A vehicle-to-ground data transmission system used for fully automated subway train data.

Abstract

This invention, in the field of railway transport, provides a type of train-to-ground data transmission system for fully automated subway vehicles, comprising: a train network control system, a gateway device, a ground server, and a central server; the train network control system is configured to receive vehicle data from on-board systems; the gateway device is configured to perform protocol conversion for vehicle data from the train network control system and transmit vehicle data to the ground server; the ground server is configured to receive vehicle data from the gateway device and send it to the central server; the central server is configured to receive vehicle data from the ground server and monitor the vehicle's operating status in real time;The train network control system and gateway equipment are designed with redundancy. The ground server monitors the signal transmission status of the gateway equipment and transmits vehicle data from the gateway equipment with normal monitoring results to the central server, thereby solving the problem of data transmission reliability in a fully automated subway control system.

Description

A vehicle-to-ground transmission system for fully autonomous subway vehicle data

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application number 2023113917361 filed with the Chinese Patent Office on October 25, 2023, entitled “A vehicle-to-ground transmission system for fully automatic driving subway vehicle data,” the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of rail transportation, and in particular to a vehicle-to-ground transmission system for fully automatic driving subway vehicle data. Background Art

[0004] As urban populations grow and urban rail transit becomes more complex, driverless urban rail transit technology is also developing. Communication technology is crucial for achieving fully automated driverless trains.

[0005] First, the train control system includes subsystems for each carriage. To achieve system control of the entire vehicle, the subsystems need to maintain good communication with the overall system. Second, compared with traditional train driving control systems, fully automatic unmanned driving control systems are more dependent on the control of the central server. Therefore, good communication between the fully automatic unmanned driving control system and the central server is the core of realizing fully automatic unmanned driving of the train.

[0006] Summary of the Invention

[0007] Based on the problems existing in the above-mentioned prior art, the present application provides a vehicle-to-ground transmission system for fully automatic driving subway vehicle data, including a train network control system, a central server, a gateway device and a ground server; the train network control system is configured to receive status and fault data of various vehicle systems; the gateway device is configured to receive data from the train network control system, the gateway device is configured to perform protocol conversion on the data from the train network control system, and the gateway device sends data to the ground server; the ground server is configured to send data to the central server and receive data from the gateway device; the central server is configured to receive data from the ground server and monitor the operating status of the vehicle in real time; the train network control system adopts a redundant design, the gateway device adopts a redundant design, the central server supervises the communication status, and the ground server sends data to the central server based on the supervision results.

[0008] In some embodiments, the train network control system includes a first communication device and a second communication device; the gateway device includes a first gateway device and a second gateway device; the first communication device and the second communication device communicate with the first gateway device and the second gateway device respectively; the central server supervises the communication status of the first gateway device and the second gateway device; the ground server sends data received from the first gateway device or sends data received from the second gateway device to the central server based on the communication status of the first gateway device and the second gateway device.

[0009] In some embodiments, if the supervision result of the communication status of the first gateway device is normal, the ground server sends the data sent by the first gateway device to the central server; if the supervision result of the communication status of the first gateway device is interrupted and the supervision result of the communication status of the second gateway device is normal, the ground server sends the data sent by the second gateway device to the central server; if the supervision results of the communication status of the first gateway device and the second gateway device are both interrupted, the ground server does not allow the data sent by the first gateway device or the second gateway device to be sent to the central server.

[0010] In some embodiments, the ground server first receives data from the first gateway device and the second gateway device, and then sends the data to the central server based on the supervision result.

[0011] In some embodiments, the ground server does not first receive the data from the first gateway device or the second gateway device, but decides to receive the data from the first gateway device or the second gateway device based on the supervision result, and then sends the data to the central server.

[0012] In some embodiments, the central server monitors the communication status of the ground server and provides the monitoring result.

[0013] In some embodiments, the central server monitors the communication status based on whether there is a change in the vital signal of the device.

[0014] In some embodiments, the gateway device communicates data with the ground service via wireless transmission equipment, and the wireless transmission equipment adopts a redundant design.

[0015] In some embodiments, the data received and sent by the train network control system adopts the MVB network protocol, the data received and sent by the central server and the ground server adopts the Ethernet protocol, and the gateway device converts the data between the MVB network protocol and the Ethernet protocol.

[0016] In some embodiments, the ground server sending data to the central server based on the supervision result further includes: the ground server selectively receiving data from the gateway device based on the supervision result and then sending the data to the central server;

[0017] In some embodiments, there are two gateway devices, and the train network control system is connected to the two gateway devices respectively; the two gateway devices are also respectively connected to the ground server; the ground server is connected to the central server;

[0018] Each of the ground servers monitors the first device status information of the two connected gateway devices respectively. If one gateway device is determined to be abnormal based on the first device status information, the vehicle data from the normal gateway device is selected and sent to the central server; if both gateway devices are determined to be normal based on the first device status information, the vehicle data from any gateway device is selected and sent to the central server.

[0019] In some embodiments, if each of the ground servers determines that both gateway devices are abnormal based on the first device status information of the two gateway devices, it determines the abnormality types of the two gateway devices respectively based on the first device status information of the two gateway devices, and determines a reference gateway device that does not affect the data based on the abnormality type, selects the vehicle data from the reference gateway device and sends it to the central server.

[0020] In some embodiments, the ground server determines whether each gateway device is abnormal and the corresponding abnormality type based on the change information of the life signal of each gateway device.

[0021] In some embodiments, there are two ground servers, and the two gateway devices are respectively connected to each ground server in communication; both ground servers are connected to the central server in communication;

[0022] Each of the central servers monitors the second device status information of the two connected ground servers respectively. If one ground server is determined to be abnormal based on the second device status information, the vehicle data from the normal ground server is selected for subsequent processing; if both ground servers are determined to be normal based on the second device status information, the vehicle data from any ground server is selected for subsequent processing.

[0023] In some embodiments, if each of the central servers determines that both ground servers are abnormal based on the second device status information of the two ground servers, it determines the abnormality types of the two ground servers respectively based on the second device status information of the two ground servers, and determines a reference ground server that does not affect the data based on the abnormality type, and selects the vehicle data from the reference ground server for subsequent processing.

[0024] In some embodiments, the central server determines whether each ground server is abnormal and the corresponding abnormality type based on the change information of the life signal of each ground server.

[0025] The beneficial effects that this application can achieve:

[0026] 1. Compared with the prior art which simply adds redundant equipment to achieve data transmission stability, this application cleverly increases the supervision of communication status, thereby improving communication efficiency and accuracy on the basis of high data transmission stability.

[0027] 2. Both the gateway device and the communication device adopt a redundant design. When one of them is interrupted, it will not affect the real-time transmission of data, thus ensuring the reliability of vehicle data transmission.

[0028] 3. The Ethernet transmission protocol meets the data's bandwidth requirements. All vehicle data can be transmitted to the center, thus ensuring high bandwidth for vehicle data transmission.

[0029] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0031] FIG1 shows a schematic diagram of the network topology of a vehicle-to-ground transmission system for fully automatic driving subway vehicle data according to the present application.

[0032] FIG2 shows a schematic diagram of the vehicle-to-ground communication topology of a vehicle-to-ground transmission system for fully automatic driving subway vehicle data according to the present application.

[0033] FIG3 shows a data flow diagram of a vehicle-to-ground transmission system for fully automatic driving subway vehicle data according to the present application.

[0034] FIG4 shows a vital signal decision mechanism of a vehicle-to-ground transmission system for fully automatic driving subway vehicle data according to the present application. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application for which protection is claimed, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work falls within the scope of protection of the present application.

[0036] The term "comprising" in the specification, claims, and drawings of this application is synonymous with "including," "containing," or "characterized by," and is inclusive or open-ended and does not exclude additional unrecited elements or method steps. "Comprising" is a technical term used in claim language to mean that the recited elements are present, but other elements may be added and still form a structure or method within the scope of the claim.

[0037] In order to more clearly understand the above-mentioned objectives, features and advantages of the present application, the present application is described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features therein can be combined with each other in the absence of conflict.

[0038] The following description sets forth many specific details to facilitate a full understanding of the present application. The embodiments described are only a portion of the embodiments of the present application, not all of the embodiments. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present application without creative effort are intended to fall within the scope of protection of the present application.

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application.

[0040] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0041] Please refer to Figures 1-3. This application provides a vehicle-to-ground transmission system for fully automatic driving subway vehicle data, including a train network control system, a central server, a gateway device and a ground server.

[0042] The train network control system (also known as the train control and monitoring system, Train Control and Management System, abbreviated as TCMS) is configured to receive status and fault data of various vehicle systems; the central server (also known as the integrated driving monitoring system server) is configured to receive data from the ground server and monitor the operating status of the vehicle in real time; the gateway device is configured to receive data from the train network control system through the vehicle communication network, such as the MVB network.

[0043] The gateway device (also known as an MVB-Ethernet Gateway, or GW) is configured to convert data from the train network control system into different protocols. The gateway device can then send data to the ground server via network transmission equipment, such as wireless transmission equipment. The wireless transmission equipment is redundant. The ground server is configured to send data to the central server and receive data from the gateway device.

[0044] The train network control system adopts a redundant design, the gateway equipment adopts a redundant design, the central server can supervise the train network control system, and the ground server can send data to the central server based on the supervision results of the ground server.

[0045] The train network control system includes a first communication device and a second communication device; the gateway device includes a first gateway device and a second gateway device; the first communication device and the second communication device communicate with the first gateway device and the second gateway device respectively.

[0046] The ground servers include a first ground server and a second ground server.

[0047] The central server monitors the communication status of the first gateway device and the second gateway device, and the ground server sends data received from the first gateway device or sends data received from the second gateway device to the central server based on the communication status of the first gateway device and the second gateway device.

[0048] Supervision results include normal communication and communication interruption.

[0049] If the monitoring result of the communication status of the first gateway device is normal, the first ground server sends the data sent by the first gateway device to the central server;

[0050] If the result of monitoring the communication status of the first gateway device is interrupted and the result of monitoring the communication status of the second gateway device is normal, the second ground server sends the data sent by the second gateway device to the central server;

[0051] If the monitoring results of the communication status of the first gateway device and the second gateway device are both interrupted, the ground server is not allowed to send the data sent by the first gateway device or the second gateway device to the central server.

[0052] The first ground server and the second ground server may first receive data from the first gateway device and the second gateway device respectively, and then send the data to the central server based on the supervision result.

[0053] In some other embodiments, referring to FIG4 , the central server monitors the communication status of the gateway device based on the train control system's vital signal. Specifically, the vital signal determination logic is as follows: for multiple consecutive program execution cycles, the received data vital signal is determined to have changed. If so, the communication status is determined to be normal; if no change occurs, the communication status is determined to be interrupted.

[0054] In some other embodiments, 8 program execution cycles may be selected in the judgment logic of the life signal.

[0055] In some other embodiments, a ground server may first receive data from the first gateway device and the second gateway device simultaneously, and then selectively send the data from the first gateway device or the data from the second gateway device to the central server based on the supervision result.

[0056] In some other embodiments, the ground server does not receive the data from the first gateway device or the second gateway device first, but decides to receive the data from the first gateway device or the second gateway device based on the monitoring result, and then sends the data to the central server.

[0057] In some other embodiments, the central server may monitor the communication status of the ground server and provide monitoring results.

[0058] In some other embodiments, the vehicle-to-ground transmission system for fully autonomous subway vehicle data also includes a vehicle-to-ground communication device (also known as LTE), which is configured to implement wireless signal transmission. Specifically, the vehicle operation and status data generated by the vehicle is transmitted to the ground server's wireless receiving device via the LTE wireless channel.

[0059] In some other embodiments, the vehicle-to-ground transmission system for fully automatic driving subway vehicle data also includes a repeater (also known as a Repeater, abbreviated as REP), which is configured to achieve network segment isolation and signal amplification. Specifically, network segment isolation is used to divide the entire train MVB control network into independent network segments, each network segment is independent, and equipment failures within a network segment will not affect other network segments. Since the signal in the MVB network can only be transmitted up to 200 meters, and a car is about 20 meters long, the MVB signal first passes back and forth on and off the car, and multiple trains connected together will exceed 200 meters, so the signal needs to be amplified.

[0060] In some other embodiments, the gateway device communicates data with the ground service via wireless transmission equipment, and the wireless transmission equipment adopts a redundant design.

[0061] In some other embodiments, the data received and sent by the train network control system adopts the MVB network protocol, and the data received and sent by the central server and the ground server adopts the Ethernet protocol. The gateway device can convert data between the MVB network protocol and the Ethernet protocol.

[0062] The present application also provides a method for a vehicle-to-ground transmission system for fully automatic driving subway vehicle data, including supervising the train network control system and selecting the data of the gateway device to exchange data with the central server based on the supervision results.

[0063] The following is a detailed description of a vehicle-to-ground transmission system for fully automatic driving subway vehicle data provided by an embodiment of the present application:

[0064] The vehicle-to-ground transmission system for the aforementioned fully autonomous subway vehicle data includes a train network control system, gateway equipment, ground servers, and a central server;

[0065] The train network control system is configured to receive vehicle data from various systems of the vehicle;

[0066] The gateway device is configured to receive vehicle data from the train network control system, perform protocol conversion on the vehicle data from the train network control system, and send the vehicle data to the ground server;

[0067] The ground server is configured to receive vehicle data from the gateway device and send the vehicle data to the central server;

[0068] The central server is configured to receive vehicle data from the ground server and monitor the operating status of the vehicle in real time;

[0069] The train network control system adopts a redundant design, the gateway device adopts a redundant design, the ground server monitors the communication status of the gateway device, and the ground server sends vehicle data from the gateway device with normal monitoring results to the central server based on the monitoring results.

[0070] In the embodiment of the present application, the above-mentioned vehicle data (referred to as data) specifically includes vehicle status data, vehicle fault data, etc. In practice, as shown in Figure 1, a subway vehicle includes multiple carriages. The vehicle data here includes vehicle data of each vehicle system, specifically including vehicle data of each subsystem of each carriage of the train. The train network control system can be understood as a host. The host obtains vehicle data of each subsystem from each train car and sends it to a gateway device via the Multifunction Vehicle Bus (MVB) protocol. After receiving the vehicle data of each subsystem, the gateway device performs protocol conversion on the vehicle data of each subsystem, that is, converts the MVB protocol to the Ethernet protocol, and uses the Ethernet protocol to send the vehicle data of each subsystem to the ground server. The ground server receives the vehicle data of each subsystem from the above-mentioned gateway device and sends the vehicle data of each subsystem to the central server. The central server receives the vehicle data of each subsystem from the ground server and monitors the operating status of the vehicle (specifically, each carriage vehicle) in real time based on the vehicle data of each subsystem.

[0071] The above-mentioned gateway device adopts a redundant design, and the ground server monitors the communication status of the gateway device. The ground server forwards the vehicle data from the reliable gateway device to the central server based on the monitoring result.

[0072] The above-mentioned gateway device adopts a redundant design, specifically: there are two gateway devices, and the train network control system is connected to the two gateway devices respectively; the two gateway devices are also respectively communicated with the ground server; the ground server is communicated with the central server; specifically, each of the ground servers monitors the first device status information of the two connected gateway devices respectively. If one gateway device is determined to be abnormal according to the first device status information, the vehicle data from the normal gateway device is selected and sent to the central server; if both gateway devices are determined to be normal according to the first device status information, the vehicle data from any gateway device is selected and sent to the central server.

[0073] If each of the ground servers determines that both gateway devices are abnormal based on the first device status information of the two gateway devices, it determines the abnormality types of the two gateway devices respectively based on the first device status information of the two gateway devices, and determines the reference gateway device that does not affect the data based on the abnormality type, selects the vehicle data from the reference gateway device and sends it to the central server; if there is no reference gateway device, generates a first prompt message and sends it to the user end.

[0074] In the embodiment of the present application, since the train network control system is an MVB bus and the central server end is in Ethernet form, the MVB network protocol on the train is converted into an Ethernet protocol for transmission through a gateway (GW) device, thereby realizing the transmission of vehicle data (that is, vehicle data of each subsystem); and the gateway device adopts a redundant structure. Even if one of them is interrupted, it will not affect the vehicle-to-ground transmission of vehicle data. The ground server sets a decision logic for judging the validity of the data, monitors the first device status information of the two gateway devices in real time, and then determines the trusted gateway device based on the monitoring results, and continues to transmit the vehicle data of the trusted gateway device.

[0075] Specifically, as shown in Figure 2, GW1 is the first gateway device (corresponding to network A), GW2 is the second gateway device (corresponding to network B), and the decision logic of the ground server and the two gateway devices is as follows:

[0076] The ground server monitors the status information of the first devices of GW1 and GW2 at the same time:

[0077] If the first device status information of GW1 is normal and the first device status information of GW2 is normal, the vehicle data of GW1 is trusted by default, and the vehicle data of GW1's A network is transmitted to the central server;

[0078] If the first device status information of GW1 is normal and the first device status information of GW2 is abnormal, the vehicle data of GW1 is trusted, and the vehicle data of the A network of GW1 is transmitted to the central server;

[0079] If the first device status information of GW1 is abnormal and the first device status information of GW2 is normal, the vehicle data of GW2 is trusted, and the B-network vehicle data of GW2 is transmitted to the central server;

[0080] If the first device status information of GW1 is abnormal and the first device status information of GW2 is abnormal, a reference GW device that does not affect the data is selected from GW1 and GW2 according to the abnormality types of GW1 and GW2. For example, if it is determined that the abnormality type of GW1 is network delay and the abnormality type of GW2 is data packaging abnormality, then it can be determined that the network delay has little impact on the data. Therefore, GW1 is selected as the reference GW device, and the vehicle data from GW1 (in this case, the vehicle data received from GW1 may be delayed than the vehicle data received from GW2) is forwarded to the central server.

[0081] If the reference GW device cannot be selected, a first prompt message is generated and sent to the user end; for example, if the abnormality type of GW1 is determined to be communication interruption, and the abnormality type of GW2 is also determined to be communication interruption, the data communication between the vehicle and the ground is interrupted, and the vehicle data from any GW cannot be received. Therefore, a first prompt message is generated and sent to the user end to remind the user that both gateway devices are abnormal.

[0082] The above-mentioned GW1 and GW2 have mutual channel redundancy. Even if one of the networks is completely interrupted, it will not affect the real-time transmission of vehicle data. Unless both communication networks are interrupted at the same time, the probability of such failure is extremely low. The AB network topology structure effectively ensures the real-time and reliability of vehicle data transmission.

[0083] In an embodiment of the present application, the ground server determines whether each gateway device is abnormal and the corresponding abnormality type based on the change information of the life signal of each gateway device. For each gateway device, if the change information of the life signal of the gateway device conforms to the normal change rules, then the gateway device is determined to be normal; if the change information of the life signal of the gateway device does not conform to the normal change rules, then the real-time status of the life signal is detected, and the abnormality type of the gateway device is determined according to the real-time status; for example, if there is no life signal, it corresponds to network interruption; if the life signal change cycle is long and follows the normal change rules (for example, the life signal is +1 every 1 second, the 1st second is 1, the 2nd second is still 1, and the 3rd second is 3), it corresponds to network delay; if the life signal change does not conform to the normal change rules (for example, the life signal is +1 every 1 second, the 1st second is 1, the 2nd second is still 10, and the 3rd second is 4), it corresponds to data packaging abnormality.

[0084] In a specific embodiment, the ground server can monitor the first device status information of the two gateway devices and receive vehicle data from the two gateway devices simultaneously or successively; it can also receive vehicle data from the trusted gateway device based on the monitoring results, but not receive vehicle data from the abnormal gateway device.

[0085] In addition, in the vehicle-to-ground transmission system for fully automatic driving subway vehicle data provided in an embodiment of the present application, the ground server also adopts a redundant design, as follows:

[0086] There are two ground servers, and two gateway devices are respectively connected to each ground server; both ground servers are connected to the central server;

[0087] Each of the central servers monitors the second device status information of the two connected ground servers respectively. If one of the ground servers is determined to be abnormal based on the second device status information, the vehicle data from the normal ground server is selected for subsequent processing; if both ground servers are determined to be normal based on the second device status information, the vehicle data from either ground server is selected for subsequent processing;

[0088] If each of the central servers determines that both ground servers are abnormal based on the second device status information of the two ground servers, it will determine the abnormality types of the two ground servers respectively based on the second device status information of the two ground servers, and determine a reference ground server that does not affect the data based on the abnormality type, and select the vehicle data from the reference ground server for subsequent processing.

[0089] As shown in Figure 2, after the central server receives the vehicle data sent by the first ground server and the second ground server, if it is determined based on the second device status information that the first ground server and the second ground server are normal, the vehicle data of the first ground server is trusted (used) by default for subsequent processing; if it is determined based on the second device status information that the first ground server is normal and the second ground server is abnormal, the first ground server is trusted and the vehicle data of the first ground server is used for subsequent processing; if it is determined based on the second device status information that the second ground server is normal and the first ground server is abnormal, the second ground server is trusted and the vehicle data of the second ground server is used for subsequent processing; if it is determined based on the second device status information that the first ground server is abnormal and the second ground server is abnormal, the abnormality type of the two ground servers is determined, and a reference ground server that does not affect the data is determined according to the abnormality type, and the vehicle data of the reference ground server is used for subsequent processing; if there is no reference ground server, a second prompt message is generated and sent to the user end to prompt the user that both reference servers are abnormal.

[0090] For example, the abnormality type of the first ground server is determined to be communication delay, and the abnormality type of the second ground server is determined to be data packaging abnormality, and the first ground server is selected as the reference ground server; then, it can be determined that the network delay has little impact on the data, and therefore, the first ground server is selected as the reference ground server, and subsequent processing is performed based on the vehicle data from the first ground server (in this case, the vehicle data received from the first ground server may be delayed than the data received from the second ground server).

[0091] If the reference ground server cannot be selected, a second prompt message is generated and sent to the user end; for example, if the abnormality type of the first ground server is determined to be communication interruption, and the abnormality type of the second ground server is also determined to be communication interruption, then the data communication between the vehicle and the ground is interrupted, and the vehicle data cannot be continued to be received from any ground server. Therefore, a second prompt message is generated and sent to the user end to remind the user that both ground servers are abnormal.

[0092] The above-mentioned first ground server and second ground server have mutual channel redundancy. Even if one of the ground servers is abnormal, it will not affect the real-time transmission of data, unless the communication networks of the two ground servers are interrupted at the same time. The probability of such failure is extremely low. The network topology structure of the first ground server and the second ground server further effectively guarantees the real-time and reliability of vehicle data transmission.

[0093] Here, the central server determines whether each ground server is abnormal and the corresponding abnormality type based on the change information of the life signal of each ground server. For each ground server, if the change information of the life signal of the ground server conforms to the normal change rules, then the ground server is determined to be normal; if the change information of the life signal of the ground server does not conform to the normal change rules, then the real-time status of the life signal is detected, and the abnormality type of the ground server is determined according to the real-time status; for example, if there is no life signal, it corresponds to network interruption; if the life signal change cycle is long and follows the normal change rules (for example, the life signal is +1 every 1 second, the 1st second is 1, the 2nd second is still 1, and the 3rd second is 3), it corresponds to network delay; if the life signal change does not conform to the normal change rules (for example, the life signal is +1 every 1 second, the 1st second is 1, the 2nd second is still 10, and the 3rd second is 4), it corresponds to data packaging abnormality.

[0094] In a specific embodiment, the central server can monitor the second device status information of the two ground servers and receive vehicle data from the two ground servers simultaneously or successively; it can also receive vehicle data from trusted ground servers based on the monitoring results, and not receive vehicle data from abnormal ground servers.

[0095] 2 , the gateway device includes a first gateway device and a second gateway device as an example, and the gateway abnormality type is communication interruption as an example for specific description:

[0096] If the monitoring result of the communication status of the first gateway device is normal, the ground server sends the vehicle data sent by the first gateway device to the central server;

[0097] If the result of monitoring the communication status of the first gateway device is interrupted and the result of monitoring the communication status of the second gateway device is normal, the ground server sends the vehicle data sent by the second gateway device to the central server;

[0098] If the monitoring results of the communication status of the first gateway device and the second gateway device are both interrupted, the ground server will not send the vehicle data sent by the first gateway device or the second gateway device to the central server.

[0099] Referring to Figure 2, the ground server monitors the communication status of both networks A and B:

[0100] If the communication between network A and network B is normal, the vehicle data of network A is trusted by default, and the vehicle data of GW1 is transmitted to the central server;

[0101] If the communication of network A is normal and the communication of network B is interrupted, the vehicle data of network A is trusted and the vehicle data of GW1 is transmitted to the central server;

[0102] If the communication of network A is interrupted and the communication of network B is normal, the vehicle data of network B is trusted and the vehicle data of GW2 is transmitted to the central server;

[0103] If the communication of network A and network B is interrupted, the data communication between the vehicle and the ground will be interrupted.

[0104] Furthermore, in a vehicle-to-ground transmission system for fully automatic driving subway vehicle data provided by an embodiment of the present application, the train network control system includes a first host and a second host; the first host is connected to multiple carriages respectively, and is also connected to two gateway devices, for obtaining vehicle data of each carriage (i.e., data of each subsystem) and sending it to the two gateway devices respectively; specifically, each carriage in the train corresponds to a repeater REP, and the first host obtains vehicle data (i.e., data of each subsystem) of each carriage through the repeater REP corresponding to each carriage.

[0105] The second host is also connected to multiple carriages and two gateway devices. When the first host is working, the second host is a backup machine, receiving the synchronization data sent by the first host and monitoring the device status of the first host. If the first host is detected to be abnormal, it will switch to the main device to obtain the subsystem data of each carriage and send it to the two gateway devices respectively.

[0106] The following is a comprehensive description of the vehicle-to-ground transmission system for fully autonomous subway vehicle data, combined with Figures 1 and 2:

[0107] (1) In-vehicle gateway equipment

[0108] As shown in Figures 1 and 2, an MVB-to-Ethernet gateway is deployed on the vehicle. It connects to the vehicle's subsystems via the MVB interface and receives status and fault data from each system (i.e., vehicle data, hereinafter referred to as data). The other end of the gateway is connected to a wireless transmission device via an Ethernet interface. The gateway converts the vehicle's MVB bus data into Ethernet protocol and transmits the vehicle data to the ground server. Vehicle information is sent to the ground server according to the IP and port numbers specified in the IP configuration table. Vehicle Gateway 1 (GW1) sends data via Network A to the port with IP address 103.24.90.8 on Ground Server 1 and to the port with IP address 103.24.90.10 on Ground Server 2. Vehicle Gateway 2 (GW2) sends data via Network B to the port with IP address 103.28.90.8 on Ground Server 1 and to the port with IP address 103.28.90.10 on Ground Server 2. This allows vehicle data to be sent to two redundant servers on the ground via Networks A and B, respectively.

[0109] (2) Topological structure

[0110] Physical layer: The gateway and LTE hardware are physically connected using standard M12 connectors and twisted-pair cables.

[0111] Data link layer: The MAC (Medium Access Control) layer is based on the IEEE 802.3 standard.

[0112] Network layer: This layer interface uses IPv4 protocol as the network layer protocol.

[0113] Transport layer: This layer interface uses UDP protocol as the transport protocol.

[0114] The vehicle gateway sends vehicle data information to ground server 1 and ground server 2 through network A and network B respectively. As shown in Figure 2, the message information sent in the redundant network is consistent.

[0115] (3) Judgment mechanism of effective information

[0116] Referring to Figure 2, the ground server monitors the communication status of both networks A and B:

[0117] If the communication of network A and network B is normal, the data of network A is believed by default, and the data of GW1 is transmitted to the center;

[0118] If the communication of network A is normal and the communication of network B is interrupted, the data of network A is believed and the data of GW1 is transmitted to the center;

[0119] If the communication of network A is interrupted and the communication of network B is normal, the data of network B is trusted and the data of GW2 is transmitted to the center;

[0120] If the communication of network A and network B is interrupted, the data communication between the vehicle and the ground will be interrupted.

[0121] Network A and Network B are mutually redundant channels. Even if one of them is completely interrupted, it will not affect the real-time transmission of data, unless both communication networks are interrupted at the same time. The probability of such failure is extremely low. The AB network topology effectively ensures the real-time and reliability of vehicle data transmission.

[0122] The vehicle-to-ground transmission system and method for transmitting data of fully automatic driving subway vehicles in this application can be actually applied to multiple electronic devices. The electronic device is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0123] The electronic device may also be any electronic product capable of human-computer interaction with a user, such as a personal computer, a tablet computer, a smart phone, a personal digital assistant (PDA), a game console, an interactive network television (IPTV), a smart wearable device, etc. The smart wearable device may be a wearable watch, wearable glasses, or other wearable devices.

[0124] The electronic device may further include a network device and / or a user device, wherein the network device includes, but is not limited to, a single network server, a server group consisting of multiple network servers, or a cloud based on cloud computing consisting of a large number of hosts or network servers.

[0125] The network where the electronic device is located includes but is not limited to the Internet, a wide area network, a metropolitan area network, a local area network, a virtual private network (VPN), etc.

[0126] The above is a detailed introduction to the embodiments of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application.

[0127] It is obvious to those skilled in the art that the present application is not limited to the details of the above-mentioned exemplary embodiments, and that the present application can be implemented in other specific forms without departing from the spirit or basic characteristics of the present application. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present application is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present application. Any figure mark attached to the claims should not be regarded as limiting the claims involved. In addition, it is obvious that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices stated in the system claim may also be implemented by one unit or device through software or hardware. The words first, second, etc. are used to indicate names and do not indicate any particular order.

[0128] At the same time, for those skilled in the art, according to the concept of this application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A vehicle-to-ground transmission system for fully automatic driving subway vehicle data, characterized in that: Including train network control system, central server, gateway equipment and ground server; The train network control system is configured to receive status and fault data of various systems of the vehicle; The gateway device is configured to receive data from the train network control system, the gateway device is configured to perform protocol conversion on the data from the train network control system, and the gateway device sends the data to the ground server; The ground server is configured to send data to the central server and receive data from the gateway device; The central server is configured to receive data from the ground server and monitor the running status of the vehicle in real time; The train network control system adopts a redundant design, the gateway device adopts a redundant design, the central server monitors the communication status, and the ground server sends data to the central server based on the monitoring result.

2. According to the vehicle-to-ground transmission system for fully automatic driving subway vehicle data as described in claim 1, it is characterized in that: The train network control system includes a first communication device and a second communication device; the gateway device includes a first gateway device and a second gateway device; the first communication device and the second communication device communicate with the first gateway device and the second gateway device respectively; The central server monitors the communication status of the first gateway device and the second gateway device; the ground server sends data received from the first gateway device or sends data received from the second gateway device to the central server based on the communication status of the first gateway device and the second gateway device.

3. According to the vehicle-to-ground transmission system for fully automatic driving subway vehicle data as described in claim 2, it is characterized in that: If the monitoring result of the communication status of the first gateway device is normal, the ground server sends the data sent by the first gateway device to the central server; If the monitoring result of the communication status of the first gateway device is interrupted and the monitoring result of the communication status of the second gateway device is If the supervision result is normal, the ground server sends the data sent by the second gateway device to the central server; If the monitoring results of the communication status of the first gateway device and the second gateway device are both interrupted, the ground server is not allowed to send the data sent by the first gateway device or the second gateway device to the central server.

4. According to the vehicle-to-ground transmission system for fully automatic driving subway vehicle data as described in claim 3, it is characterized in that: The ground server first receives data from the first gateway device and the second gateway device, and then sends the data to the central server based on the supervision result.

5. According to the vehicle-to-ground transmission system for fully automatic driving subway vehicle data as described in claim 3, it is characterized in that: The ground server does not receive the data from the first gateway device or the second gateway device first, but decides to receive the data from the first gateway device or the second gateway device based on the supervision result, and then sends the data to the central server.

6. According to the vehicle-to-ground transmission system for fully automatic driving subway vehicle data as described in claim 1, it is characterized in that: The central server monitors the communication status of the ground server and gives the monitoring result.

7. According to the vehicle-to-ground transmission system for fully automatic driving subway vehicle data as described in claim 1, it is characterized in that: The central server monitors the communication status based on whether the life signal of the device changes.

8. According to the vehicle-to-ground transmission system for fully automatic driving subway vehicle data as described in claim 1, it is characterized in that: The gateway device performs data communication with the ground service via wireless transmission equipment, and the wireless transmission equipment adopts a redundant design.

9. According to the vehicle-to-ground transmission system for fully automatic driving subway vehicle data as described in claim 1, it is characterized in that: The data received and sent by the train network control system adopts the MVB network protocol, the data received and sent by the central server and the ground server adopts the Ethernet protocol, and the gateway device converts the data between the MVB network protocol and the Ethernet protocol.

10. The vehicle-to-ground transmission system for fully automatic driving subway vehicle data according to claim 1, characterized in that: The ground server sends data to the central server based on the supervision result, further comprising: the ground server selectively receives the data of the gateway device based on the supervision result, and then sends the data to the central server.

11. The vehicle-to-ground transmission system for fully automatic driving subway vehicle data according to claim 1, characterized in that: There are two gateway devices, and the train network control system is connected to the two gateway devices respectively; the two gateway devices are also respectively connected to the ground server in communication; the ground server is connected to the central server in communication; Each of the ground servers respectively monitors the first device status information of the two connected gateway devices. If it is determined that one gateway device is abnormal based on the first device status information, the vehicle data from the normal gateway device is selected and sent to the central server; if it is determined that both gateway devices are normal based on the first device status information, the vehicle data from any gateway device is selected and sent to the central server.

12. The vehicle-to-ground transmission system for fully automatic driving subway vehicle data according to claim 11, characterized in that: If each of the ground servers determines that both gateway devices are abnormal based on the first device status information of the two gateway devices, it will respectively determine the abnormality types of the two gateway devices based on the first device status information of the two gateway devices, and determine a reference gateway device that does not affect the data based on the abnormality type, select the vehicle data from the reference gateway device and send it to the central server.

13. The vehicle-to-ground transmission system for fully automatic driving subway vehicle data according to claim 11, characterized in that: The ground server determines whether each gateway device is abnormal and the corresponding abnormal type according to the change information of the life signal of each gateway device.

14. The vehicle-to-ground transmission system for fully automatic driving subway vehicle data according to claim 11, characterized in that: There are two ground servers, and the two gateway devices are respectively connected to each ground server in communication; the two ground servers are both connected to the central server in communication; Each of the central servers respectively monitors the second device status information of the two connected ground servers. If one ground server is determined to be abnormal based on the second device status information, the vehicle data from the normal ground server is selected for subsequent processing; if both ground servers are determined to be normal based on the second device status information, the vehicle data from any ground server is selected for subsequent processing.

15. The vehicle-to-ground transmission system for fully automatic driving subway vehicle data according to claim 14, characterized in that: If each of the central servers determines that both ground servers are abnormal based on the second device status information of the two ground servers, it will respectively determine the abnormality types of the two ground servers based on the second device status information of the two ground servers, and determine a reference ground server that does not affect the data based on the abnormality type, and select the vehicle data from the reference ground server for subsequent processing.

16. The vehicle-to-ground transmission system for fully automatic driving subway vehicle data according to claim 14, characterized in that: The central server determines whether each ground server is abnormal and the corresponding abnormal type according to the change information of the life signal of each ground server.