CN110474943B

CN110474943B - Vehicle network redundancy system and gateway switching method based on MVB and Ethernet

Info

Publication number: CN110474943B
Application number: CN201810442263.6A
Authority: CN
Inventors: 袁璐; 黄赫; 江帆; 江伟波; 宾川; 黄利辉; 郭亮; 刘平正; 邹小波
Original assignee: Zhuzhou CRRC Times Electric Co Ltd
Current assignee: Zhuzhou CRRC Times Electric Co Ltd
Priority date: 2018-05-10
Filing date: 2018-05-10
Publication date: 2022-01-21
Anticipated expiration: 2038-05-10
Also published as: CN110474943A

Abstract

The invention discloses a vehicle network redundancy system and a gateway switching method based on MVB and Ethernet, wherein the system comprises: the vehicle-level network has a network topology structure of a dual-network redundant network which adopts a multifunctional vehicle bus MVB and Ethernet redundant configuration; the central control unit comprises at least two Ethernet gateway modules, is connected with the train level network and the vehicle level network, and ensures that gateway main equipment participating in dual-network communication in the dual-network redundant network is the same equipment by combining setting strategies of main/slave equipment in MVB and Ethernet according to the network communication quality and state of the MVB and the Ethernet; a plurality of vehicle-level terminal devices connected to the vehicle-level network through a communication interface of an MVB and/or an Ethernet. The redundancy of the vehicle network can be improved, and the reliability and the availability of the network control system are improved.

Description

Vehicle network redundancy system and gateway switching method based on MVB and Ethernet

Technical Field

The invention relates to the technical field of electric locomotive control, in particular to a vehicle network redundancy system based on MVB and Ethernet and a master/slave setting method in a gateway redundancy switching process.

Background

At present, a main stream vehicle-mounted network control system of an alternating current transmission locomotive generally adopts a single train communication network TCN secondary bus type network, namely, a twisted wire train bus WTB is adopted at a train level, a multifunctional vehicle bus MVB is adopted at a vehicle level, and a redundancy (master/slave) configuration structure is adopted at a central control unit CCU. When the CCU works normally, only the CCU master device transmits and receives data, and the CCU slave device only receives the data and does not transmit the data. When the communication of the MVB network is interrupted or the MVB master/slave setting has a problem, the train can not run.

The prior art does not have a solution to the problems, and therefore, in order to solve the problems, improve the redundancy of the vehicle network, and improve the reliability and the availability of the network control system, a new vehicle-mounted network control mechanism of the transmission locomotive needs to be provided.

Disclosure of Invention

One of the technical problems to be solved by the present invention is to provide a vehicle network redundancy system and a gateway switching method thereof, which can improve the redundancy of a vehicle network and the reliability and availability of a network control system and are applied to a vehicle-mounted network of a transmission locomotive.

In order to solve the above technical problem, an embodiment of the present application first provides a vehicle network redundancy system based on MVB and ethernet, where the system includes: the vehicle-level network has a network topology structure of a dual-network redundant network which adopts a multifunctional vehicle bus MVB and Ethernet redundant configuration; the central control unit comprises at least two Ethernet gateway modules, is connected with the train level network and the vehicle level network, and ensures that gateway main equipment participating in dual-network communication in the dual-network redundant network is the same equipment by combining setting strategies of main/slave equipment in MVB and Ethernet according to the network communication quality and state of the MVB and the Ethernet; a plurality of vehicle-level terminal devices connected to the vehicle-level network through a communication interface of an MVB and/or an Ethernet.

Preferably, when the central control unit includes two ethernet gateway modules, the central control unit further performs the following steps: performing initial setting of MVB master equipment according to a set strategy of the MVB master/slave equipment; detecting a preset priority network, if the priority network is the Ethernet, finishing the setting of the gateway main equipment of the Ethernet according to the setting strategy of the main/slave equipment in the Ethernet, and carrying out secondary setting of MVB main/slave equipment to ensure that the MVB main equipment is consistent with the gateway main equipment of the Ethernet; respectively judging the Ethernet communication condition of each terminal device, and only sending Ethernet data if the Ethernet communication of the terminal device is normal; and if the Ethernet communication of the terminal equipment fails, only transmitting the MVB data.

Preferably, the central control unit further performs the steps of: when the preset priority network is detected to be the MVB, whether the MVB is abnormal is detected, if not, the gateway main equipment of the Ethernet is set according to the MVB main equipment which is initially set, so that the MVB main equipment is consistent with the gateway main equipment of the Ethernet; respectively judging the MVB communication status of each terminal device, and if the MVB communication of the terminal device is normal, only transmitting MVB data; and if the MVB communication of the terminal equipment fails, only transmitting the Ethernet data.

Preferably, the central control unit further performs the steps of: when the preset priority network is detected to be the MVB and the MVB is abnormal, resetting of the Ethernet main equipment is completed according to the setting strategy of the main/slave equipment in the Ethernet network, only Ethernet data is sent, and when the MVB is detected to be normal and kept for a period of time, the preset priority network is re-detected.

Preferably, the MVB abnormal condition includes at least one of the following conditions: switching the master/slave equipment of the MVB back and forth within a set time; A/B lines of the MVB read from the device status word by the MVB are BAD; and discovering the identification exception of the MVB master/slave equipment through the Ethernet communication port.

Preferably, the policy setting of the MVB master/slave device includes taking the ethernet gateway module powered up first as the master device according to the power-up sequence of the ethernet gateway module; the setting strategy of the master/slave equipment in the Ethernet network comprises the steps of comparing the size of attribute identification information of Ethernet gateway modules which are mutually transmitted through Ethernet ports, and taking the Ethernet gateway module with a small value as the gateway master equipment.

According to another aspect of the embodiments of the present invention, there is also provided a gateway switching method for a vehicle network redundancy system based on MVB and ethernet, where the system is any one of the above systems, the method including: respectively configuring an MVB communication port, an Ethernet communication port and an attribute identifier for each Ethernet gateway module of the central control unit; and finishing the networking of the MVB and the Ethernet, and ensuring that the gateway main equipment participating in the dual-network communication in the dual-network redundant network is the same equipment by combining the setting strategies of the MVB and the main/slave equipment in the Ethernet according to the configuration of each Ethernet gateway module and the network communication quality and state of the MVB and the Ethernet.

Preferably, when the central control unit comprises two ethernet gateway modules, the method comprises the steps of: performing initial setting of MVB master equipment according to a set strategy of the MVB master/slave equipment; detecting a preset priority network, if the priority network is the Ethernet, finishing the setting of the gateway main equipment of the Ethernet according to the setting strategy of the main/slave equipment in the Ethernet, and carrying out secondary setting of MVB main/slave equipment to ensure that the MVB main equipment is consistent with the gateway main equipment of the Ethernet; respectively judging the Ethernet communication condition of each terminal device, and only sending Ethernet data if the Ethernet communication of the terminal device is normal; and if the Ethernet communication of the terminal equipment fails, only transmitting the MVB data.

Preferably, the method further comprises the steps of: when the preset priority network is detected to be the MVB, whether the MVB is abnormal is detected, if not, the gateway main equipment of the Ethernet is set according to the MVB main equipment which is initially set, so that the MVB main equipment is consistent with the gateway main equipment of the Ethernet; respectively judging the MVB communication status of each terminal device, and if the MVB communication of the terminal device is normal, only transmitting MVB data; and if the MVB communication of the terminal equipment fails, only transmitting the Ethernet data.

Preferably, the method further comprises the steps of: when the preset priority network is detected to be the MVB and the MVB is abnormal, resetting of the Ethernet main equipment is completed according to the setting strategy of the main/slave equipment in the Ethernet network, only Ethernet data is sent, and when the MVB is detected to be normal and kept for a period of time, the preset priority network is re-detected.

Compared with the prior art, one or more embodiments in the above scheme can have the following advantages or beneficial effects:

in order to improve the redundancy of the vehicle network and the reliability and the availability of the network control system, the vehicle network of the embodiment of the invention adopts a redundant network of MVB and real-time Ethernet hot standby redundancy. Because the MVB network is a bus network and a communication source port in the network is unique, the gateway device configured redundantly can only transmit data by the main gateway device at any time. The ethernet is a point-to-point network, the network devices have equal positions, and both the main gateway and the slave gateway devices which are configured redundantly can transmit data. In order to reduce the load of the communication network and to ensure the communication quality, in the ethernet network, the redundantly configured gateway can only be involved in communication with other terminal devices in the network by the main gateway device. Due to the difference between the determination policy of the gateway master device of the ethernet and the determination policy of the gateway master device in the MVB network in the networking process, the gateway master device participating in dual-network communication in the dual-network redundant network is not the same device, that is, in the MVB network, the gateway master device is EGWM1, and in the ethernet network, the gateway master device is EGWM 2.

In order to ensure the uniqueness of control data in a communication network, the embodiment of the invention also provides a gateway switching method related to the vehicle network redundancy system, which can comprehensively consider the setting strategies of the master/slave devices in the MVB and the Ethernet network according to the network communication quality and state of the MVB and the Ethernet, and ensure that the master devices of the gateways participating in the dual-network communication in the dual-network redundancy network are the same device.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure and/or process particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

The accompanying drawings are included to provide a further understanding of the technology or prior art of the present application and are incorporated in and constitute a part of this specification. The drawings expressing the embodiments of the present application are used for explaining the technical solutions of the present application, and should not be construed as limiting the technical solutions of the present application.

Fig. 1 is a schematic diagram of a vehicle network redundancy system based on MVB and ethernet for a train of a motor train unit according to an embodiment of the present application.

Fig. 2 is a schematic specific flowchart of a gateway switching method of a vehicle network redundancy system based on MVB and ethernet according to an embodiment of the present application.

Detailed Description

The following detailed description of the embodiments of the present invention will be provided with reference to the accompanying drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the corresponding technical effects can be fully understood and implemented. The embodiments and the features of the embodiments can be combined without conflict, and the technical solutions formed are all within the scope of the present invention.

Additionally, the steps illustrated in the flow charts of the figures may be performed in a computer system such as a set of computer-executable instructions. Also, while a logical order is shown in the flow diagrams, in some cases, the steps shown or described may be performed in an order different than here.

For a better understanding of the embodiments of the present invention, some terms involved in the present invention will be described first.

A Train Communication Network (TCN) is a high-performance integrated system that transmits information such as Train control, status detection, fault diagnosis, and passenger service.

A Central Control Unit (CCU) is a very important device in a locomotive communication network, and plays a role in general scheduling in train communication.

A twisted Wire Train Bus (WTB) is a serial Train-level data communication Bus, and is mainly used for trains whose composition is changed frequently in daily operations.

A Multifunction Vehicle Bus (MVB) is part of a train communication network TCN, which is formed by a WTB + MVB. The MVB is a serial data communication bus used primarily between interconnected devices requiring interoperability and interchangeability, which connects standard devices located in the same vehicle, or in different vehicles, to train communications. The fixed transmission rate is 1.5 Mbit/s.

The vehicle network redundancy system of the embodiment can be applied to a power-concentrated motor train unit with the speed per hour of 160km/h, and it should be noted that the vehicle network redundancy system is only an example, and the application of the invention is not limited. In the vehicle network redundancy system, a power centralized motor train unit vehicle-level network adopts a network topology structure of MVB and real-time Ethernet hot standby redundancy, and a CCU unit is born by an MVB 5-class device Ethernet gateway EGWM module (at least comprising two EGWM modules) and executes functions of vehicle-level bus management, process data communication and the like. Besides, the CCU unit is connected with the train level network and the vehicle level network, and ensures that gateway main equipment participating in dual-network communication in the dual-network redundant network is the same equipment by combining setting strategies of main/slave equipment in the MVB and the Ethernet according to the network communication quality and state of the MVB and the Ethernet. The EGWM device has an MVB and real-time Ethernet communication interface, and the control devices of the vehicle-level subsystems are directly connected to a vehicle bus (vehicle-level network) through the MVB and/or the Ethernet communication interface.

Fig. 1 is a schematic diagram of a vehicle-mounted network control system based on MVB and ethernet applied to a train of a motor train unit according to an embodiment of the present application. As shown in fig. 1, the train level uses WTB bus (red line in fig. 1) to run through the whole train, which has dynamic marshalling capability, and the train level bus has AB channel redundancy function. The vehicle level adopts a network topology structure of MVB (EMD) bus (blue line in figure 1) and Ethernet (green line in figure 1), and control equipment of each subsystem in the vehicle level is directly connected to the vehicle bus through an MVB and Ethernet communication interface.

In the topology of fig. 1, the TCU1, TCU2, TCU3, TCU4, ACU1, ACU2, LGM, DDU have dual network ports and MVB interfaces; the LGU is provided with double network ports; the IOM is a chassis structure, is provided with an MVB communication interface and a single Ethernet interface, and adopts a fully redundant backup design of input and output signals; the BCU unit is provided with an MVB interface, and an Ethernet interface is reserved; the Lon gateway has an MVB and ethernet interface, and the EDRM has an ethernet and MVB interface, which is easy to understand that the network configuration of the terminal device may be modified according to the actual situation, and the present invention is not limited to this.

In the system, bus management, process control and data communication functions of a train level and a vehicle level are executed by the EGWM module, a double-activation working mode is adopted, for example, two EGWM modules (EGWM1 and EGWM2) are included in the system in fig. 1, and when one EGWM module fails, the normal operation of the motor train unit is not influenced.

As the motor train unit needs to realize WTB remote communication, a WTB cable detection device (CTM) is added in the CCU unit, the device is triggered to detect, is provided with an Ethernet communication interface and is used for detecting cable disconnection, cable short circuit and the like, the detection can be triggered and started through a button switch or a DDU screen, the fault positioning precision is less than 1 meter, and the response time is less than 2S. And 4, the vehicle level adopts a 16-port ECNN switch ring network to realize communication link redundancy.

In this example, the dual-network hot standby redundancy may be divided into a redundant network with MVB priority and a redundant network with ethernet priority, and there are different setting modes of the CCU master/slave device according to different redundancy modes. The MVB master/slave equipment is initially set according to the power-on sequence of the two pieces of equipment, and the equipment powered on first is ensured to be the master equipment; the initial setting strategy of the Ethernet master/slave equipment is to compare the sizes of two attribute identification (CarID numerical value) information, and the smaller numerical value is the master equipment.

The following describes how to implement the flow of the master/slave setting method in the gateway redundancy switching process with reference to fig. 1 and fig. 2.

In step S210, a dedicated MVB communication port and an ethernet communication port are respectively configured for the two EGWM modules, and different attribute identifiers, such as a card id address, are configured, so that the two configured EGWN modules can perform mutual card id address transmission with the MVB port through the ethernet port.

The card id address is used to label the attributes of two EGWM modules that are redundant to each other, for example EGWM1 is labeled 1 and EGWM2 is labeled 2, to adapt to ethernet communication of devices, which functions like an IP address.

In step S220, after the control system is powered on, networking between the MVB and the ethernet is completed, and the MVB initial master/slave setting is completed according to the MVB configuration of each EGWM module and the initial setting policy of the MVB master/slave device, that is, the power-on sequence of the EGWM modules.

First, in the MVB profile of EGWM1, EGWM1 was set as the MVB master and EGWM2 was set as the standby master. In the MVB profile of EGWM2, EGWM2 was set as the MVB master and EGWM1 was set as the standby master.

And then, at the initial power-on moment, assigning an initial delay starting time to the two EGWM modules by adopting a random factor. If EGWM1 was first powered up, EGWM1 is set as the MVB bus master and EGWM2 is set as the MVB bus slave, according to the MVB profile of EGWM 1. If EGWM2 is powered on first, because the set bus default main device EGWM1 is not powered on at the moment, EGWM2 will automatically take over EGWM1 to become an MVB bus main device, after EGWM1 is powered on, the MVB main device is detected to exist in the bus, the MVB standby main device is automatically configured, and the state of EGWM1 which becomes the MVB main device is monitored in real time.

In step S230, the EGWM module, which is the MVB primary master in step S220, detects a pre-established priority redundant network.

If it is detected that the external application sets MVB as a priority redundant network, step S240 is performed, and if it is detected that the external application sets ethernet priority, step S270 is performed. The external application may be a selection key for setting MVB priority and ethernet priority for the display terminal.

In step S240, whether an abnormality occurs in the MVB is detected.

If the MVB abnormal condition is not detected, setting an Ethernet main device identifier according to the current MVB initial main device identifier, and jumping to the step S250, and if the MVB abnormal condition is detected, jumping to the step S260. The master identity is used to inform the EGWM currently in the network as the master, which EGWM is currently in the network as the master.

The Ethernet main equipment identifier is set according to the current MVB initial main equipment identifier, so that the MVB main equipment and the Ethernet main equipment are ensured to be the same equipment. If the current device receives the information informing that the current device is the MVB master device, the current device is set as the Ethernet master device at the same time, the Ethernet data is continuously sent, and if the current device is not the MVB master device, the Ethernet sending port is closed, and the data sending is stopped.

MVB abnormalities are as follows:

1) master-slave switching of MVB in a short time;

2) the MVB reads the A/B lines BAD of the MVB from the device status word;

3) and discovering the MVB master/slave identification exception through the Ethernet communication port, for example, two MVB master identifications exist, two MVB slave identifications exist, or no master/slave identification exists, namely, the MVB master/slave identification exception is found.

In step S250, the CCU, i.e. the two EGWM modules EGWM1 and EGWM2, preferentially determines whether the MVB communication status of each terminal device is normal.

If the MVB communication of the equipment is normal, the Ethernet port data assigned to the terminal equipment is cleared, and only the MVB data is sent. And if the MVB communication of the equipment fails, recovering the Ethernet port data, clearing the MVB source port data and only sending the Ethernet data.

In step S260, if it is detected that the MVB is abnormal, the gateway master device of the ethernet is reset according to the setting policy of the master/slave device in the ethernet network, and the MVB source port data currently assigned to other terminal devices is cleared, and only ethernet data is sent, and when it is detected that the MVB is restored to normal and is kept for a period of time (for example, 60 seconds), the process jumps to step S230.

The operation of resetting the Ethernet master device is completed according to the setting strategy of the master/slave device in the Ethernet network, and the method mainly comprises the following steps:

first, the CarID value of EGWM1 is set to 1 and is transferred to EGWM2 via Ethernet and MVB, the CarID value of EGWM2 is set to 2 and is transferred to EGWM1 via Ethernet and MVB. EGWM1 and EGWM2 then compare the received CarID value with their own CarID value, respectively. If the value of the card id is small, the device is set as a master device of the ethernet, and if the value of the card id is large, the device is set as a slave device of the ethernet, and data transmission is stopped. The above initial setting policy of the ethernet master/slave device that sets the small value of the two CarID values as the master device may be set according to the actual situation, which is only an example and does not limit the protection scope of the present invention.

In step S270, if it is detected that the external application is set to ethernet-first, the setting of the gateway master device of the ethernet is completed according to the setting policy of the master/slave devices in the ethernet network, and MVB master/slave setting is performed, so that the MVB master device identifier follows the ethernet master device identifier, that is, it is ensured that the MVB master device is consistent with the gateway master device of the ethernet network.

Specifically, both the EGWM modules can receive the card id of the opposite side through the ethernet and compare the card id with the card id of the EGWM module, the slave device with a larger card id value closes the data sending port of the ethernet, and stops sending data to the terminal. The data continues to be received/transmitted with the smaller value of the card id.

In the network with Ethernet priority, if the Ethernet master device identification of the device is not set (Ethernet slave device), a forced operation is executed once through a forced function, and the MVB master device is reduced to a standby master device, and if the Ethernet master device identification of the device is set (Ethernet master device), a forced operation is executed once through the forced function, and the MVB master device is forced.

MVB master/slave settings can be divided into three types: 1. automatically setting initial setting according to a power-on sequence; 2. performing forced setting through a forcing function; 3. and automatically setting according to the state of whether the main equipment fails.

In step S280, the CCU preferentially determines the ethernet communication status of each terminal device, and if the ethernet communication of the device is normal, clears the MVB port data assigned to the terminal device, and only sends the ethernet data. And if the Ethernet communication of the equipment fails, recovering the MVB source port data, emptying the Ethernet port data and only sending the MVB data.

The load of the MVB and the Ethernet bus can be reduced through the step, for example, the Ethernet is preferred, the Ethernet is normal, only the data of the Ethernet is sent, and the MVB data is not sent to the terminal equipment. If the MVB has priority, only the MVB data is sent, and the Ethernet data is not sent to the terminal equipment.

In step S290, the terminal device automatically switches between the MVB and the ethernet according to the data content of the current MVB and the ethernet port, and feeds back the currently used communication network to the CCU.

It should be noted that, in the step S290, a policy is selected for the redundant data of each terminal device, and what is said in the previous 8 steps (steps S210 to 280) is how the EGWM is redundant and how a redundant communication method is selected. When the EGWM completes the master-slave setting (the master-slave setting of the EGWM is a black box in the communication between the EGWM and each terminal device) and the communication mode selection (for example, ethernet is selected for communication) according to the previous 8 steps, the data of the unselected communication mode stops sending.

The specific strategy in step S290 is:

1. and if the MVB data and the Ethernet data sent by the EGWM are both valid data, preferentially selecting the Ethernet data.

2. If the received Ethernet data is zero, the MVB data is selected.

It should be noted that although the CCU in the vehicle network redundancy system according to the embodiment of the present invention is implemented by using two EGWM modules, it is theoretically possible to use more than two EGWM modules, and the framework structure is basically the same.

Assuming that the card id identification is extended to 1, 2, and 3 …, if the EGWM identified by card id1 is used as the master device, when the master-slave switching is performed, a comparison is made between the EGWM identified by card id2 and the EGWM identified by card id3 for selection, and the selected method has a plurality of judgment conditions, for example, whether the communication of the two EGWM is normal is judged firstly, and in case that the communication is normal, the comparison is performed according to the numerical value of the card id, and then the selection is performed. If there is a communication failure, the communication is directly selected to be normal. If the EGWM of CarID1 fails, two other communications fail, then the entire Ethernet network switches to the MVB network. The present invention is not described in detail herein.

Although the embodiments of the present invention have been described above, the above descriptions are only for the convenience of understanding the present invention, and are not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. A vehicle network redundancy system based on MVB and ethernet, the system comprising:

the vehicle-level network has a network topology structure of a dual-network redundant network which adopts a multifunctional vehicle bus MVB and Ethernet redundant configuration;

the central control unit comprises at least two Ethernet gateway modules, is connected with the train level network and the vehicle level network, and ensures that gateway main equipment participating in dual-network communication in the dual-network redundant network is the same equipment by combining setting strategies of main/slave equipment in MVB and Ethernet according to the network communication quality and state of the MVB and the Ethernet;

a plurality of vehicle-level terminal devices connected to the vehicle-level network through a communication interface of MVB and/or ethernet, wherein, when the central control unit includes two ethernet gateway modules, the central control unit further performs the steps of:

performing initial setting of MVB master equipment according to a set strategy of the MVB master/slave equipment;

detecting a preset priority network, if the priority network is the Ethernet, finishing the setting of the gateway main equipment of the Ethernet according to the setting strategy of the main/slave equipment in the Ethernet, and carrying out secondary setting of MVB main/slave equipment to ensure that the MVB main equipment is consistent with the gateway main equipment of the Ethernet;

respectively judging the Ethernet communication condition of each terminal device, and only sending Ethernet data if the Ethernet communication of the terminal device is normal; and if the Ethernet communication of the terminal equipment fails, only transmitting the MVB data.

2. The vehicle network redundancy system of claim 1, wherein the central control unit further performs the steps of:

when the preset priority network is detected to be the MVB, whether the MVB is abnormal is detected, if not, the gateway main equipment of the Ethernet is set according to the MVB main equipment which is initially set, so that the MVB main equipment is consistent with the gateway main equipment of the Ethernet;

respectively judging the MVB communication status of each terminal device, and if the MVB communication of the terminal device is normal, only transmitting MVB data; and if the MVB communication of the terminal equipment fails, only transmitting the Ethernet data.

3. The vehicle network redundancy system of claim 2, wherein the central control unit further performs the steps of:

when the preset priority network is detected to be the MVB and the MVB is abnormal, resetting of the Ethernet main equipment is completed according to the setting strategy of the main/slave equipment in the Ethernet network, only Ethernet data is sent, and when the MVB is detected to be normal and kept for a period of time, the preset priority network is re-detected.

4. The vehicle network redundancy system of claim 3, wherein the MVB anomaly condition comprises at least one of:

switching the master/slave equipment of the MVB back and forth within a set time;

A/B lines of the MVB read from the device status word by the MVB are BAD;

and discovering the identification exception of the MVB master/slave equipment through the Ethernet communication port.

5. The vehicle network redundancy system according to any of claims 1 to 4,

the strategy for setting the MVB master/slave equipment comprises the steps that according to the power-on sequence of the Ethernet gateway modules, the Ethernet gateway module powered on first is used as the master equipment;

the setting strategy of the master/slave equipment in the Ethernet network comprises the steps of comparing the size of attribute identification information of Ethernet gateway modules which are mutually transmitted through Ethernet ports, and taking the Ethernet gateway module with a small value as the gateway master equipment.

6. A gateway switching method of a vehicle network redundancy system based on MVB and Ethernet, wherein the system is the system according to any one of claims 1-5, the method comprises:

respectively configuring an MVB communication port, an Ethernet communication port and an attribute identifier for each Ethernet gateway module of the central control unit;

finishing the networking of the MVB and the Ethernet, and ensuring that gateway main equipment participating in dual-network communication in the dual-network redundant network is the same equipment by combining setting strategies of master/slave equipment in the MVB and the Ethernet according to the configuration of each Ethernet gateway module and the network communication quality and state of the MVB and the Ethernet, wherein when the central control unit comprises two Ethernet gateway modules, the method comprises the following steps:

7. The gateway switching method according to claim 6, further comprising the steps of:

8. The gateway switching method according to claim 7, wherein the method further comprises the steps of:

9. The gateway switching method according to claim 8, wherein the MVB abnormal situation includes at least one of the following situations:

A/B lines of the MVB read from the device status word by the MVB are BAD;

10. The gateway switching method according to any one of claims 6 to 9,