Redundant communication system and method

Abstract

The embodiment of the invention relates to the field of rail transit vehicles, and discloses a redundant communication system and method, and the system comprises train control and management systems which communicate with each other through a system communication network; the subsystem control equipment communicates with the train control and management system through a system communication network, and different subsystem control equipment communicates based on the system communication network and the equipment intranet; each subsystem control device comprises a master control module and a slave control module, and the master control module and the slave control module of the same subsystem control device communicate with each other in a master-slave communication mode. According to the redundant communication system and method disclosed by the invention, the problems of communication data interruption and discontinuity in the existing system adopting dual-bus redundant communication are solved, and the communication effects of high reliability and high safety are achieved.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of rail transit vehicles, and particularly to a redundant communication system and method. Background Art

[0002] With the improvement of the informatization and intelligence levels of rail transit vehicles, the increase in intelligent devices, and the complexity of the communication bus topology, how to ensure the safe and reliable transmission of communication signals between systems and within the devices themselves has become an important research content.

[0003] Applying redundant technology to the communication process of vehicle devices is the main way to improve the application security of the system. In a common redundant architecture - a dual-redundancy communication system, when the primary loop fails, it can automatically switch to the backup loop to ensure that the system does not interrupt. Existing redundant communication solutions generally consist of two identical buses or two different buses to form communication redundancy. However, in existing systems using dual-bus redundant communication, there are still situations of communication data interruption and discontinuity, posing a great threat to the safety of passengers. Summary of the Invention

[0004] The purpose of the present invention is to provide at least one redundant communication system and method, which can at least solve the problems of communication data interruption and discontinuity in existing systems using dual-bus redundant communication, and can at least achieve a communication effect with high reliability and high security.

[0005] To solve the above technical problems, at least one embodiment of the present invention provides a redundant communication system, which is applied to a target rail vehicle. The redundant communication system includes:

[0006] A train control and management system, which communicates with other train control and management systems through a system communication network;

[0007] Subsystem control devices, which communicate with the train control and management system through the system communication network, and communicate with each other based on the system communication network and an equipment intranet;

[0008] The subsystem control device includes a main control module and a slave control module, and the main control module and the slave control module of the same subsystem control device communicate with each other through a master-slave communication method.

[0009] In some optional embodiments, the main control modules and the slave control modules of different subsystem control devices communicate with each other through the system communication network and the equipment intranet.

[0010] In some optional embodiments, the equipment intranet includes one of an intranet Ethernet and an intranet CAN communication network; the master-slave communication method includes one of Ethernet communication, serial port communication, and CAN communication.

[0011] In some alternative embodiments, the system communication network includes at least one of a system Ethernet and a system MVB communication network.

[0012] In some alternative embodiments, the system communication network includes a system Ethernet and a system MVB communication network; the subsystem control device communicates with the train control and management system through both the system Ethernet and the system MVB communication network simultaneously;

[0013] In the case where there is no communication anomaly in the system MVB communication network, the subsystem control device preferentially uses the system MVB communication network to transmit and receive data, perform logical operations, and output; in the case where there is a communication anomaly in the system MVB communication network, it uses the system Ethernet to transmit and receive data, perform logical operations, and output; in the case where there are anomalies in both the system MVB communication network and the system Ethernet, the subsystem control device uses the device internal network to transmit and receive data, perform logical operations, and output; in the case where there is an anomaly in the device internal network, the subsystem control device uses the master-slave communication method to transmit and receive data, perform logical operations, and output.

[0014] At least one embodiment of the present invention further provides a redundant communication method, which is implemented based on the above redundant communication system. The redundant communication method includes:

[0015] The subsystem control device transmits and receives data through the system communication network, performs logical operations, and outputs;

[0016] In the case where there is a communication anomaly in the system communication network, determine whether there is a communication anomaly in the device internal network;

[0017] In the case where there is a communication anomaly in the device internal network, determine whether there is a communication anomaly in the master-slave communication;

[0018] In the case where there is a communication anomaly in the master-slave communication, the subsystem control device executes a logic anomaly.

[0019] In some alternative embodiments, the system communication network includes a system Ethernet and a system MVB communication network; the subsystem control device communicates with the train control and management system through both the system Ethernet and the system MVB communication network simultaneously; in the case where there is no communication anomaly in the system MVB communication network, the subsystem control device preferentially uses the system MVB communication network to transmit and receive data, perform logical operations, and output,

[0020] In the case where there is a communication anomaly in the system communication network, determining whether there is a communication anomaly in the device internal network includes:

[0021] In the case where there is a communication anomaly in the system MVB communication network, determine whether there is a communication anomaly in the system Ethernet;

[0022] When there is no communication anomaly in the system Ethernet, the subsystem control device transmits and receives data through the system Ethernet, performs logical operations, and outputs the results.

[0023] When there is a communication anomaly in the system Ethernet, it is determined whether there is a communication anomaly in the device internal network.

[0024] In some alternative embodiments, the above redundant communication method further includes:

[0025] When there is no communication anomaly in the device internal network, the subsystem control device transmits and receives data through the device internal network, and performs logical operations and outputs the results.

[0026] In some alternative embodiments, the above redundant communication method further includes:

[0027] When there is no communication anomaly in the master-slave communication, the subsystem control device transmits and receives data through the master-slave communication method, and performs logical operations and outputs the results.

[0028] At least one embodiment of the present invention further provides a subsystem control device that executes the above redundant communication method.

[0029] The present invention integrates communication redundancy between systems, between devices, and between the main control and slave control of devices, realizes high reliability, intelligence, networking, and informatization of train operation, and at the same time better ensures the safe operation and efficient maintenance of subway trains. A redundant communication scheme with seamless switching of multiple communication buses is realized, and a communication effect with high reliability and high security is achieved. It is applicable to the field of rail transit vehicles. This method realizes redundant communication between vehicle subsystems, between devices, and between the master and slave within the device, which helps to improve the reliability and safety of the train. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings, and these exemplary illustrations do not constitute a limitation on the embodiments.

[0031] Figure 1 is a topological schematic diagram of an existing redundant communication scheme in the prior art;

[0032] Figure 2 is a redundant communication topological schematic diagram of a four - formation rail vehicle provided by an embodiment of the present invention;

[0033] Figure 3 is a flowchart of a redundant communication method provided by an embodiment of the present invention;

[0034] Figure 4 is a communication data flow schematic diagram provided by an embodiment of the present invention;

[0035] Figure 5 It is a schematic diagram of the data packet of the CCU provided by an embodiment of the present invention;

[0036] Figure 6 It is a schematic diagram of the LCU data packet provided by an embodiment of the present invention. Detailed implementation manners

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, those of ordinary skill in the art can understand that in the embodiments of the present invention, many technical details are provided to help readers better understand the present invention. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed by the present invention can still be implemented. The following division of each embodiment is for convenience of description and should not constitute any limitation to the specific implementation manner of the present invention. Each embodiment can be combined and cross-referenced with each other on the premise of no contradiction.

[0038] With the improvement of the informatization and intelligence levels of rail transit vehicles, the increase in intelligent devices, and the complexity of the communication bus topology, how to ensure the safe and reliable transmission of communication signals between systems and within the devices themselves has become an important research content.

[0039] Applying redundancy technology to the communication process of vehicle devices is the main way to improve the application security of the system. In a common redundancy architecture - a dual-redundancy communication system, when the primary loop fails, it can automatically switch to the backup loop to ensure that the system does not interrupt. Existing redundancy communication schemes generally consist of two identical buses or two different buses to form communication redundancy. A typical example is Figure 1 As shown, the MVB bus and the Ethernet bus form redundant communication. However, in existing systems using dual-bus redundant communication, there are still situations of communication data interruption and discontinuity, posing a greater threat to the safety of passengers.

[0040] To solve the above technical problem of communication data interruption and discontinuity in existing systems using dual-bus redundant communication, the present invention proposes a redundant communication system and method. The implementation details of the redundant communication system and method of this embodiment will be specifically described below. The following content is only implementation details provided for easy understanding and is not necessary for implementing this solution.

[0041] Example 1

[0042] The redundant communication system of this embodiment is applied to a target rail vehicle, such as a subway vehicle. The redundant communication system includes:

[0043] The Train Control and Management System (TCMS), and the train control and management systems communicate with each other through the system communication network;

[0044] The subsystem control device communicates with the train control and management system through the system communication network, and different subsystem control devices communicate with each other based on the system communication network and the device intranet;

[0045] The subsystem control device includes a main control module and a slave control module, and the main control module and the slave control module of the same subsystem control device communicate with each other through the master-slave communication method.

[0046] In the redundant communication system of this embodiment, through the redundant communication between the train control and management systems TCMS, between the subsystem control devices, and between the main control module and the slave control module of the subsystem control device, multi-level communication redundancy is achieved, enhancing the security and reliability of the system and device communication. Normal communication can be achieved even if a single-point failure occurs at any level.

[0047] In specific implementation, the system communication network includes at least one of the system Ethernet and the system MVB (Multifunction Vehicle Bus) communication network. When the system communication network includes the system Ethernet and the system MVB communication network, that is, the train control and management systems communicate redundantly through the system Ethernet and the system MVB communication network at the same time. When there is no communication anomaly in the system MVB communication network, the subsystem control device preferentially uses the system MVB communication network to send and receive data, perform logical operations, and output. When there is a communication anomaly in the system MVB communication network, it uses the system Ethernet to send and receive data, perform logical operations, and output; when there are communication anomalies in both the system MVB communication network and the system Ethernet, the subsystem control device uses the device intranet to send and receive data, perform logical operations, and output; when there is an anomaly in the device intranet, the subsystem control device uses the master-slave communication method to send and receive data, perform logical operations, and output.

[0048] Figure 2The figure shows a schematic diagram of the redundant communication topology of a four - formation rail vehicle. The two end cars with driver's cabs, TMC1 and TMC2, and the intermediate cars MP1 and MP2 form a four - formation rail vehicle. TMC1 and TMC2 are respectively equipped with a Train Control and Management System (TCMS). The central control unit of the TCMS is the CCU (Central Control Unit). The central control units CCU1 and CCU2 of the TCMS in TMC1 and TMC2 are respectively CCU1 and CCU2. CCU1 and CCU2 are interconnected through switches installed in each car to achieve system Ethernet communication, and CCU1 and CCU2 are interconnected through repeaters REPS*2 installed in each car to achieve system MVB network communication.

[0049] The central processing unit of the subsystem control device is the LCU (Logic Control Unit). The switches installed in each car are also connected to the central processing unit LCU of the subsystem control devices in the corresponding car. The repeaters installed in each car are also connected to the LCU, so that communication can be carried out between the Train Control and Management System TCMS and the central processing unit LCU of the subsystem control devices based on the system Ethernet and the system MVB network.

[0050] The LCU includes a main control module and a slave control module (also known as the main CPU and the slave CPU). The LCU1 in TMC1 includes the main control module LCU1 - A series and the slave control module LCU1 - B series. The LCU2 in TMC2 includes the main control module LCU2 - A series and the slave control module LCU2 - B series. Communication is carried out between the main control modules and between the slave control modules of different subsystem control devices through the device internal network. Since CCU1 and CCU2 are interconnected through switches installed in each car and the switches installed in each car are also connected to the LCU in the corresponding car, and CCU1 and CCU2 are interconnected through repeaters installed in each car and the repeaters installed in each car are also connected to the LCU in the corresponding car, therefore, communication can also be carried out between the main control modules and between the slave control modules of different subsystem control devices based on the system Ethernet and the system MVB communication network.

[0051] In specific implementation, the above - mentioned device internal network includes one of an internal network Ethernet and an internal network CAN communication network. The device internal network can also include other communication methods, such as 485 bus communication; the master - slave communication method includes one of Ethernet communication, serial port communication, and CAN communication, or other communication methods.

[0052] Figure 2 The shown redundant communication topology architecture includes three levels, namely the vehicle level, the system level, and the device level.

[0053] Among them:

[0054] Vehicle level: The TCMS and the subsystem control device communicate with each other through the MVB and Ethernet communication buses;

[0055] System level: Dual-channel device internal networks are used for communication within the subsystem control device, such as internal network Ethernet;

[0056] Device level: Single-channel master-slave communication is used between the master and slave control modules of the subsystem control device, such as Ethernet communication.

[0057] In Figure 2 taking a four-car formation vehicle as an example, the switching methods between multiple communications are described as follows:

[0058] First, both MVB communication and Ethernet communication are carried out simultaneously between the TCMS and the subsystem control device. The MVB communication data is used by default. When a fault occurs in the MVB communication, the Ethernet communication data is used.

[0059] Second, the subsystem control devices communicate with each other through the system MVB communication network, and at the same time, dual-channel internal network Ethernet communication is carried out between the subsystem control devices. The MVB communication data is used by default. When an abnormal situation such as data interruption or delay occurs in the MVB communication, the Ethernet communication data is used.

[0060] Third, master-slave Ethernet communication is carried out between the main control module and the slave control module of the subsystem control device. When communication interruptions and delays occur in the MVB communication and the single-channel (one of the above two channels) Ethernet communication, Ethernet data is received through the slave control module, and then data is sent and received through master-slave communication.

[0061] In practical applications, the number of device chassis (LCU or other control devices) of the vehicle can be flexibly increased. Only the protocol content and communication ports need to be expanded, and the communication redundancy remains unchanged.

[0062] In practical applications, according to the security level requirements of different systems, some communication lines can be cancelled. For example, either the MVB or the Ethernet communication line between systems can be selected, and either the device internal network or the master-slave communication line can be selected. However, correspondingly, the security and redundancy levels will be reduced to a certain extent after the change.

[0063] Example 2

[0064] The redundant communication method of this embodiment is implemented based on the redundant communication system of the above embodiment and can be applied to electronic devices with communication, computing, and data storage capabilities. Its specific process can be as Figure 3 shown, including:

[0065] The subsystem control device sends and receives data through the system communication network, performs logical operations, and outputs;

[0066] If there is a communication anomaly in the system communication network, determine whether there is a communication anomaly in the device intranet;

[0067] If there is a communication anomaly in the device intranet, determine whether there is a communication anomaly in the master-slave communication;

[0068] In the event of a communication anomaly between the master and slave, the subsystem control device executes logic anomalies.

[0069] In the method of this embodiment, if the MVB communication is normal, the LCU sends and receives data through the MVB communication, performs logical operations and outputs, and if the MVB communication is abnormal, the system Ethernet communication situation is judged. If the system Ethernet communication is normal, the LCU sends and receives data through the Ethernet communication, performs logical operations and outputs, and if the Ethernet communication is abnormal, the device intranet communication situation is judged. If the device intranet communication is normal, the LCU sends and receives data through the device intranet communication, performs logical operations and outputs, and if the device intranet communication is abnormal, the device master-slave communication situation is judged. If the device master-slave communication is normal, the LCU sends and receives data through the device master-slave communication, performs logical operations and outputs, and if the device master-slave communication is abnormal, the device executes the logic abnormality. Multi-level communication redundancy is achieved between systems and systems, devices and devices, and device master and device slave, which enhances the security and reliability of system and device communication, and normal communication can be achieved when a single point failure occurs at any level; different bus switching logics are executed for different fault types.

[0070] In a specific implementation, when the system communication network includes the system Ethernet and the system MVB communication network, the subsystem control device communicates with the train control and management system through both the system Ethernet and the system MVB communication network; when there is no communication anomaly in the system MVB communication network, the subsystem control device preferentially uses the system MVB communication network to send and receive data and perform logical operations and outputs. Accordingly, when there is a communication anomaly in the system communication network, determining whether there is a communication anomaly in the device intranet includes:

[0071] When there is a communication anomaly in the system MVB communication network, determine whether there is a communication anomaly in the system Ethernet; when there is no communication anomaly in the system Ethernet, the subsystem control device sends and receives data through the system Ethernet, performs logical operations and outputs; when there is a communication anomaly in the system Ethernet, determine whether there is a communication anomaly in the device intranet.

[0072] Furthermore, in the case where there is no communication anomaly in the device intranet, the subsystem controls the device to send and receive data through the device intranet and perform logical operations and outputs.

[0073] Further, in the case where there is no communication anomaly in the master-slave communication, the subsystem control device transmits and receives data through the master-slave communication method, and performs logical operations and outputs.

[0074] In the method of this embodiment, a multi-level mutually redundant communication data stream as Figure 4 shown is also planned, which is described as follows:

[0075] (1) Communication between TCMS and LCU

[0076] (1.1) MVB communication

[0077] There are the following data streams in the MVB communication data link between the CCU and the subsystem control device LCU:

[0078] Indicates the data flowing from the CCU to LCU1 and from LCU1 to the CCU;

[0079] Indicates the data flowing from the CCU to LCU2 and from LCU2 to the CCU;

[0080] (1.2) Ethernet communication

[0081] There are the following data streams in the Ethernet data link between the CCU and the subsystem device LCU:

[0082] Indicates the data flowing from the CCU to LCU1 and from LCU1 to the CCU;

[0083] Indicates the data flowing from the CCU to LCU2 and from LCU2 to the CCU;

[0084] (2) Communication between LCU and LCU

[0085] (2.1) Ethernet communication

[0086] In the Ethernet communication between LCUs, there are the following data streams:

[0087] Indicates the data flowing from LCU1-A system to LCU2-A system and from LCU2-A system to LCU1-A system;

[0088] Indicates the data flowing from LCU1-B system to LCU2-B system and from LCU2-B system to LCU1-B system;

[0089] (3) Master-slave communication

[0090] There is Ethernet data communication between the main control module and the slave control module of the LCU, and there are the following data streams:

[0091] Represents the data flowing from the master control of LCU1 to the slave control and from the slave control to the master control.

[0092] Represents the data flowing from the master control of LCU2 to the slave control and from the slave control to the master control.

[0093] The multi-level mutually redundant data stream planned in this embodiment has a high degree of redundancy.

[0094] The following introduces the composition of the data packets in this embodiment.

[0095] (1) CCU data packet

[0096] CCU sends data to the subsystem control device LCU through MVB and Ethernet communication methods and receives data from each subsystem control device.

[0097] The composition of the CCU data packet is as Figure 5 shown and is specifically described as follows:

[0098] (1.1) CCU_Tx represents the set of data packets sent by CCU;

[0099] (1.2) CCU_Rx represents the set of data packets received by CCU;

[0100] (1.3) D-CCU represents the data sent by CCU to LCU;

[0101] (1.4) MVB_CCU Tx indicates that this data packet is sent through MVB communication;

[0102] (1.5) NET_CCU Tx indicates that this data packet is sent through Ethernet communication;

[0103] (1.6) MVB_LCU Rx represents receiving LCU data through MVB communication;

[0104] (1.7) NET_LCU Rx represents receiving LCU data through Ethernet communication;

[0105] (1.8) D-L1-A represents receiving data from the LCU1-A system;

[0106] (1.9) D-L1-B represents receiving data from the LCU1-B system;

[0107] (1.10) D-L1-A represents receiving data from the LCU2-A system;

[0108] (1.11) D-L2-B represents receiving data from the LCU2-B system.

[0109] (2) LCU Data Packet

[0110] The LCU sends data to the CCU through MVB and Ethernet communication methods, and the CCU forwards the received LCU data to other LCU devices. In addition, the LCU can also send and receive data through the device internal network and master-slave communication.

[0111] Such as Figure 6 As shown, taking the data packets sent and received by the A system of LCU1 as an example, the packet composition is described.

[0112] (2.1) LCU1-A_Tx represents the set of data transmission packets of the A system of LCU1;

[0113] (2.2) LCU1-A_Rx represents the set of data reception packets of the A system of LCU1;

[0114] (2.3) internal network_LCU Tx represents the data packets sent by the LCU through the Ethernet internal network;

[0115] (2.4) master-slave_LCU Tx represents the data packets sent by the LCU through master-slave communication;

[0116] (2.5) MVB_CCU Rx represents the data packets received through MVB communication;

[0117] (2.6) NET_CCU Rx represents the data packets received through Ethernet communication.

[0118] (2.7) D-L2 represents the data of LCU2, including D-L1-A of the A system data and D-L1-B of the B system data.

[0119] Next, taking LCU1 as an example, the execution process of the redundant communication method of this embodiment is described.

[0120] (1) TCMS and LCU

[0121] (1.1) When the communication between TCMS and LCU is normal, the LCU uses the MVB communication data for logical operations, and the data flow: and

[0122] a. For the CCU, send its own data D-CCU and receive the data D-L1-A, D-L1-B, D-L2-A, D-L2-B of each LCU.

[0123] b. For the LCU, send its own data D-L1 and receive the CCU's own data D-CCU and the data D-L2 of LCU2.

[0124] (1.2) When there is a communication failure between TCMS and the LCU subsystem, Ethernet communication is used between the subsystem control devices LCU, and the data flow is: and

[0125] The content of the system Ethernet data packet is the same as that of the MVB communication data packet.

[0126] (2) LCU device

[0127] (2.1) When the communication between LCUs is normal, the data flow between LCU1-A system and LCU2-A system is The data flow between LCU1-B system and LCU2-B system is

[0128] a. For LCU1-A system, send its own data D-L1-A and the CCU data D-CCU received;

[0129] b. For LCU1-B system, send its own data D-L1-B and the CCU data D-CCU received;

[0130] (2.2) When the LCU-A system is the main control network and there is an Ethernet failure between LCU1-A and LCU2-A, LCU-A can communicate through master-slave communication and then through Ethernet communication to send and receive data, and the data flow is and

[0131] a. For LCU1-A system, send its own data D-L1-A, CCU data D-CCU and the LCU data D-L2-A of other vehicles, CCU data D-CCU received; receive the data D-L1-B, D-CCU, D-L2-B data transmitted by master-slave communication.

[0132] b. For LCU1-B system, normally send and receive internal network data.

[0133] The execution of this method realizes redundant control of multiple communication buses. For different types of faults, different bus switching logics are executed.

[0134] Example 3

[0135] At least one embodiment of the present invention provides a subsystem control device that executes the above redundant communication method.

[0136] During the redundant communication process, each subsystem control device LCU of the subway vehicle can achieve high-reliability and high-security communication effects according to the redundant communication method, seamlessly switch multiple communication buses, realize multi-level communication redundancy, and normal communication can be achieved when a single-point fault occurs at any level.

[0137] Those of ordinary skill in the art can understand that the above embodiments are specific embodiments for implementing the present invention, and in actual applications, various changes can be made to them in form and details without departing from the spirit and scope of the present invention.

Claims

1. A redundant communication system, characterized in that: Applied to a target rail vehicle, the redundant communication system comprises: Train control and management system, the train control and management system communicate with each other through the system communication network; The subsystem control device communicates with the train control and management system through the system communication network, and different subsystem control devices communicate with each other based on the system communication network and the device intranet; The subsystem control device comprises a master control module and a slave control module. The master control module and the slave control module of the same subsystem control device communicate with each other in a master-slave communication mode.

2. The redundant communication system according to claim 1, characterized in that: The main control modules and the slave control modules of different subsystem control devices communicate with each other through the system communication network and the device intranet.

3. The redundant communication system according to claim 1, characterized in that: The device intranet includes one of an intranet Ethernet and an intranet CAN communication network; the master-slave communication mode includes one of Ethernet communication, serial port communication and CAN communication.

4. The redundant communication system according to claim 1, characterized in that: The system communication network includes at least one of a system Ethernet and a system MVB communication network.

5. The redundant communication system according to claim 4, characterized in that: The system communication network includes a system Ethernet and a system MVB communication network; the subsystem control device communicates with the train control and management system through the system Ethernet and the system MVB communication network at the same time; When there is no communication anomaly in the system MVB communication network, the subsystem control device preferentially uses the system MVB communication network to send and receive data, perform logical operations and output. When there is a communication anomaly in the system MVB communication network, it uses the system Ethernet to send and receive data, perform logical operations and output. When there are anomalies in both the system MVB communication network and the system Ethernet, the subsystem control device uses the device intranet to send and receive data, perform logical operations and output. When there is an anomaly in the device intranet, the subsystem control device uses the master-slave communication mode to send and receive data, perform logical operations and output.

6. A redundant communication method, characterized in that: Based on the redundant communication system implementation described in any one of claims 1 to 5, the redundant communication method comprises: The subsystem control device sends and receives data through the system communication network, performs logical operations and outputs; If there is a communication anomaly in the system communication network, determine whether there is a communication anomaly in the device intranet; If there is a communication anomaly in the device intranet, determine whether there is a communication anomaly in the master-slave communication; In the event of a communication anomaly between the master and slave, the subsystem control device executes logic anomalies.

7. The redundant communication method according to claim 6, characterized in that: The system communication network includes the system Ethernet and the system MVB communication network; the subsystem control device communicates with the train control and management system through the system Ethernet and the system MVB communication network at the same time; when there is no communication anomaly in the system MVB communication network, the subsystem control device preferentially uses the system MVB communication network to send and receive data and perform logical operations and outputs. If there is a communication anomaly in the system communication network, determine whether there is a communication anomaly in the device intranet, including: In case of communication anomalies in the system MVB communication network, determine whether there are communication anomalies in the system Ethernet; When there is no communication anomaly in the system Ethernet, the subsystem control device sends and receives data through the system Ethernet, performs logical operations and outputs; If there is a communication anomaly in the system Ethernet, determine whether there is a communication anomaly in the device intranet.

8. The redundant communication method according to claim 6, characterized in that: Also includes: When there is no communication anomaly in the device intranet, the subsystem controls the device to send and receive data through the device intranet and perform logical operations and outputs.

9. The redundant communication method according to claim 6, characterized in that: Also includes: In the case where there is no communication anomaly in the master-slave communication, the subsystem control device sends and receives data through the master-slave communication mode and performs logical operations and outputs.

10. A subsystem control device, characterized in that: Execute the redundant communication method according to any one of claims 6 to 9.

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