CN109219019A - Train Communication Network multi-hop dispatching method based on Ethernet - Google Patents
Train Communication Network multi-hop dispatching method based on Ethernet Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/69—Spread spectrum techniques
- H04B1/707—Spread spectrum techniques using direct sequence modulation
- H04B1/7073—Synchronisation aspects
- H04B1/7075—Synchronisation aspects with code phase acquisition
- H04B1/70754—Setting of search window, i.e. range of code offsets to be searched
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
- H04W40/04—Communication route or path selection, e.g. power-based or shortest path routing based on wireless node resources
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W40/00—Communication routing or communication path finding
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- H04W40/32—Connectivity information management, e.g. connectivity discovery or connectivity update for defining a routing cluster membership
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- H04W56/001—Synchronization between nodes
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- H—ELECTRICITY
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- H04W72/20—Control channels or signalling for resource management
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- H—ELECTRICITY
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W72/00—Local resource management
- H04W72/50—Allocation or scheduling criteria for wireless resources
- H04W72/56—Allocation or scheduling criteria for wireless resources based on priority criteria
- H04W72/566—Allocation or scheduling criteria for wireless resources based on priority criteria of the information or information source or recipient
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Abstract
The present invention relates to a kind of Train Communication Network multi-hop dispatching method based on Ethernet, belongs to train-installed network system control technology field.The present invention introduces FTT-SE in Train Communication Network.FTT-SE transmission cycle data by the way of time trigger transmit aperiodic data by the way of event triggering, realize the combination of time trigger and event triggering；Using the scheduling mode of master-slave mode, bandwidth efficiency is high, supports on-line scheduling and multi-master system, and compatibility standard industrial ethernet switch, improves the real-time of train ethernet communication.
Description
Technical field
The invention belongs to train-installed network system control technology fields, and in particular to a kind of train based on Ethernet is logical
Communication network multi-hop dispatching method.
Background technique
Real-time transmission control command and monitoring system mode are the basic tasks of train control network, in Train Communication Network
The data class of transmission is various, and wherein quite a few is the data such as control, detection, the diagnosis in relation to train traffic safety, column
Vehicle control network must be able to provide corresponding real time communication, meet the time limit of information transmission.With train network carrying data
Sustainable growth, traditional Train Communication Network such as MVB, WTB, ARCNET etc. will be difficult to meet demand.Ethernet is because of its transmission speed
The advantages such as rate height, good compatibility, at low cost have become one of main direction of studying of the following Train Communication Network.Ethernet at present
Real time problems applied to Train Communication Network are primarily present in data link layer, and the queuing mechanism of interchanger brings data
The uncertainty of transmission.In order to meet the real-time demand transmitted in IEC61375-3-4 standard to Train Communication Network data,
Specific real-time is needed to improve mechanism.
Summary of the invention
(1) technical problems to be solved
The technical problem to be solved by the present invention is how to improve the real-time of train ethernet communication.
(2) technical solution
The Train Communication Network multi-hop scheduling based on Ethernet that in order to solve the above-mentioned technical problems, the present invention provides a kind of
Method, comprising the following steps:
The first step most starts a reserved management window in each basic cycle, dispatches for follow-up data；It is managing
In window, by the data being respectively ready for sending from node with the form informing host node own node of " multiterminal are to one end ", host node
It, will be using the form of " one end is to multiterminal " to respectively from node broadcasts transmission triggering message after receiving the data since node
TM, wherein including the scheduling information and clock synchronization information of current basic cycle, by being provided and data exchange phase to host node
Each information from node closed, including address, port and data type, host node can calculate passing without intersection for every message
Defeated path；
Global data and local data are carried out priority queueing by second step, and according to cycle data dispatching algorithm to excellent
Message in first grade queue carries out Schedulability Analysis, determines all message that current EC can be scheduled；
Third step, building Train Communication Network topology；
4th step, based on constructed Train Communication Network topology in host node and between node, according to second step
The scheduling of Schedulability Analysis result progress cycle information.
Preferably, this method further include the 5th step, based on constructed Train Communication Network topology host node with from section
The scheduling of aperiodic data is carried out between point: real-time aperiodic data and non-real-time data transmit in aperiodic phase window,
Aperiodic data have it is sporadic, without by TM message trigger, when real-time aperiodic the data transfer ends, and aperiodic phase window
When time is greater than preset value, non-real-time data is transmitted in the way of first in first out, and the transmission mode of aperiodic data is adopted
The method for taking poll is reported currently from node using reversed transmission link to host node in the transmission process of cycle data
The aperiodic information sent in basic cycle, carries out United Dispatching by host node, and mutually terminate in the period, aperiodic phase arrives it
After transmit aperiodic data.
Preferably, in second step, the principle of the Schedulability Analysis are as follows: can the be scheduled message of transmission of current EC is compiled
Code is into TM, and the message that can not be scheduled then is buffered in next EC and is handled, in the management window that each EC most starts
Mouthful, host node sends TM by way of multicast in subnet, activates cycle information to be transmitted, updates message team to be forwarded
Column, after determining all message that current EC can be scheduled, host node constructs TM and broadcasts to respectively from node.
Preferably, third step specifically: in every section vehicle of Train Communication Network, each electronic control unit equipment is pressed
Stelliform connection topology configuration is connected to networking switch CS, and Train Communication Network is divided into several independent conflicts by networking switch CS
Domain；Wherein the control unit for vehicle VCU of two vehicles is connected to simultaneously in the interchanger ETBN conduct of CS and Train Communication Network end to end
Control unit CCU1 and CCU2 are entreated, CS and ETBN are all made of industrial ethernet switch, and the equipment in vehicle includes: vehicle control
Unit VCU and brak control unit BCU, wherein the control unit for vehicle VCU in two vehicle TC1 and TC2 is simultaneously as entire end to end
The central control unit CCU of train；
CS and the terminal device direct-connected with it in each compartment constitute a subnet, and ETBN1 and CCU1 constitute a son
Net defines the root switch that ETBN1 is the Train Communication Network wherein each interchanger has a host node to be responsible for scheduling,
CCU1 is root host node, and choosing the brak control unit BCU in each compartment is the scheduling that host node is responsible for subnet, end to end two vehicles
CCU then respectively as the host node of ETBN1 and ETBN2, and the Train Communication Network is divided into different hierarchical structures,
ETBN1 and CCU1 constitutes the first layer of multihop network；If interchanger ETBN2 and interchanger CS5 and the subnet respectively formed are more
The second layer of network, while child node of the ETBN2 and CS5 as ETBN1 are jumped, similarly, if CS6 is the child node of ETBN2, CS2
And child node of the CS1 as CS5, the child node of CS3 and CS4 as CS6.
Preferably, when being scheduled in the 4th step, so that keeping clock synchronous between each subnet, the clock between subnet synchronizes logical
The host node realization synchronous with the clock of root host node CCU1 for crossing each subnet, in the management window of each basic cycle, the main section of root
The global triggering information GTM of point CCU1 broadcast, the hierarchical structure established according to third step, each host node are responsible for forwarding GTM
To sub- host node, each host node sends the basic cycle that TM initializes each subnet, is receiving from node after receiving GTM
After TM message, scheduled data are sent according to the time of regulation, are coded into the data of TM within the corresponding basic cycle
It is triggered, each synchronous with host node holding clock from node in the same subnet, this is completed by TM message.
Preferably, when being scheduled in the 4th step, also according to each host node BCU's and ETBN2 and root host node ETBN1
A fixed deadline is arranged for each host node in relative position, if host node does not receive before deadline arrives
GTM then itself generates a new GTM and is sent to sub- host node, and the clock for continuing to complete entire multihop network is synchronous, due to every
Each compartment is divided into an independent collision domain by a networking switch, and TM is only sent in subnet, will not be mutual between subnet
Mutually interfere；Unlike other host nodes, root host node CCU1 each basic cycle most start directly transmit GTM, no
Judge whether to reach deadline, and without receiving GTM.
Preferably, when being scheduled in the 4th step, in the transmission process of global data, the all-ones subnet of process is at one
It is continuously dispatched in basic cycle.
Preferably, when being scheduled in the 4th step, mathematics is carried out to the real-time period information transmitted in Train Communication Network
Description, it is assumed that the cycle information number for needing to transmit in network is N, to i-th of cycle information miTransformation task is described as
γi={ mi(Ci,Di,Ti,OiPKi,Si,DSi,Pi,Li,ni), i=1 ... N } (1)
Wherein, CiIndicate cycle information miTransmission time；DiAnd TiRespectively indicate miDeadline and period, OiIt indicates
At the time of the first phase of data is i.e. scheduled, PKiIndicate miThe size of data packet；SiAnd DSiRespectively indicate miSource node and purpose
Node；PiIndicate priority；LiIndicate miThe link set of process, niIndicate miThe link number of segment of process, Li={ lk| k=1 ... n }.
Preferably, when being scheduled in the 4th step, real-time period data must complete transmission in period phase window, consider
To the delay ε of interchanger, the working time of all links, wherein LSW was the big of period phase window no more than period phase LSW- ε
It is small, for transmission link, it is necessary to assure the sum of transmission time of data must not exceed the size LSW- ε of period phase window；For
Receives link then guarantees that f is less than the size LSW of period phase window at the time of the last item data are transmitted.
Preferably, when being scheduled in the 4th step, if real-time period data miReach interchanger output port time be
Ai, compare m in queueiThe high data m of priorityjIt is F in the time that finishes receiving of receives link RLj；Wherein, Ai=Oi+Ci, OiFor
The transmission time started of the first phase of data, i.e. data in transmission link；For the reception for guaranteeing high-priority data, miIn reception chain
The time that road RL receives beginning is max { Fj,Ai, therefore miIt is max { F at the time of receives link is transmittedj,Ai}+Ci, therefore mi
Can be scheduled in the current basic cycle should also meet
max{Fj,Ai}+Ci≤LSW (3)
When formula (2) and (3) cannot be met simultaneously, miIt will be postponed to the next basic cycle and dispatch, when scheduled height
Priority data arrival time is later than miArrival time when, allow miPrior to these scheduled height on receives link RL
Priority data receives；
Respectively it is decoded after receiving TM message from node, according to information included in TM message, prepares to work as
The preceding basic cycle needs the cycle data transmitted to initialize data to be sent when the period mutually arrives, while receiving other sections
The cycle data that point is sent.
(3) beneficial effect
The present invention introduces FTT-SE in Train Communication Network.FTT-SE transmission cycle number by the way of time trigger
According to, using event triggering by the way of transmit aperiodic data, realize time trigger and event triggering combination；Using master
From the scheduling mode of formula, bandwidth efficiency is high, supports on-line scheduling and multi-master system, and compatibility standard industrial ethernet switch,
Improve the real-time of train ethernet communication.
Detailed description of the invention
Fig. 1 is FTT-SE traffic model schematic diagram；
Fig. 2 is the Train Communication Network configuration diagram in the embodiment of the present invention；
Fig. 3 is host node scheduling flow figure of the invention；
Fig. 4 is of the invention from node scheduling flow chart；
Fig. 5 is multi-hop scheduling model schematic diagram of the invention.
Specific embodiment
To keep the purpose of the present invention, content and advantage clearer, with reference to the accompanying drawings and examples, to of the invention
Specific embodiment is described in further detail.
The data transmission of Train Communication Network is present in vehicle between vehicle, the data transmission between vehicle usually require across
More multiple switch, transmission path is complicated, increases the uncertainty of data transmission, it is therefore desirable to efficient scheduling mechanism.With
The increase of the traffic, the network architecture of " plurality of subnets " " multi-exchange " proposed in succession, need multiple switch to interconnect and real
The network now communicated is " multihop network ".Train Communication Network based on Ethernet belongs to the framework of multihop network, and the present invention mentions
A kind of vehicle-mounted Ethernet multi-hop dispatching method based on FTT-SE out, to improve the real-time of train ethernet communication.
FTT-SE mechanism uses master-slave mode scheduling mode, as shown in Figure 1, network is multiple from section with other by a host node
Point is constituted, and is dispatched by a host node from node.Network is divided into multiple " micro network segments " by interchanger, the link in network is adopted
With the working method of " full duplex ", it is divided into transmission link (send link, SL) and receives link according to the transmission direction of data
(receive link,RL)；The switch port of each of the links both ends connection is fixed.Host node according to priority orders dispatch to
The data of transmission.The transmission time of data is divided into regular time piece, referred to as the basic cycle (Elementary Cycle,
EC), each basic cycle is divided into two windows of period phase and aperiodic phase, is each responsible for the biography of cycle data and aperiodic data
It is defeated.
One kind that the scene that the present invention is transferred through multiple switch for data in vehicle-mounted Ethernet proposes, based on above-mentioned
The Train Communication Network multi-hop dispatching method that FTT-SE mechanism is realized, comprising the following steps:
The first step most starts a reserved management window in each basic cycle, dispatches for follow-up data
In management window, by respectively informing that host node own node is ready for sending from node in the form of " multiterminal are to one end "
Data, host node, will be using the form of " one end is to multiterminal " to respectively wide from node after receiving the data since node
It broadcasts and send triggering message (Trigger Message, TM), wherein the synchronous letter of scheduling information and clock comprising the current basic cycle
Breath.It is relevant to data exchange respectively from information of node, including address, port and data type etc. by being provided to host node
Information, host node can calculate every message without Cross transfer path (i.e. source node and destination node with other message without
It is overlapped), and according to every message without Cross transfer path construction Parallel Scheduling table, and then increase the handling capacity of scheduling.
The target of vehicle-mounted Ethernet multi-hop scheduling mechanism is in defined time window to global data and local data
Efficient scheduling is carried out, guarantees the real-time of the data transmission in vehicle and between vehicle.In the situation that train network topology is fixed
Under, the source node and destination node of data transmission can uniquely determine the transmission path of data.
Global data and local data are carried out priority queueing according to RM algorithm or EDF algorithm by second step, and according to
Cycle data dispatching algorithm carries out Schedulability Analysis to the message in priority query, and current EC can be scheduled the disappearing of transmission
Breath is encoded into TM, and the message that can not be scheduled then is buffered in next EC and is handled.Most start in each EC
Manage window, host node sends TM by way of multicast in subnet, activate cycle information to be transmitted, update it is to be forwarded
Message queue.Finally, host node constructs TM and broadcasts to respectively from section after determining all message that current EC can be scheduled
Point.
Third step, building Train Communication Network topology
As shown in Fig. 2, in every section vehicle, each important electronic control unit is set using certain subway control network as prototype
Standby to be connected to networking switch CS by stelliform connection topology configuration, Train Communication Network is divided into several independent by networking switch CS
Collision domain；Wherein end to end the control unit for vehicle VCU of two vehicles be connected to simultaneously CS and ETBN as central control unit CCU1 and
CCU2, CS and ETBN are all made of industrial ethernet switch.Capital equipment in vehicle include: control unit for vehicle (VCU) and
Brak control unit (BCU) etc..Wherein, the control unit for vehicle (VCU) in two vehicle TC1 and TC2 is arranged as entire simultaneously end to end
The central control unit CCU of vehicle, integrated video monitoring system (PIS-CCTV) is also in two vehicles end to end.
One " multihop network " that Train Communication Network shown in Fig. 2 is made of multiple switch and terminal device.Such as
CS and the terminal device direct-connected with it in each compartment constitute a subnet, and ETBN1 and CCU1 constitute a subnet, wherein often
A interchanger needs a special host node to be responsible for scheduling, and choosing the brak control unit BCU in each compartment is host node
It is responsible for the scheduling of subnet, the CCU of two vehicles is then respectively as the host node of ETBN1 and ETBN2 end to end.In order to facilitate scheduling, by this
Multihop network is divided into different hierarchical structures, and ETBN1 and CCU1 constitute the first layer of multihop network, and defining ETBN1 is that this is more
The root switch of network is jumped, CCU1 is root host node；ETBN2 and CS5 and the subnet respectively formed are the second layer of multihop network,
Child node of the ETBN2 and CS5 as ETBN1 simultaneously, similarly, CS6 are the son section of the child node of ETBN2, CS2 and CS1 as CS5
The child node of point, CS3 and CS4 as CS6.
4th step, based on constructed Train Communication Network topology in host node and between node, according to second step
The scheduling of Schedulability Analysis result progress cycle information
Compared with the data transmission in vehicle, data transfer path between vehicle is complicated, except needing subnet internal node
Except clock is synchronous, it is also necessary to keep clock synchronous between each subnet.The synchronous host node by each subnet of clock between subnet with
The clock of root host node CCU1 is synchronous to be realized.In the management window of each basic cycle, the global triggering of root host node CCU1 broadcast
Information (Global Trigger Message, GTM), according to above-mentioned hierarchical structure, each host node is responsible for GTM being forwarded to son
Host node, each host node send the basic cycle that TM initializes each subnet after receiving GTM.Disappear from node receiving TM
After breath, scheduled data are sent according to the time of regulation.The data for being coded into TM should be within the corresponding basic cycle
Be triggered, this just need in the same subnet it is each keep clock synchronous from node and host node, this will be completed by TM message.
GTM loses in order to prevent, according to the opposite position of each host node (BCU and ETBN2) and root host node (ETBN1)
It sets, one fixed deadline is set for each host node, if host node does not receive before deadline (timeout) arrives
GTM then itself generates a new GTM and is sent to sub- host node, and the clock for continuing to complete entire multihop network is synchronous.Due to every
Each compartment is divided into an independent collision domain by a networking switch, and TM is only sent in subnet, will not be mutual between subnet
Mutually interfere.Unlike other host nodes, root host node CCU1 each basic cycle most start directly transmit GTM, no
Need to judge whether to reach deadline, and without receiving GTM.
In the transmission process of global data, need by all-ones subnet it is carried out continuously within a basic cycle
Scheduling, when some subnet in transmission path is not scheduled it, is likely to result in global data and misses deadline.
For example, when BCU5 of the VCU4 in M4 into TC1 sends message, need by interchanger CS4, CS6, ETBN2, ETBN1 and
CS5, at this time, it may be necessary to which host node BCU4, BCU6, CCU2, CCU1, BCU5 are continuously dispatched within the same basic cycle.
Mathematical description is carried out to the real-time period information transmitted in Train Communication Network, it is assumed that the week for needing to transmit in network
Phase information number is N, to i-th of cycle information miTransformation task can be described as
γi={ mi(Ci,Di,Ti,OiPKi,Si,DSi,Pi,Li,ni), i=1 ... N } (1)
Wherein, CiIndicate cycle information miTransmission time (data length/bandwidth)；DiAnd TiRespectively indicate miCut-off when
Between and the period, OiAt the time of indicating that the first phase of data is i.e. scheduled, PKiIndicate miThe size of data packet；SiAnd DSiRespectively indicate mi
Source node and destination node；PiIndicate priority；LiIndicate miThe link set of process, niIndicate miThe link number of segment of process, Li
={ lk| k=1 ... n }.
Antenna efficiency mode is full duplex, and transmission link and receives link work at the same time, in order to make full use of bandwidth, every
Link considers its transmission link SL and receives link RL simultaneously.In above-mentioned Train Communication Network, the path of every data transmission
Fixed, the link of passage in transit is also relatively fixed.Since the switch port of each of the links connection is fixed, data are on the link
Transmission speed is identical, in order to avoid data are lined up in a switch, should make in each of the links, in each transmission direction, only
There is data transmission.
Host node generates the transmit queue of a cycle data according to dispatching algorithms such as RM/EDL, which is encoded into TM
In message, it is sent to respectively by host node from node.Respectively from node according to dispatch list by the way that data are sent out from the transmission link of node
It send to interchanger, after data reach interchanger, is lined up in corresponding output port, preparation is sent to destination node receives link.
Transmission in current EC by transmission requirement data in transmission link and receives link can be in the same of current EC
It walks in window and completes.Since interchanger takes the operating mode of full duplex, SL and RL are worked at the same time.It is needed when construction schedule dispatch list
It is noted that Railway Project:
(1) real-time period data must complete transmission in period phase window, it is contemplated that the delay ε, Suo Youlian of interchanger
The working time on road, wherein LSW was the size of period phase window no more than period phase LSW- ε.Therefore, for transmission link,
The sum of the transmission time that must assure that data must not exceed the size LSW- ε of period phase window；For receives link, then should protect
F is less than the size LSW of period phase window at the time of card the last item data are transmitted.It can to sum up obtain
(2) in order to calculate data at the time of receives link is transmitted, need to consider high priority packets in queue
Finish receiving the time.If real-time period data miThe time for reaching interchanger output port is Ai, compare m in queueiPriority is high
Data mjIt is F in the time that finishes receiving of receives link RLj.Wherein, Ai=Oi+Ci, OiFor the first phase of data, i.e. data are being sent out
Send the transmission time started of link；For the reception for guaranteeing high-priority data, miIt is in the time that receives link RL receives beginning
max{Fj,Ai, therefore miIt is max { F at the time of receives link is transmittedj,Ai}+Ci.Therefore miIt can be by the current basic cycle
Scheduling should also meet
max{Fj,Ai}+Ci≤LSW (3)
When formula (2) and (3) cannot be met simultaneously, miIt will be postponed to the next basic cycle and dispatch, in order to improve link
The utilization rate of bandwidth, on the basis of not influencing high-priority data real-time, when scheduled high-priority data reaches
Between be later than miArrival time when, allow miPrior to these data (scheduled high-priority data) on receives link RL
It receives.
In comprehensive vehicle and the transmission process of car-to-car data, host node to the dispatching algorithm processes of real-time period data such as
Shown in Fig. 3.
Respectively it is decoded after receiving TM message from node, according to information included in TM message, prepares to work as
The preceding basic cycle needs the cycle data transmitted to initialize data to be sent when the period mutually arrives, while receiving other sections
The cycle data that point is sent, it is as shown in Figure 4 from the workflow of node.
5th step, based on constructed Train Communication Network topology in host node and from carrying out aperiodic data between node
Scheduling
Real-time aperiodic data and non-real-time data transmit in aperiodic phase window, and aperiodic data have accidental
Property, it is not necessarily to by TM message trigger, it is non real-time when real-time aperiodic the data transfer ends, and when aperiodic phase window time abundance
Data are transmitted in the way of first in first out.The method that the transmission mode of aperiodic data takes poll.In cycle data
Transmission process in, report the aperiodic letter sent in the current basic cycle to host node using reversed transmission link from node
Breath.United Dispatching is carried out by host node, and is mutually terminated in the period, aperiodic phase transmits aperiodic data after arriving.This
In the case of, host node can fully plan transmission time, but synchronization delay will increase the response time, and efficiency is lower.
In conclusion the Train Communication Network multi-hop scheduling model based on Ethernet is as shown in Figure 5.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of Train Communication Network multi-hop dispatching method based on Ethernet, which comprises the following steps:
The first step most starts a reserved management window in each basic cycle, dispatches for follow-up data；In management window
Interior, by the data being respectively ready for sending from node with the form informing host node own node of " multiterminal are to one end ", host node is being received
Arrive after the data of node, will using " one end is to multiterminal " form to respectively from node broadcasts send triggering message TM,
It wherein include the scheduling information and clock synchronization information of current basic cycle, by relevant to data exchange to host node offer
Respectively from the information of node, including address, port and data type, host node can calculate every message without Cross transfer road
Diameter；
Global data and local data are carried out priority queueing by second step, and according to cycle data dispatching algorithm to priority
Message in queue carries out Schedulability Analysis, determines all message that current EC can be scheduled；
Third step, building Train Communication Network topology；
4th step, based on constructed Train Communication Network topology in host node and between node, according to the adjustable of second step
Degree property analysis result carries out the scheduling of cycle information.
2. the method as described in claim 1, which is characterized in that this method further includes the 5th step, logical based on constructed train
Communication network topology is in host node and from the scheduling for carrying out aperiodic data between node: real-time aperiodic data and non-real-time data
Transmitted in aperiodic phase window, aperiodic data have it is sporadic, without by TM message trigger, when real-time aperiodic data
The end of transmission, and aperiodic phase window time be greater than preset value when, non-real-time data is transmitted in the way of first in first out,
The method that the transmission mode of aperiodic data takes poll utilizes reversed biography from node in the transmission process of cycle data
Transmission link reports the aperiodic information sent in the current basic cycle to host node, carries out United Dispatching by host node, and in week
Phase mutually terminates, and aperiodic phase transmits aperiodic data after arriving.
3. the method as described in claim 1, which is characterized in that in second step, the principle of the Schedulability Analysis are as follows: current
Can the be scheduled message of transmission of EC is encoded into TM, and the message that can not be scheduled then is buffered in next EC
Reason, in the management window that each EC most starts, host node sends TM by way of multicast in subnet, activates week to be transmitted
Phase information updates message queue to be forwarded, and after determining all message that current EC can be scheduled, host node constructs TM simultaneously
Broadcast is to respectively from node.
4. the method as described in claim 1, which is characterized in that third step specifically: in every section vehicle of Train Communication Network
It is interior, each electronic control unit equipment is connected to networking switch CS by stelliform connection topology configuration, networking switch CS leads to train
Communication network is divided into several independent collision domains；Wherein the control unit for vehicle VCU of two vehicles is connected to CS and train simultaneously end to end
The interchanger ETBN of communication network is all made of Industrial Ethernet exchange as central control unit CCU1 and CCU2, CS and ETBN
Machine, the equipment in vehicle includes: control unit for vehicle VCU and brak control unit BCU, wherein end to end in two vehicle TC1 and TC2
Control unit for vehicle VCU central control unit CCU as entire train simultaneously；
CS and the terminal device direct-connected with it in each compartment constitute a subnet, and ETBN1 and CCU1 constitute a subnet,
In each interchanger there is a host node to be responsible for scheduling, define the root switch that ETBN1 is the Train Communication Network, CCU1 is root
Host node, choosing the brak control unit BCU in each compartment is that host node is responsible for the scheduling of subnet, and the CCU of two vehicles is then end to end
Respectively as the host node of ETBN1 and ETBN2, and the Train Communication Network is divided into different hierarchical structures, ETBN1 and
The first layer of CCU1 composition multihop network；If interchanger ETBN2 and interchanger CS5 and the subnet respectively formed are multihop network
The second layer, while child node of the ETBN2 and CS5 as ETBN1, similarly, if CS6 is the child node of ETBN2, CS2 and CS1 conduct
The child node of the child node of CS5, CS3 and CS4 as CS6.
5. method as claimed in claim 4, which is characterized in that when being scheduled in the 4th step, when so that being kept between each subnet
Clock is synchronous, and the synchronous host node by each subnet of the clock between subnet is synchronous with the clock of root host node CCU1 to be realized, each
The management window of basic cycle, the global triggering information GTM of root host node CCU1 broadcast, the level knot established according to third step
Structure, each host node are responsible for for GTM being forwarded to sub- host node, and each host node sends TM and initialize each son after receiving GTM
The basic cycle of net sends scheduled data according to the time of regulation, is coded into TM from node after receiving TM message
Data be triggered within the corresponding basic cycle, each in the same subnet keeps clock synchronous from node and host node, this
It is completed by TM message.
6. method as claimed in claim 5, which is characterized in that when being scheduled in the 4th step, also according to each host node BCU
And the relative position of ETBN2 and root host node ETBN1, be set for each host node, if host node one fixed deadline
GTM is not received before deadline arrives, then itself generates a new GTM and is sent to sub- host node, continues to complete entire more
The clock for jumping network is synchronous, and since each compartment is divided into an independent collision domain by each networking switch, TM is only in son
It sends in net, will not be interfered with each other between subnet；Unlike other host nodes, root host node CCU1 is in each basic cycle
Most start directly transmit GTM, do not judge whether to reach deadline, and without receiving GTM.
7. the method as described in claim 1, which is characterized in that when being scheduled in the 4th step, in being transmitted across for global data
The all-ones subnet of Cheng Zhong, process continuously dispatch it within a basic cycle.
8. method as claimed in claim 6, which is characterized in that when being scheduled in the 4th step, to being passed in Train Communication Network
The real-time period information passed carries out mathematical description, it is assumed that the cycle information number for needing to transmit in network is N, to i-th of period
Information miTransformation task is described as
γi={ mi(Ci,Di,Ti,OiPKi,Si,DSi,Pi,Li,ni), i=1 ... N } (1)
Wherein, CiIndicate cycle information miTransmission time；DiAnd TiRespectively indicate miDeadline and period, OiIndicate data
First phase it is i.e. scheduled at the time of, PKiIndicate miThe size of data packet；SiAnd DSiRespectively indicate miSource node and destination node；
PiIndicate priority；LiIndicate miThe link set of process, niIndicate miThe link number of segment of process, Li={ lk| k=1 ... n }.
9. method as claimed in claim 6, which is characterized in that when being scheduled in the 4th step, real-time period data must be
Transmission is completed in period phase window, it is contemplated that the delay ε of interchanger, the working time of all links is no more than period phase LSW-
ε, wherein LSW is the size of period phase window, for transmission link, it is necessary to assure the sum of transmission time of data must not exceed week
The size LSW- ε of phase phase window；For receives link, then guarantee that f is less than period phase at the time of the last item data are transmitted
The size LSW of window.
10. method as claimed in claim 6, which is characterized in that when being scheduled in the 4th step, if real-time period data miIt arrives
Time up to interchanger output port is Ai, compare m in queueiThe high data m of priorityjIn receives link RL when finishing receiving
Between be Fj；Wherein, Ai=Oi+Ci, OiFor the first phase of data, i.e. transmission time started of the data in transmission link；To guarantee Gao You
The reception of first grade data, miIt is max { F in the time that receives link RL receives beginningj,Ai, therefore miIt is transmitted in receives link
At the time of be max { Fj,Ai}+Ci, therefore miCan be scheduled in the current basic cycle should also meet
max{Fj,Ai}+Ci≤LSW (3)
When formula (2) and (3) cannot be met simultaneously, miIt will be postponed to the next basic cycle and dispatch, when scheduled high priority
Data arrival time is later than miArrival time when, allow miPrior to these scheduled high priorities on receives link RL
Data receiver；
Respectively it is decoded after receiving TM message from node, according to information included in TM message, prepares current base
This period needs the cycle data transmitted to initialize data to be sent when the period mutually arrives, while receiving other nodes hair
The cycle data come.
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