Parallel system control method and train control equipment

Abstract

The invention discloses a parallel system control method and train control equipment, and the method comprises the steps: setting one of a first control system and a second control system as a main output system during power-on, and setting the other system as a standby output system; wherein setting of the main output system means that the working state is set to be a main state, and setting of the standby output system means that the working state is set to be a standby state; the preset information of the main output system and the preset information of the standby output system are periodically compared, and the working states of the main output system and the standby output system are controlled according to the comparison result of the preset information; the working state comprises an active state, a standby state and a downtime state. According to the scheme, the availability of the parallel system can be improved, and then the safety and reliability of train control are improved.

Description

Technical Field

[0001] This disclosure relates to, but is not limited to, the field of rail transit technology, and in particular to a parallel system control method and train control equipment. Background Art

[0002] The train control system, or train control system for short, is the core control and safety assurance system of my country's high-speed railways, playing a decisive role in train operation safety and efficiency. As a key component, the onboard equipment of the train control system needs to receive track data and train operation permits transmitted from ground equipment in real time, perform real-time calculations, and output control commands to achieve train safety protection. Therefore, the onboard equipment of the train control system must balance safety and availability, ensuring train operation safety while minimizing interference with normal operations.

[0003] Regarding the architecture of the control system for onboard equipment in train control systems, existing onboard equipment mostly adopts a 3-out-of-2 or 2x2-out-of-2 architecture. A 2x2-out-of-2 architecture refers to having two backup control systems, each with a 2x2 structure. The security of this architecture is guaranteed by the 2x2 structure, and its availability is guaranteed by the redundant two 2x2 structures. The redundancy relationships in a 2x2-out-of-2 architecture are generally categorized as cold standby, hot standby, and parallel relationships. In a cold standby configuration, one control system is in normal operating condition (working system), while the other is in non-working condition (standby system). When the working system fails, it automatically or manually switches to the standby system. While this configuration provides redundancy through switching between the two control systems, the switching process can impact the normal operation of the equipment.

[0004] In a hot standby configuration, both control systems are operational, but only the operational system can output commands. If the operational system fails, the system automatically switches to the standby system. In this configuration, because the train control system's onboard equipment generates numerous input and output commands, and the interaction with the ground is time-sensitive, and many commands require feedback signal acquisition, the standby system in a hot standby configuration often struggles to synchronize with the operational system. Consequently, the standby system frequently fails to activate properly during the switchover.

[0005] In a parallel configuration, the two control systems operate and output simultaneously. When one control system detects a fault, it actively cuts off its output, allowing the other control system to output independently. In this configuration, due to the human-machine interface (e.g., driver-related displays and operations) being output only by one control system, and the timing of information exchange with the ground, inconsistencies in the operating states of the two control systems persist. Furthermore, since both control systems in a parallel system can output commands to the vehicle, the availability of a single control system may be reduced in certain scenarios.

[0006] Therefore, existing redundant architectures still suffer from problems such as unreliable switching, synchronization difficulties, and output conflicts in the process of achieving high availability, and urgently need further optimization. Summary of the Invention

[0007] The following is an overview of the subject matter described in detail herein. This overview is not intended to limit the scope of the claims.

[0008] This disclosure provides a parallel system control method and train control equipment, which can improve the availability of parallel systems.

[0009] One embodiment of this disclosure provides a parallel system control method applied to train control equipment. The train control equipment includes a first control system and a second control system in parallel, both of which can output commands to the train. The method includes: upon power-up, setting one of the first control system and the second control system as a primary output system and the other as a backup output system; wherein setting it as a primary output system means setting its operating state to a primary state, and setting it as a backup output system means setting its operating state to a standby state; periodically comparing preset information of the primary output system and the backup output system, and controlling the operating states of the primary output system and the backup output system according to the comparison result of the preset information; the operating states include a primary state, a standby state, and a shutdown state.

[0010] An embodiment of this disclosure also provides a train control device, including: a memory and a processor; the memory is used to store a program for performing parallel system control; the processor is used to read the program for performing parallel system control and execute the parallel system control method as described in any embodiment of this disclosure.

[0011] Compared with related technologies, the parallel system control method and train control equipment provided in this disclosure determine the primary output system and the backup output system upon power-up. During subsequent operation, preset information of the primary and backup output systems is periodically compared. This allows control of the operating states of the primary and backup output systems based on the comparison results. Compared to traditional parallel system control schemes, the scheme in this disclosure determines whether the two systems are consistent based on the comparison results of preset information between the primary and backup output systems. This enables timely management of the control system state when the two control systems are inconsistent, allowing for further measures to be taken to improve the usability of the parallel system control scheme and ultimately enhance the safety and reliability of train control.

[0012] Other features and advantages of this disclosure will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the disclosure. Other advantages of this disclosure may be realized and obtained by means of the methods described in the description and the accompanying drawings. Attached Figure Description

[0013] The accompanying drawings are used to provide an understanding of the technical solutions of this disclosure and form part of the specification. They are used together with the embodiments of this disclosure to explain the technical solutions of this disclosure and do not constitute a limitation on the technical solutions of this disclosure.

[0014] Figure 1 This is a simplified flowchart of the parallel system control method according to an embodiment of the present disclosure; Figure 2 This is a schematic diagram illustrating the interaction between the main output system and the backup output system according to an embodiment of this disclosure; Figure 3a and Figure 3b This is a schematic diagram illustrating the switching of working states based on the communication state comparison results in an embodiment of this disclosure; Figure 4a and Figure 4b This is a schematic diagram illustrating the switching of working states based on the comparison results of the current mode according to an embodiment of this disclosure; Figure 5 This is a schematic diagram illustrating the switching of working states based on the comparison result of the braking output command according to an embodiment of this disclosure; Figure 6 This is a flowchart of a parallel system control method according to an embodiment of the present disclosure; Figure 7 This is a schematic diagram of a train control device according to an embodiment of the present disclosure. Detailed Implementation

[0015] This disclosure describes several embodiments, but these descriptions are exemplary and not limiting, and it will be apparent to those skilled in the art that many more embodiments and implementations are possible within the scope of the embodiments described herein. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with, or may replace, any feature or element of any other embodiment.

[0016] This disclosure includes and contemplates combinations of features and elements known to those skilled in the art. The embodiments, features, and elements disclosed in this disclosure may also be combined with any conventional features or elements to form unique inventive solutions. Any feature or element of any embodiment may also be combined with features or elements from other inventive solutions to form another unique inventive solution. Therefore, it should be understood that any feature shown and / or discussed in this disclosure may be implemented individually or in any suitable combination. Therefore, the embodiments are not limited except by the limitations imposed by the appended claims and their equivalents. Furthermore, various modifications and changes may be made within the scope of the appended claims.

[0017] Furthermore, in describing representative embodiments, the specification may have presented methods and / or processes as a specific sequence of steps. However, the method or process should not be limited to the specific order of steps described herein, to the extent that the method or process does not depend on the specific order of steps described herein. As will be understood by those skilled in the art, other sequences of steps are also possible. Therefore, the specific order of steps set forth in the specification should not be construed as a limitation of the claims. Moreover, the claims relating to the method and / or process should not be limited to the steps performed in the order written, and those skilled in the art will readily understand that these orders can be varied and still remain within the spirit and scope of the embodiments disclosed herein.

[0018] The inventors of this publication have discovered through research that: The inconsistency in the working states of the two systems (or simply "dual systems") in a parallel system is the root cause of reduced availability. Therefore, this disclosure analyzes and classifies the causes of inconsistency between the two systems, and then designs different system switching logic for different classifications. This is also the design idea of ​​the embodiments of this disclosure.

[0019] The reasons for inconsistencies between the two systems can be categorized into differences in resources, timing, processing, and data sources. Specifically: Inconsistent memory reading between the two systems: When the on-board equipment of the train control system reads the stored data before the power failure after power-on, there may be scenarios such as "one system fails to record the data before the power failure due to abnormal power failure, while the other system records the data before the power failure normally" or "one system fails to read the electronic map normally, while the other system reads the electronic map normally". This will result in inconsistencies in the initial state of the two systems after power-on.

[0020] Inconsistent driver input information: When the train control system's onboard equipment starts a task, the driver needs to input some information, such as the highest preset mode, driver number, train number, uplink and downlink carrier frequency information, etc. Since the two systems operate independently, there may be a scenario where one system has not yet entered the receiving state when the driver inputs information, ultimately leading to inconsistencies in the driver input information received by the two systems.

[0021] Inconsistent ground connection status or transmission commands: Since the communication connection between the two systems in the parallel system and the ground is an independent channel, there may be a scenario where one channel loses communication while the other channel works normally; or, due to timing transmission issues, there may be a scenario where the commands transmitted by the two channels are inconsistent, resulting in one system outputting braking while the other does not output braking.

[0022] Inconsistent connection status or transmission commands with the vehicle: Since the communication connection between the two systems in the parallel system and the vehicle is an independent channel, there may be a scenario where one channel loses communication while the other channel works normally, resulting in one system working normally while the other system outputs braking; or, due to timing transmission issues, the commands transmitted by the two channels are inconsistent, resulting in a scenario where the two system modes are inconsistent.

[0023] Inconsistent timing of dual-system turnaround switching: When performing a turnaround switching operation, one system has already processed the turnaround switching command from the other end, while the other system has not yet processed it, resulting in inconsistent modes between the two systems.

[0024] In summary, the two systems in a parallel system may exhibit inconsistencies for various reasons. Traditional parallel system control schemes only perform self-checks, shutting down the primary output system in case of failure and using the backup output system as the primary. However, if the primary output system fails, the backup system needs to be switched to become the primary. But if the backup and primary output systems are inconsistent, problems such as unreliable switching, synchronization difficulties, and output conflicts may arise, reducing the availability of the parallel system.

[0025] It should be noted that the background technology and the above content are merely examples of parallel systems with a 2x2-out-of-2 architecture to illustrate the shortcomings of similar parallel systems. The solutions of the embodiments in this disclosure are not limited to parallel systems with a 2x2-out-of-2 architecture, but can be applied to solve all parallel systems with the above-mentioned shortcomings.

[0026] Therefore, one embodiment of this disclosure provides a parallel system control method applied to train control equipment. The train control equipment includes a first control system and a second control system in parallel, both of which can output commands to the train, such as... Figure 1As shown, the following steps may be included: Step S110: Upon power-up, set one of the first control system and the second control system as the main output system and the other as the backup output system; wherein, setting as the main output system means setting the working state to the primary state, and setting as the backup output system means setting the working state to the standby state. Step S120: Periodically compare the preset information of the main output system and the backup output system, and control the working state of the main output system and the backup output system according to the comparison result of the preset information; the working state includes the main state, the backup state and the downtime state.

[0027] Among them, the main output system refers to the system that can independently control the train operation when the system is running normally, such as the system used to control human-machine interface information and vehicle interface; the backup output system refers to the system that runs synchronously with the main output system (such as receiving and processing various external information synchronously with the main output system) but does not actively output commands, and only takes over control when the main system fails, and is in a hot standby state under normal circumstances.

[0028] For example, the train control equipment can be an on-board device of a train control system.

[0029] The parallel system control method of this embodiment determines the primary output system and the backup output system upon power-up. During subsequent operation, it periodically compares preset information of the primary and backup output systems. This allows for control of the operating states of the primary and backup output systems based on the comparison results. Compared to traditional parallel system control schemes, this embodiment determines whether the two systems are consistent based on the comparison results of preset information. This enables timely management of the control system state when the two control systems are inconsistent, allowing for further measures to be taken to improve the usability of the parallel system control scheme and ultimately enhance the safety and reliability of train control.

[0030] For example, when powered on, setting one of the first control system and the second control system as the main output system and the other as the backup output system can be achieved in the following way: The main output system and the backup output system are set using preset default values ​​within the control systems. For instance, the default value of the first control system represents the value corresponding to the primary state, and the default value of the second control system represents the value corresponding to the backup state. Of course, other methods can also be used, and this disclosure does not limit this approach.

[0031] In one exemplary embodiment, the method further includes: after setting one system of the first control system and the second control system as the main output system and the other system as the backup output system, comparing whether the resource information of the main output system and the backup output system is consistent, wherein the resource information includes internal storage information and driver input information; When the internal storage information of the primary output system and the backup output system is inconsistent, the resource information of the backup output system is updated according to the resource information of the primary output system.

[0032] The parallel system control method of this embodiment compares the internal storage information and driver input information of the main output system and the backup output system as soon as they are set up. If the comparison results are inconsistent, the resource information of the backup output system is updated according to the resource information of the main output system. This ensures that the resource information of the two systems is consistent after startup, thereby avoiding the inconsistency of subsequent processing results due to the inconsistency of the resource information of the two systems and improving the availability of the system.

[0033] In one exemplary embodiment, the first control system and the second control system can be connected to a third management unit (a management unit can be added to the train control equipment) via a communication interface. In this way, the third management unit can compare preset information and resource information, and then send resource information update instructions or working status control instructions to the first control system and the second control system according to the comparison results, so that the control system updates the resource information according to the resource information update instructions, or changes the working status according to the working status control instructions.

[0034] In yet another exemplary embodiment, such as Figure 2 As shown, a communication interface may be provided between the first control system and the second control system, and the first control system and the second control system transmit preset information and resource information through the communication interface.

[0035] For example, there may be one or more communication interfaces; where conditions permit, different information may be transmitted through the same interface or through different interfaces. This disclosure does not impose any limitations in this regard.

[0036] The parallel system control method of this embodiment sets up a communication interface between the first control system and the second control system, so that the first control system and the second control system can transmit preset information and resource information through the communication interface, thereby realizing the updating of resource information and the comparison of preset information between the two control systems.

[0037] It should be noted that the parallel system control method in this embodiment directly establishes a communication interface between the first control system and the second control system. Each of the first and second control systems compares the information received from the other control system, thereby managing its own operating status. In this way, without adding a third-party manager (such as the third-party management unit in the previous embodiment), the operating status can be managed through the existing control system itself, avoiding the potential risks caused by the failure of a third-party manager and improving reliability and safety.

[0038] In one exemplary embodiment, the preset information includes one or more of the following: communication status with ground equipment, communication status with the vehicle, current mode, and braking output command.

[0039] For example, the preset information is set according to different operating scenarios, including national railway systems, urban rail transit systems, and local railway systems. These scenarios can be added or deleted according to actual needs, and this disclosure does not impose any restrictions on this.

[0040] For example, the modes include a full monitoring mode and a partial monitoring mode, with different modes having different levels. The two modes described above are merely examples, and the modes in this disclosure are not limited to these two.

[0041] The parallel system control method of this embodiment compares and processes the inconsistencies between the two systems caused by inconsistencies in communication status with ground equipment, communication status with the vehicle, current mode, and braking output commands, thus avoiding the problem of low availability of the parallel system due to the aforementioned inconsistencies.

[0042] In one example of this embodiment, when the preset information includes the communication status with ground equipment, the periodic comparison of the preset information of the main output system and the backup output system, and the control of the operating status of the main output system and the backup output system based on the comparison result of the preset information, may include: Periodically compare the communication status between the main output system and the backup output system and the ground equipment; When the communication status between the backup output system and the ground equipment is abnormal, and the communication status between the main output system and the ground equipment is normal, the operating status of the control system corresponding to the backup output system is set to a shutdown state. When the communication status between the main output system and the ground equipment is abnormal, and the communication status between the backup output system and the ground equipment is normal, the operating status of the control system corresponding to the main output system is set to the down state, and the operating status of the control system corresponding to the backup output system is set to the main state.

[0043] When a communication interface is provided between the first control system and the second control system, the schematic diagram of this example can be referred to. Figure 3a and Figure 3b .

[0044] For example, a first timer can be set to monitor the communication status between the two systems and the ground equipment. If the first timer expires and the latest messages received by the two systems are inconsistent—for example, the message from the first control system has been updated, but the message from the second control system has not—it indicates that the communication between the second control system and the ground equipment is abnormal. If the first timer expires and the latest messages received by the two systems are consistent, it indicates that the communication between the two systems and the ground equipment is normal, and the timer is restarted.

[0045] It should be noted that after setting the operating state of a control system to a downtime state, the train control equipment can perform corresponding operations based on the cause of the downtime. For example, if the downtime is caused by information inconsistency, the control system can be restarted, and then synchronized (synchronizing the information of the currently running main output system). Once its data is consistent with the data of the main output system, it can be used as the backup output system again.

[0046] Compared to traditional parallel system control schemes that only monitor their own system without recognizing that communication anomalies between the control system and other devices can lead to safety issues, the parallel system control method in this embodiment determines whether the communication status between the two systems and the ground equipment is abnormal by comparing whether the communication status is consistent. Therefore, when the communication status between the primary output system and the ground equipment is abnormal, the backup output system is switched to the primary output system, avoiding potential safety problems caused by the failure to switch over due to communication anomalies between the primary output system and the ground equipment.

[0047] In one example of this embodiment, when the preset information includes the communication status with the vehicle, the step of periodically comparing the preset information of the main output system and the backup output system, and controlling the operating status of the main output system and the backup output system according to the comparison result of the preset information, includes: Periodically compare the communication status between the main output system and the backup output system and the vehicle; When the communication status between the backup output system and the vehicle is abnormal, and the communication status between the main output system and the vehicle is normal, the operating status of the control system corresponding to the backup output system is set to a shutdown state. When the communication status between the main output system and the vehicle is abnormal, and the communication status between the backup output system and the vehicle is normal, the operating status of the control system corresponding to the main output system is set to the down state, and the operating status of the control system corresponding to the backup output system is set to the main state.

[0048] When a communication interface is provided between the first control system and the second control system, the schematic diagram of this example can be referred to. Figure 3a and Figure 3b .

[0049] For example, a second timer can be set to monitor the normal communication status between the two systems and the vehicle. The monitoring process is similar to the previous embodiment and will not be described again.

[0050] The parallel system control method of this embodiment determines whether the communication status between the two systems and the vehicle is abnormal by comparing whether the communication status between the two systems and the vehicle is consistent. In this way, when the communication status between the main output system and the vehicle is abnormal, the backup output system is converted into the main output system, thus avoiding the safety problems that may be caused by the failure to switch due to the communication status between the main output system and the vehicle.

[0051] In one example of this embodiment, when the preset information includes the current mode, the step of periodically comparing the preset information of the main output system and the backup output system, and controlling the operating state of the main output system and the backup output system according to the comparison result of the preset information, includes: The main output system and the backup output system are periodically compared to each other. The modes include full monitoring mode and partial monitoring mode, and the levels of different modes are different. When the levels of the modes of the main output system and the backup output system are inconsistent and the level of the mode of the main output system is higher than the level of the mode of the backup output system, the working state of the control system corresponding to the backup output system is set to a shutdown state. When the levels of the modes of the main output system and the backup output system are inconsistent and the level of the mode of the backup output system is higher than the level of the mode of the main output system, the working state of the control system corresponding to the main output system is set to the down state, and the working state of the control system corresponding to the backup output system is set to the main state.

[0052] When a communication interface is provided between the first control system and the second control system, the schematic diagram of this example can be referred to as follows: Figure 4a and Figure 4b .

[0053] The parallel system control method in this embodiment periodically compares the modes of the two systems and selects the control system with the higher mode level as the main output system, thus avoiding availability and safety issues caused by the inconsistency of the modes of the two systems.

[0054] In one example of this embodiment, when the preset information includes a braking output command, the step of periodically comparing the preset information of the main output system and the backup output system, and controlling the operating state of the main output system and the backup output system according to the comparison result of the preset information, includes: Periodically compare the braking output commands of the main output system and the backup output system. When the braking output commands of the backup output system and the main output system are inconsistent, the operating state of the control system corresponding to the backup output system is set to a shutdown state.

[0055] When a communication interface is provided between the first control system and the second control system, the schematic diagram of this example can be referred to as follows: Figure 5 .

[0056] The parallel system control method of this embodiment periodically compares the braking output commands of the two systems. When the braking output commands of the backup output system and the main output system are inconsistent, the operating state of the control system corresponding to the backup output system is set to a shutdown state. This avoids the situation where the inconsistency between the backup output system and the main output system goes undetected (i.e., the backup output system remains unavailable without being detected), which would prevent the backup output system from being switched to the main output system when the main output system malfunctions, or cause safety issues by switching the malfunctioning backup output system to the main output system. Through this embodiment, after setting the operating state of the control system corresponding to the backup output system to a shutdown state, the control system can be restarted. After restarting, the information of the control system is updated according to the information of the main output system. When it is determined that the information of the control system is consistent with that of the main output system and that it is operating normally, the control system can be used as a backup control system again, thereby improving availability and safety.

[0057] In one exemplary embodiment, the train control device adopts a two-out-of-two architecture.

[0058] In summary, the parallel system control method of this embodiment, based on the two-out-of-two architecture parallel relationship, adds dual-system synchronization of key information such as internally stored information and driver input information during the startup phase, adds downtime handling for unavailable systems during operation, and can add or delete preset information for dual-system comparison according to different operating scenarios. This scheme can greatly improve the availability of the safety computer in the two-out-of-two architecture of the parallel system, and enhance the reliability and safety of train control.

[0059] The following is a specific example of a parallel system control method according to an embodiment of this disclosure, applied to a train control device. The train control device adopts a two-out-of-two architecture, including a first control system and a second control system in parallel, both of which can output commands to the train. Figure 6 As shown, it may include the following steps: Step S610: When powered on, set one of the first control system and the second control system as the main output system and the other system as the backup output system.

[0060] Step S620: Compare whether the resource information of the main output system and the backup output system are consistent. The resource information includes internal storage information and driver input information. If the internal storage information of the main output system and the backup output system are inconsistent, update the resource information of the backup output system according to the resource information of the main output system.

[0061] Step S630: Through the communication interface set between the first control system and the second control system, periodically compare the preset information of the main output system and the backup output system, and control the working state of the main output system and the backup output system according to the comparison result of the preset information; the preset information includes one or more of the following: communication status with ground equipment, communication status with vehicle, current mode and braking output command; the working state includes primary state, standby state and shutdown state.

[0062] For example, step S630 may include the following steps S631-S634, in which steps S631-S634 are not in any particular order.

[0063] Step S631: Periodically compare the communication status between the main output system and the backup output system and the ground equipment; when the communication status between the backup output system and the ground equipment is abnormal and the communication status between the main output system and the ground equipment is normal, set the working status of the control system corresponding to the backup output system to the downtime state; when the communication status between the main output system and the ground equipment is abnormal and the communication status between the backup output system and the ground equipment is normal, set the working status of the control system corresponding to the main output system to the downtime state and set the working status of the control system corresponding to the backup output system to the primary state.

[0064] Step S632: Periodically compare the communication status between the main output system and the backup output system and the vehicle; when the communication status between the backup output system and the vehicle is abnormal and the communication status between the main output system and the vehicle is normal, set the working status of the control system corresponding to the backup output system to a crash state; when the communication status between the main output system and the vehicle is abnormal and the communication status between the backup output system and the vehicle is normal, set the working status of the control system corresponding to the main output system to a crash state and set the working status of the control system corresponding to the backup output system to a primary state.

[0065] Step S633: Periodically compare the modes of the main output system and the backup output system. The modes include a full monitoring mode and a partial monitoring mode, with different levels for each mode. When the levels of the modes of the main output system and the backup output system are inconsistent and the level of the mode of the main output system is higher than that of the mode of the backup output system, set the operating state of the control system corresponding to the backup output system to a shutdown state. When the levels of the modes of the main output system and the backup output system are inconsistent and the level of the mode of the backup output system is higher than that of the main output system, set the operating state of the control system corresponding to the main output system to a shutdown state and set the operating state of the control system corresponding to the backup output system to a primary state.

[0066] Step S634: Periodically compare the braking output commands of the main output system and the backup output system; when the braking output commands of the main output system and the backup output system are inconsistent, set the working state of the control system corresponding to the backup output system to a shutdown state.

[0067] The parallel system control method of this embodiment can, on the basis of the two-out-of-two architecture parallel relationship, add the synchronization of key information such as resource information of the two systems during the startup phase (after the main output system and the backup output system are set up), and periodically compare preset information such as the communication status of the main output system and the backup output system with ground equipment, the communication status with the vehicle, the mode and braking output commands during operation. This greatly improves the availability of the safety computer of the two-out-of-two architecture of the parallel system and improves the reliability and safety of train control.

[0068] One embodiment of this disclosure also provides a train control device, such as... Figure 7 As shown, it includes: memory and processor; The memory is used to store programs for parallel system control; The processor is configured to read the program for parallel system control and execute the parallel system control method as described in any embodiment of this disclosure.

[0069] It will be understood by those skilled in the art that all or some of the steps, systems, or apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term "computer storage medium" includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0070] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0071] Although embodiments of the present disclosure have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A parallel system control method, characterized in that, The method is applied to train control equipment, which includes a first control system and a second control system in parallel, both of which can output commands to the train. Upon power-up, one of the first control system and the second control system is set as the main output system, and the other system is set as the backup output system; wherein, setting as the main output system means setting the working state to the primary state, and setting as the backup output system means setting the working state to the standby state. The system periodically compares preset information of the main output system and the backup output system, and controls the working state of the main output system and the backup output system according to the comparison result of the preset information; the working state includes main state, standby state and down state.

2. The parallel system control method according to claim 1, characterized in that, The method further includes: After setting one of the first control system and the second control system as the main output system and the other as the backup output system, the resource information of the main output system and the backup output system is compared to see if they are consistent. The resource information includes internal storage information and driver input information. When the internal storage information of the primary output system and the backup output system is inconsistent, the resource information of the backup output system is updated according to the resource information of the primary output system.

3. The parallel system control method according to claim 2, characterized in that, The preset information includes one or more of the following: communication status with ground equipment, communication status with the vehicle, current mode, and braking output command; The preset information is set according to different operating scenarios, including national railway systems, urban rail transit systems, and local railway systems; the modes include full monitoring mode and partial monitoring mode, and different modes have different levels.

4. The parallel system control method according to claim 3, characterized in that, When the preset information includes the communication status with ground equipment, the periodic comparison of the preset information of the main output system and the backup output system, and the control of the operating status of the main output system and the backup output system based on the comparison result of the preset information, includes: Periodically compare the communication status between the main output system and the backup output system and the ground equipment; When the communication status between the backup output system and the ground equipment is abnormal, and the communication status between the main output system and the ground equipment is normal, the operating status of the control system corresponding to the backup output system is set to a shutdown state. When the communication status between the main output system and the ground equipment is abnormal, and the communication status between the backup output system and the ground equipment is normal, the operating status of the control system corresponding to the main output system is set to the down state, and the operating status of the control system corresponding to the backup output system is set to the main state.

5. The parallel system control method according to claim 3, characterized in that, When the preset information includes the communication status with the vehicle, the periodic comparison of the preset information of the main output system and the backup output system, and the control of the operating status of the main output system and the backup output system based on the comparison result of the preset information, includes: Periodically compare the communication status between the main output system and the backup output system and the vehicle; When the communication status between the backup output system and the vehicle is abnormal, and the communication status between the main output system and the vehicle is normal, the operating status of the control system corresponding to the backup output system is set to a shutdown state. When the communication status between the main output system and the vehicle is abnormal, and the communication status between the backup output system and the vehicle is normal, the operating status of the control system corresponding to the main output system is set to the down state, and the operating status of the control system corresponding to the backup output system is set to the main state.

6. The parallel system control method according to claim 3, characterized in that, When the preset information includes the current mode, the step of periodically comparing the preset information of the main output system and the backup output system, and controlling the operating state of the main output system and the backup output system according to the comparison result of the preset information, includes: Periodically compare the modes of the main output system and the backup output system. When the levels of the modes of the main output system and the backup output system are inconsistent and the level of the mode of the main output system is higher than the level of the mode of the backup output system, the working state of the control system corresponding to the backup output system is set to a shutdown state. When the levels of the modes of the main output system and the backup output system are inconsistent and the level of the mode of the backup output system is higher than the level of the mode of the main output system, the working state of the control system corresponding to the main output system is set to the down state, and the working state of the control system corresponding to the backup output system is set to the main state.

7. The parallel system control method according to claim 3, characterized in that, When the preset information includes a braking output command, the step of periodically comparing the preset information of the main output system and the backup output system, and controlling the operating state of the main output system and the backup output system according to the comparison result of the preset information, includes: Periodically compare the braking output commands of the main output system and the backup output system. When the braking output commands of the backup output system and the main output system are inconsistent, the operating state of the control system corresponding to the backup output system is set to a shutdown state.

8. The parallel system control method according to claim 2, characterized in that, A communication interface is provided between the first control system and the second control system, and the first control system and the second control system transmit the preset information and the resource information through the communication interface.

9. The parallel system control method according to claim 1, characterized in that, The train control equipment adopts a two-out-of-two architecture.

10. A train control device, comprising: The memory and processor are characterized by: The memory is used to store programs for parallel system control; The processor is configured to read the program for parallel system control and execute the parallel system control method as described in any one of claims 1 to 9.

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