Train fusion control method based on virtualization technology

Abstract

The invention discloses a train fusion control method based on a virtualization method. The train fusion control method comprises the following steps: adopting a configuration mode of combining a universal operating system with virtualization extension; according to the method, virtual extension is carried out on train starting, fault recording and state monitoring processes, fusion control of trains is realized, the method is realized by adopting a chip supporting a virtual machine monitor, the virtual machine monitor is used for providing virtual machine resource allocation, virtual machine scheduling and virtual machine data interaction services, a virtio virtualization method is adopted for virtualization extension, and the virtual machine data interaction service is provided for the virtual machine. The virtio virtualization method is an I / O (Input / Output) para-virtualization solution, provides a set of general I / O equipment virtualization, abstracts a group of general I / O equipment in a para-virtualization virtual machine monitor, and provides a communication framework and a programming interface between an upper-layer application and each virtual machine monitor virtualization equipment.

Description

Technical Field

[0001] The present invention belongs to the field of fully automated products and relates to a train fusion control method based on virtualization technology. Background Art

[0002] At present, the rail transit industry is developing rapidly, and the train network fusion control technology is increasingly recognized by the industry. The purpose of fusion control is to realize the integration of different control functions in the train network, reduce the number of control units of different subsystems, and improve the efficiency of data interaction between subsystems. Compared with the traditional multi-master board integration mode based on the backplane bus, the train network control based on virtualization technology can realize the integration of different control functions in multiple virtual controllers. It is a system-level isolation technology, that is, using virtual controllers to replace physical control units, and realize the decoupling of various control functions without reducing the safety and real-time performance of the system. The train network control method based on virtualization technology improves the system's intensiveness, reduces system wiring, and makes the product more integrated and has stronger product performance.

[0003] Technical solution of prior art 1

[0004] At present, the train integration control method in the rail transit industry mostly adopts hardware-level isolation in the early stage, that is, the traditional multi-master control board integration mode based on the backplane bus is adopted to realize the functional integration of multiple subsystems and multiple control functions of the train. Its advantages are the best isolation, isolation performance, safety and reliability.

[0005] The disadvantage of hardware-level isolation is its poor flexibility and configurability. It needs to integrate hardware from different manufacturers according to different project requirements and cannot achieve hardware sharing, resulting in poor resource utilization of the entire system.

[0006] Technical solution of prior art 2

[0007] At present, the train integration control method in the rail transit industry also includes container-level isolation, sharing the operating system kernel, realizing the functional integration of multiple subsystems and multiple control functions of the train, and ensuring the independence of the operating environment (container layer) of the subsystem control function.

[0008] Disadvantages of the second prior art

[0009] Container-level isolation can achieve business isolation in a lighter weight manner, but within the same operating system, there are risks of resource interference and mutual security attacks, and it cannot support the integration of business domains of heterogeneous operating systems, which affects the inheritance of traditional businesses and is not conducive to ecological development. Summary of the invention

[0010] In order to solve the above problems, the technical solution adopted by the present invention is: a train fusion control method based on a virtualization method, comprising the following steps:

[0011] Use a general operating system combined with virtualization extension configuration;

[0012] Virtually expand the train start-up, fault recording, and status monitoring processes to achieve integrated train control.

[0013] Furthermore: the method is implemented using a chip that supports a virtual machine monitor, and the virtual machine monitor is used to provide virtual machine resource allocation, virtual machine scheduling and virtual machine data interaction services.

[0014] Furthermore: the virtualization extension adopts the virtio virtualization method, and the virtio virtualization method adopts the I / O semi-virtualization solution to provide a set of general I / O device virtualization, which is an abstraction of a set of general I / O devices in the semi-virtualized virtual machine monitor, and provides a communication framework and programming interface between the upper-level application and the virtualization devices of each virtual machine monitor.

[0015] A train fusion control device based on a virtualization method includes an operating system of a non-real-time virtual machine for running non-real-time control applications and responsible for system startup, fault recording and status monitoring;

[0016] The operating system of the non-real-time virtual machine adopts a general-purpose operating system GPOS;

[0017] Multiple real-time virtual machine operating systems: used to run multiple real-time control applications; the real-time virtual machine operating system adopts a real-time operating system RTOS.

[0018] Further: the multiple real-time virtual machine operating systems include a traction control virtual machine operating system, a brake control virtual machine operating system, a door control, a lighting control and an air conditioning control virtual machine operating system;

[0019] The traction control virtual machine operating system, the brake control virtual machine operating system, the door control, the lighting control and the air conditioning control virtual machine operating systems communicate using a shared memory or SMIPC method.

[0020] Furthermore: the traction control virtual machine operating system, the brake control virtual machine operating system, the door control, lighting control and air conditioning control virtual machine operating systems have isolated memory access through the MMU, each virtual machine has a logical address space of 0-4G, and the virtual machine physical address is automatically configured through the memory of the configuration project.

[0021] Furthermore: the traction control virtual machine operating system, the brake control virtual machine operating system, the door control, lighting control and air conditioning control virtual machine operating systems configure the starting core and core quantity of the virtual machine through the configuration items of the development environment.

[0022] The present invention provides a train fusion control method based on virtualization technology, which adopts a virtualization method for fusion, which is different from the previous train control method. The current common control method for trains is that each control function is implemented in different devices on the train, which is decentralized. The present application is to integrate the control functions on different devices on multiple trains, which is centralized and integrated into a chip that supports a virtual machine monitor (Hypervisor);

[0023] The present invention is highly practical and describes the platform architecture design of a train fusion control method based on virtualization technology. Compared with the traditional physical fusion based on the backplane bus and the functional fusion based on the container level, it has the advantages of system-level isolation, time-sharing scheduling, and software definition. It can be deployed according to the control performance and functional requirements to achieve fusion control of key subcomponents on the train, and provide platform support for comprehensive business carrying and fusion control. At the same time, it can also reduce the number of key subsystem control units, thereby improving the reliability and maintainability of the overall operation of the train and reducing the full life cycle cost of the train. It has the following advantages:

[0024] (1) Ensure hardware resource isolation. Real-time systems (virtual machines) and non-real-time systems run simultaneously on the same physical hardware. The hardware resources between real-time systems (virtual machines) and non-real-time systems are isolated from each other and do not affect each other.

[0025] (2) Multiple real-time systems (virtual machines) run simultaneously, memory resources are isolated from each other, and different memory areas are supported to have different access rights, effectively preventing data from being tampered with;

[0026] (3) Multiple real-time systems (virtual machines) communicate with each other using shared memory or SMIPC, replacing the chassis backplane wiring method, which has better electromagnetic compatibility;

[0027] (4) Flexible configuration of resources of each real-time system (virtual machine), which can configure the number, memory, communication interface, etc. of real-time systems (virtual machines) according to the requirements of control functions;

[0028] (5) Easy to expand and maintain functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0030] Figure 1 is a diagram of the virtual machine monitor architecture;

[0031] Figure 2 It is the system software architecture and communication diagram;

[0032] Figure 3 It is a virtualization schematic;

[0033] Figure 4 It is a fusion control software architecture based on virtualization.

[0034] Figure 5 It is the principle of memory access between virtual machines;

[0035] Figure 6 (a) Schematic diagram of multiple virtual machines running on multiple cores, (b) configuration interface;

[0036] Figure 7 This is the schematic diagram of the hardware resource isolation between RTOS and Linux. DETAILED DESCRIPTION

[0037] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0038] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] A train fusion control method based on a virtualization method comprises the following steps: adopting a general operating system (Linux) combined with a virtualization extension configuration method; performing virtual extension on the train start-up, fault recording, and status monitoring processes to achieve train fusion control.

[0040] The method is implemented by using a chip supporting a virtual machine monitor Hypervisor, which is used to provide virtual machine resource allocation, virtual machine scheduling and virtual machine data interaction services.

[0041] Figure 1 is a diagram of the virtual machine monitor architecture; Figure 2 It is the system software architecture and communication diagram;

[0042] Virtual machine monitors include both non-real-time and real-time systems;

[0043] An operating system of a non-real-time virtual machine, used to run non-real-time control applications;

[0044] Real-time virtual machine operating system: for running multiple real-time control applications;

[0045] The operating system of the non-real-time virtual machine adopts a general-purpose operating system GPOS;

[0046] The real-time virtual machine operating system adopts a real-time operating system RTOS;

[0047] Figure 3 It is a virtualization schematic;

[0048] The virtualization extension adopts the virtio virtualization method, which is an I / O semi-virtualization solution, providing a set of general I / O device virtualization, which is an abstraction of a group of general I / O devices in the semi-virtualized Hypervisor, and provides a communication framework and programming interface between the upper-layer application and each Hypervisor virtualization device, reducing the compatibility problems caused by cross-platform and improving the efficiency of driver development.

[0049] The upper layer applies specific application development such as traction control, brake control, door control, etc.

[0050] Time-sharing scheduling is to arrange the execution order of each virtual machine and application program according to the priority of the virtual machine and software program when using the same core. When multiple virtual machines are running, it is often the case that multiple virtual machines are running on one core. At this time, time-sharing scheduling is very important.

[0051] Software-defined means that the priority, memory size, GPIO, CAN and other peripherals, as well as virtual machine network port properties, number of cores, etc. of each real-time system (virtual machine) can be set through the virtualization integrated development environment (IDE).

[0052] Figure 4 It is a converged control software architecture based on virtualization;

[0053] A train fusion control device based on a virtualization method includes an operating system of a non-real-time virtual machine for running non-real-time control applications and responsible for system startup, fault recording and status monitoring;

[0054] Multiple real-time virtual machine operating systems: used to run multiple real-time control applications;

[0055] The multiple real-time virtual machine operating systems include a traction control virtual machine operating system, a brake control virtual machine operating system, a door control, a lighting control and an air conditioning control virtual machine operating system;

[0056] The traction control virtual machine operating system, the brake control virtual machine operating system, the door control, the lighting control and the air conditioning control virtual machine operating systems communicate using a shared memory or SMIPC method.

[0057] Based on the demand for independent control, the solution adopts a domestic type I virtual machine monitor (Hypervisor). The virtual machine monitor is responsible for the operation and management of the client, using the general operating system GPOS as the operating system of the non-real-time virtual machine to run non-real-time control applications, and using the real-time operating system RTOS as the real-time virtual machine operating system to run real-time control applications.

[0058] The traction control virtual machine operating system, the brake control virtual machine operating system, the door control, the lighting control and the air conditioning control virtual machine operating systems use a software bus communication mechanism based on shared memory instead of the traditional physical bus communication mechanism, and the virtual machines perform high-speed data interaction by calling socket services.

[0059] The virtual machine deployment is shown in Table 1. According to the functional safety level and real-time requirements, the traction braking, automatic driving, passenger information and other functions are decoupled and deployed to different virtual machines. The software bus between the virtual machines replaces the traditional physical network connection. The central control unit CCU and the automatic driving controller ATO are merged into one physical controller, and the number of system devices is further reduced.

[0060] Table 1 Fusion control system virtual machine configuration

[0061]

[0062]

[0063] Figure 5 It is the principle of memory access between virtual machines;

[0064] The memory access between the traction control virtual machine operating system, the brake control virtual machine operating system, the door control, the lighting control and the air conditioning control virtual machine operating systems is implemented by: isolated memory access is performed through the MMU, each virtual machine has a logical address space of 0-4G, and the virtual machine physical address is automatically configured through the memory of the configuration project.

[0065] The automatic configuration is performed in an integrated development environment (IDE) by specifying the memory size required by each real-time system, and the IDE automatically configures the actual physical address of each real-time system.

[0066] Virtual machines can communicate with each other through communication mechanisms such as shared memory or SMIPC.

[0067] As the number of application virtual machines on the same platform increases, high-speed communication needs are generated between virtual machines. Therefore, the SMIPC (Shared Memory IPC) communication framework is provided based on the microkernel shared memory IPC. SMIPC abstracts the concepts of bus, node, and port and provides a socket-oriented communication method. SMIPC is a multi-virtual machine communication (IPC) layer that uses shared memory to exchange messages between applications running on it. It provides a socket-like API to simplify programming.

[0068] SMIPC provides a zero-copy function interface. Before sending data, a buffer is allocated from the shared memory through the interface. User data is no longer copied to the shared memory when sending.

[0069] Figure 6 (a) Schematic diagram of multiple virtual machines running on multiple cores, (b) configuration interface;

[0070] Furthermore, the traction control virtual machine operating system, the brake control virtual machine operating system, the door control, lighting control and air conditioning control virtual machine operating systems configure the starting core and the number of cores of the virtual machine through the configuration items of the development environment.

[0071] The number of cores, that is, one or more cores are selected according to the hardware configuration required by the corresponding control to ensure the smooth operation of the application;

[0072] The configuration item of the development environment refers to an integrated development environment (IDE) of virtualization technology;

[0073] The implementation principle of hardware resource isolation between RTOS and Linux is as follows:

[0074] Memory resources are isolated through the memory management unit (MMU).

[0075] Figure 7 This is a schematic diagram of the hardware resource isolation between RTOS and Linux. The figure shows the memory configuration of the project. The KernelImageRamSpace memory start address is specified during design and is consistent with the Linux convention. The sub-item configurations it contains (the sub-items under the memory address configuration menu of the virtualization integrated development environment (IDE);) are modified based on experience (the actual application experience of previous traction control applications, brake control applications, etc., to determine the specific memory required, etc.). VmImageRamSpace is the physical address space of the memory where the virtual machine (vm) runs. Linux cannot access it, and virtual machines (vms) cannot access each other's space.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A train fusion control method based on a virtualization method, characterized in that: The following steps are involved: Use a general operating system combined with virtualization extension configuration; Virtually expand the train start-up, fault recording, and status monitoring processes to achieve integrated train control.

2. A train fusion control method based on a virtualization method according to claim 1, characterized in that: The method is implemented by using a chip supporting a virtual machine monitor, and the virtual machine monitor is used to provide virtual machine resource allocation, virtual machine scheduling and virtual machine data interaction services.

3. The train fusion control method based on virtualization method according to claim 1 is characterized in that: The virtualization extension adopts the virtio virtualization method, and the virtio virtualization method adopts the I / O semi-virtualization solution to provide a set of general I / O device virtualization, which is an abstraction of a group of general I / O devices in the semi-virtualized virtual machine monitor, and provides a communication framework and programming interface between the upper-layer application and the virtualization devices of each virtual machine monitor.

4. A train fusion control device based on a virtualization method, characterized in that: An operating system including a non-real-time virtual machine for running non-real-time control applications and responsible for system startup, fault logging and status monitoring; The operating system of the non-real-time virtual machine adopts a general-purpose operating system GPOS; Multiple real-time virtual machine operating systems: used to run multiple real-time control applications; the real-time virtual machine operating system adopts a real-time operating system RTOS.

5. A train fusion control device based on a virtualization method according to claim 4, characterized in that: The multiple real-time virtual machine operating systems include a traction control virtual machine operating system, a brake control virtual machine operating system, a door control, a lighting control and an air conditioning control virtual machine operating system; The traction control virtual machine operating system, the brake control virtual machine operating system, the door control, the lighting control and the air conditioning control virtual machine operating systems communicate using a shared memory or SMIPC method.

6. A train fusion control device based on a virtualization method according to claim 5, characterized in that: The traction control virtual machine operating system, the brake control virtual machine operating system, the door control, the lighting control and the air conditioning control virtual machine operating systems have isolated memory access through the MMU. Each virtual machine has a logical address space of 0-4G, and the virtual machine physical address is automatically configured through the memory of the configuration project.

7. A train fusion control device based on a virtualization method according to claim 5, characterized in that: The traction control virtual machine operating system, the brake control virtual machine operating system, the door control, lighting control and air conditioning control virtual machine operating systems configure the starting core and the number of cores of the virtual machine through the configuration items of the development environment.

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