A series control unit receives the first response information sent by the B series control unit in response to the first handshake instruction, the first configuration information is generated; the first configuration information is used to configure the working mode of the A series control unit and the B series control unit, and the working mode is the running mode or the standby mode; The A series control unit sends a second handshake instruction to the B series control unit; the second handshake instruction carries the first configuration information; The B-series control unit generates a second response message in response to the second handshake instruction and sends the second response message to the A-series control unit, and switches to a standby mode based on the second handshake instruction; The A series control unit switches to the operation mode when receiving the second response information.

2. The method according to claim 1, characterized in that After the A series control unit sends a second handshake instruction to the B series control unit, the method further includes: Determine whether the A series control unit receives the second response information sent by the B series control unit in response to the second handshake instruction within a first period of time after sending the second handshake instruction, and obtain a first determination result; If the first judgment result indicates that the second response information is not received after the first time period of sending the second handshake instruction, resending the second handshake instruction to the B-series control unit; Determine whether the second response information is received after the second time period of resending the second handshake instruction, and obtain a second determination result; When the second judgment result indicates that the second response information is not received after the second time period of resending the second handshake instruction, the A series control unit is switched to the running state.

3. The method according to claim 2, characterized in that The re-sending the second handshake instruction to the B-series control unit when the first judgment result indicates that the second response information is not received after the first time length of sending the second handshake instruction comprises: If the first judgment result indicates that the second response information is not received after the first time period of sending the second handshake instruction, directly resending the second handshake instruction; Determine whether the second response information is received after directly sending the second handshake instruction for a third time period, and obtain a third determination result; When the third judgment result indicates that the second response information is not received after the third time period of directly sending the second handshake instruction, the first communication interface currently used for communication is switched to the second communication interface, and the second handshake instruction is resent using the second communication interface.

4. The method according to any one of claims 1 to 3, characterized in that When the working mode of the A series control unit is the operation mode, the method further includes: The A series control unit sends heartbeat frames to the B series control unit at intervals according to a first period; The B-series control unit performs data synchronization based on the received heartbeat frame.

5. The method according to claim 4, characterized in that The method further comprises: Determine whether the B-series control unit receives the heartbeat frame within the heartbeat duration to obtain a heartbeat determination result; the heartbeat duration includes N first cycles, where N is a positive integer; When the heartbeat judgment structure indicates that the B-series control unit has not received the heartbeat frame within the heartbeat duration, the working mode of the B-series control is switched from the standby mode to the running mode, and a switching command is sent to the A-series control unit.

6. The method according to claim 4, characterized in that The A series control unit sends a heartbeat frame to the B series control unit by using the first channel and the second channel, and the determining whether the B series control unit receives the heartbeat frame within the heartbeat duration to obtain a heartbeat determination result includes: The B series control unit determines whether the first channel and the second channel detect a heartbeat frame within the heartbeat duration; When neither the first channel nor the second channel detects a heartbeat frame, the heartbeat determination result indicates that the B-series control unit has not received the heartbeat frame within the heartbeat duration.

7. The method according to claim 4, characterized in that The method further comprises: Determine the operating status of the control unit currently in the operating mode; When the operating state of the control unit currently in the operating mode is abnormal, or when receiving a switching instruction sent by the TCMS system, the control unit currently in the standby mode is switched from the standby mode to the operating mode.

8. The method according to claim 4, characterized in that Before the A series control unit intermittently sends the heartbeat frame to the B series control unit according to the first period, the method further includes: Determining a driving mode of the train; the driving mode includes automatic driving or manual driving; When the driving mode of the train is automatic driving, the A-series control unit intermittently sends heartbeat frames to the B-series control unit according to a first period.

9. The method according to claim 8, characterized in that The method further comprises: When the driving mode of the train is manual driving, generating second configuration information in response to a configuration operation performed on an operation interface; Based on the second configuration information, the operating modes of the A series control unit and the B series control unit are configured.

10. A dual-machine hot standby redundant switching device for train LCU, characterized in that: The LC U comprises an A-series control unit and a B-series control unit, and the device comprises: A first communication unit, used for the A series control unit to send a first handshake instruction to the B series control unit; the first handshake instruction is used to initiate a negotiation request; and used for the A series control unit to send a second handshake instruction to the B series control unit; the second handshake instruction carries first configuration information; a first processing unit, configured to generate the first configuration information when the A-series control unit receives the first response information sent by the B-series control unit in response to the first handshake instruction; and configured to switch the A-series control unit to the operation mode when receiving the second response information; the first configuration information is used to configure the operation mode of the A-series control unit and the B-series control unit, the operation being the operation mode or the standby mode; a second processing unit, configured for the B-series control unit to generate second response information in response to the second handshake instruction, and switch to a standby mode based on the second handshake instruction; The second communication unit is used for the B-series control unit to send the second response information to the A-series control unit.

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