CN116663852A - Decentralised train line resource negotiation method - Google Patents
Decentralised train line resource negotiation method Download PDFInfo
- Publication number
- CN116663852A CN116663852A CN202310899177.9A CN202310899177A CN116663852A CN 116663852 A CN116663852 A CN 116663852A CN 202310899177 A CN202310899177 A CN 202310899177A CN 116663852 A CN116663852 A CN 116663852A
- Authority
- CN
- China
- Prior art keywords
- train
- vehicle
- log entries
- trains
- pilot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 57
- 230000008859 change Effects 0.000 claims description 20
- 230000007704 transition Effects 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 9
- 230000002860 competitive effect Effects 0.000 claims description 6
- 230000000977 initiatory effect Effects 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 3
- 238000011161 development Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 description 19
- 230000006399 behavior Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 230000010076 replication Effects 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000007726 management method Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000012790 confirmation Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- -1 carrier Substances 0.000 description 1
- 230000001427 coherent effect Effects 0.000 description 1
- 239000000306 component Substances 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 239000004615 ingredient Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- PLAIAIKZKCZEQF-UHFFFAOYSA-N methyl 6-chloro-2-oxo-3h-1,2$l^{4},3-benzodithiazole-4-carboxylate Chemical compound COC(=O)C1=CC(Cl)=CC2=C1NS(=O)S2 PLAIAIKZKCZEQF-UHFFFAOYSA-N 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000007858 starting material Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
- G06Q10/06312—Adjustment or analysis of established resource schedule, e.g. resource or task levelling, or dynamic rescheduling
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/10—File systems; File servers
- G06F16/18—File system types
- G06F16/1805—Append-only file systems, e.g. using logs or journals to store data
- G06F16/1815—Journaling file systems
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/10—Services
- G06Q50/26—Government or public services
Landscapes
- Business, Economics & Management (AREA)
- Engineering & Computer Science (AREA)
- Human Resources & Organizations (AREA)
- Theoretical Computer Science (AREA)
- Tourism & Hospitality (AREA)
- Economics (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Strategic Management (AREA)
- Entrepreneurship & Innovation (AREA)
- General Business, Economics & Management (AREA)
- Development Economics (AREA)
- Marketing (AREA)
- Educational Administration (AREA)
- Game Theory and Decision Science (AREA)
- Operations Research (AREA)
- Quality & Reliability (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Primary Health Care (AREA)
- Data Mining & Analysis (AREA)
- Databases & Information Systems (AREA)
- General Engineering & Computer Science (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention discloses a decentralised train line resource negotiation method, which comprises the following steps: in the decentralized area network, competing out a pilot vehicle in the current period, and other vehicles are called follower vehicles; the pilot vehicle receives a scheduling instruction from the operation and regulation system, generates log entries with corresponding numbers, and then copies the log entries into the following vehicles in parallel, when the state machine of the log entries applied to the pilot vehicle is safe, and the pilot vehicle copies the log entries into the following vehicles exceeding a set proportion, the corresponding log entries are called submitted log entries, and the following vehicles sequentially execute the submitted log entries through the state machines of the following vehicles in sequence; and each train periodically returns the information obtained by executing the corresponding log entry to the operation and regulation system to realize train line resource negotiation. The method can realize autonomous train autonomy, ensure the dynamic consistency of trains in the regional network, ensure the safety, availability and fault tolerance under various conditions and promote the digital development degree of the railway signal system.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a decentralised train line resource negotiation method.
Background
Rail transit is always the most preferred public transportation mode due to the characteristics of safety, environmental protection, large traffic and the like. According to different operation scenes, the rail transit system can be roughly divided into a high-speed railway, an inter-city railway, a common-speed railway, a heavy-load railway and urban rail transit. The train operation control system is always a key for guaranteeing running safety, stability and reliability. In view of the transportation demands of different operation scenes, different rail transit systems will select corresponding train operation control systems, for example, a high-speed railway with a speed of 250km/h to 350km/h is designed to mainly select CTCS-2 or CTCS-3 level train control systems, inter-city railways mainly select CTCS-2 level train control systems, and urban rail transit mainly uses CBTC systems (communication-based train automatic control systems). Along with further improvement of the demand of rail transportation, future novel signal system solutions can be expected to adapt to various operation scenes, and the functions are safer, more flexible and more efficient.
The traditional train operation control system is a typical centralized distributed network structure, and the central assembly is used for controlling the lower-layer assembly, so that the central control purpose is realized. This structure is necessarily a sequential operation, and the behavior exhibited by the lower-level components (such as the annunciators, the switch machines, the variable transponders, and the on-board signal display units) in the structure is the result of the control and supervision of the central component (such as the central dispatching desk) through a certain hierarchical structure (such as the interlocking system and the wireless blocking center). The disadvantage of a centralised distributed network architecture is that the priority response problem can become a bottleneck for the system and can be unavailable for some time in the event of a priority failure, which results in a system that is difficult to expand and has poor flexibility.
The Chinese patent application with publication number of CN116001872A, train operation control system, method, electronic equipment and storage medium, adopts a centralized distributed network structure, and realizes resource management through a secure cloud platform. The Chinese patent application with publication number of CN115320681A (train-based resource management method and device), although improving the resource management problem, still adopts a centralized distributed network structure, so that in practical application, when priority fails, the priority is unavailable for a period of time, which leads to difficult expansion of the system and poor flexibility.
Disclosure of Invention
The invention aims to provide a decentralised train line resource negotiation method, which realizes the function of negotiating line resources in the running process of a plurality of trains by adopting a decentralised mode, thereby supporting the flexible grouping of the plurality of trains in the running process, realizing autonomous autonomy of the trains, ensuring the dynamic consistency of the trains in an area network and improving the digital development degree of a railway signal system.
The invention aims at realizing the following technical scheme:
a decentralised trainline resource negotiation method comprising:
in the decentralized regional network, each train selects a pilot vehicle in the current period in the virtual linking group in an competitive manner, and other vehicles are called follower vehicles;
the method comprises the steps that a pilot vehicle receives a dispatching instruction from a dispatching system, generates log entries with corresponding numbers corresponding to the dispatching instruction, and copies the generated log entries into a following vehicle in parallel, and when a state machine of the pilot vehicle can safely execute the log entries and the pilot vehicle safely copies the log entries into the following vehicle exceeding a set proportion, the corresponding log entries are called submitted log entries; sequentially executing submitted log entries by the following vehicles through the state machines according to the sequence; and the pilot vehicle and the following vehicle periodically return the information obtained by executing the corresponding log entries to the operation and regulation system, so that the train line resource negotiation is realized.
According to the technical scheme provided by the invention, a rail transit train operation control system is constructed by adopting a decentralised network structure, and large and complex transportation tasks are completed by communication, cooperation and competition behaviors among a plurality of single trains, so that autonomous autonomy of the trains is realized; the running control of the rail transit train is changed into the processing of multiple concurrency problems of a distributed system, the expandability of the running control system of the train is further improved, and flexible linking and unbinding of the train in the running process are supported through a digital running control platform; the invention can be applied to a train autonomous operation control system (TACS), ensures the dynamic consistency of trains in a regional network, and ensures the safety, availability and fault tolerance of the system under various conditions; by dividing the multi-train line resource negotiation process into a plurality of periods, designing train running state conversion logic, setting a state machine safety principle for trains in each running state, virtually connecting train heartbeat packets and log distribution principles in a group, automatically adapting group member change strategies, innovating service logic and improving the digital development degree of a railway signal system.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a decentralised trainline resources negotiation method provided by an embodiment of the present invention;
fig. 2 is a sequence chart of virtual link group negotiation time periods according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of train state transition provided in an embodiment of the present invention;
fig. 4 is a schematic diagram of a pilot vehicle election process according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
The terms that may be used herein will first be described as follows:
the terms "comprises," "comprising," "includes," "including," "has," "having" or other similar referents are to be construed to cover a non-exclusive inclusion. For example: including a particular feature (e.g., a starting material, component, ingredient, carrier, formulation, material, dimension, part, means, mechanism, apparatus, step, procedure, method, reaction condition, processing condition, parameter, algorithm, signal, data, product or article of manufacture, etc.), should be construed as including not only a particular feature but also other features known in the art that are not explicitly recited.
The term "consisting of … …" is meant to exclude any technical feature element not explicitly listed. If such term is used in a claim, the term will cause the claim to be closed, such that it does not include technical features other than those specifically listed, except for conventional impurities associated therewith. If the term is intended to appear in only a clause of a claim, it is intended to limit only the elements explicitly recited in that clause, and the elements recited in other clauses are not excluded from the overall claim.
The following describes a detailed description of a decentralised trainline resource negotiation method provided by the present invention. What is not described in detail in the embodiments of the present invention belongs to the prior art known to those skilled in the art. The specific conditions are not noted in the examples of the present invention and are carried out according to the conditions conventional in the art or suggested by the manufacturer.
As shown in fig. 1, a decentralised train line resource negotiation method mainly includes the following steps:
and 1, selecting the pilot vehicle in the current period in the virtual linking group by each train in the decentralized regional network in an competitive mode.
In the embodiment of the invention, the decentralized area network refers to a network of a plurality of trains running in a train communication state, wherein the trains maintaining the train communication condition in the decentralized area network form a virtual link group, and each train is in one of three states: pilot, follower or race cars; each train judges whether the train receives the heartbeat packet in real time or not, if so, the train is used as a following train; if the heartbeat packet is not received within the set time, converting to an election vehicle and initiating an election, increasing the cycle number of the election vehicle and voting to the election vehicle, simultaneously sending voting requests to other trains, waiting for replies of the other trains, and if the election vehicle receives the votes of the most trains in the area, converting to a pilot vehicle, wherein the other trains are trains which keep the communication conditions of the vehicles in the decentralised area network; if the election vehicle does not receive the votes of the most trains in the area, judging whether a heartbeat packet is received, and if so, converting into a following vehicle; if the heartbeat packet is not received, the election fails, and the election is restarted (namely, the next round of election is started).
In the embodiment of the invention, in a normal state, only one pilot vehicle exists in the virtual linking group, and all other trains are trailing vehicles; the pilot vehicle periodically sends heartbeat packets to all the following vehicles so as to maintain the virtual linking state of the virtual linking group; and the pilot vehicle receives the dispatching instruction of the dispatching system, if the following vehicle receives the dispatching instruction of the dispatching system, the dispatching system is informed, and the dispatching system is reissued to the pilot vehicle.
Step 2, the pilot vehicle receives a plurality of scheduling instructions from the dispatching system, generates log entries with corresponding numbers corresponding to the scheduling instructions, and copies the generated log entries to the following vehicles in parallel, when the state machine of the pilot vehicle can safely execute the log entries and safely copy the corresponding log entries to the following vehicles exceeding a set proportion, the corresponding log entries are called submitted log entries, and the following vehicles sequentially execute the submitted log entries through the state machine according to the sequence; and the pilot vehicle and the following vehicle periodically return the information obtained by executing the corresponding log entries to the operation and regulation system, so that the train line resource negotiation is realized.
In the embodiment of the invention, the state machine of the pilot vehicle can safely execute log entries or not through carrying out formula decision by the trains in the virtual link group based on a block chain through consensus algorithm.
In the embodiment of the invention, whether the log entry is safely copied to the following vehicle can be determined by a block chain based consensus algorithm.
In the embodiment of the invention, the safety limiting condition is also set, so that the state machines in all trains execute the identical submitted log entries in the same sequence.
In the embodiment of the invention, the method further comprises the following steps: when members of the virtual linking group are changed, the set combined consistent combination new and old group configuration method or single node group member changing method is adopted to update the group configuration (mainly referring to the train composition information in the virtual linking group). Specifically:
the method for configuring the new and old groups by combining the combination and the coincidence comprises the following steps: the group configuration change is divided into two stages, wherein in the first stage, the virtual linking group is switched to the transition group configuration, a joint consistency algorithm is implemented to enable the virtual linking group to achieve a consistency state, and then the second stage is entered, and the transition group configuration is switched to the new group configuration.
In the embodiment of the invention, the transition group is configured into a preset configuration state, and the joint consistency algorithm is a conventional algorithm in the block chain technology.
The single-node group member changing method refers to that only one train is added or subtracted at a time, and when the group member changing involves a plurality of trains, the single-node group member changing is performed for a plurality of times.
In the embodiment of the invention, firstly, a pilot vehicle is selected, and a following vehicle listens to the pilot vehicle for dispatching through log replication, and the consistency is maintained; the above pilot vehicle election and log replication steps are the decentralised line resource negotiation scheme, and the availability of the decentralised resource negotiation scheme can be explained in an auxiliary manner by subsequent group change and safety constraint conditions. The function of negotiating line resources in the running process of the multi-train is realized by the decentralization mode, so that flexible grouping of the multi-train in the running process is supported.
In order to more clearly demonstrate the technical scheme and the technical effects provided by the invention, the method provided by the embodiment of the invention is described in detail below by using specific embodiments. The following detailed description is divided into five aspects, the first of which is an overall introduction, and the other four of which are the four core portions of the present invention.
1. And (5) overall introduction.
The invention is mainly applied to a train autonomous operation control system (TACS), and adopts a decentralization mode to realize the function of negotiating line resources in the running process of multiple trains, thereby supporting flexible grouping of the multiple trains in the running process. The key of line resource negotiation of a train autonomous operation control system (TACS) is that a plurality of trains in a required area all recognize that a certain train is a pilot train, and other trains in a virtual linking group are managed (namely, the content of a later log copying part) by the pilot train according to a scheduling instruction, so that the dynamic consistency consensus of the virtual linking group can be always maintained in the operation process. The train control vehicle-mounted equipment may crash, power off and be incapable of reading and writing; the network between trains may lose packets, delay, network split; the virtual linking group needs to complete acceleration, deceleration, uniform speed and idle running of the virtual linking group under the line environment adapting to gradient, curve radius and turnout forward/lateral direction; the members of the virtual linked group may change, i.e., the size of the entire system may increase or decrease to some extent. Therefore, while the TACS system realizes line resource negotiation, more improvement of fault tolerance of the system is required, and safety and usability of the system under various conditions are ensured.
In the above scheme of the embodiment of the invention, after the pilot vehicle is selected, the pilot vehicle commands the following vehicle to execute the related scheduling instruction, so that the invention can be regarded as a rail transit train operation control system constructed by adopting a decentralised network structure as a whole, is a train operation control system in a small range, can be applied to the existing train operation control system, and improves the train operation efficiency in the small range under the condition of not changing the existing large system.
In the embodiment of the invention, the time in the multi-train line resource negotiation process is divided into a plurality of periods, and each period is started by train election. After successful auction, a pilot vehicle manages the virtual linking group until the pilot vehicle period is finished (active or passive out of pilot vehicle state). If the election of a certain period fails, i.e. the pilot vehicle is not selected, the election of a new period is restarted. As shown in fig. 2, a sequence diagram of virtual linked group negotiation time periods is illustrated.
The period is used as a logic clock in the resource negotiation process, so that the train can search the past state of the system, for example, search the pilot train of the previous period. Each train stores a current number of cycles and increases monotonically with time. With train-to-train communication, the number of cycles of the train is increasing. If the current cycle number of one train is smaller than the cycle number of other trains, inheriting the log of the train with large cycle number, updating the current cycle number of the train to the cycle number of the train with large cycle number, and if the current cycle number of the train A is cycle 1 and the other trains are cycle 3, updating the current cycle number of the train A to be cycle 3; here, the large cycle number train may be a pilot car or a non-pilot car. If the train receives a request with an expired cycle number flag (i.e. the number of cycles in the request is less than the current number of cycles of the train itself), the request is denied, i.e. any information about the fractional cycle is denied, where the request mainly refers to a voting request received during a pilot vehicle election. If one of the racing vehicles or the pilot vehicle finds that the cycle number of the racing vehicle itself is out of date, the racing vehicle immediately shifts to a following vehicle state, specifically, the racing vehicle can judge whether the cycle number of the racing vehicle itself is out of date according to the received voting request sent by other racing vehicles, and the pilot vehicle can find whether the cycle number is out of date when the virtual link group is interfered (such as member change).
In the embodiment of the invention, the problem of multi-train line resource negotiation is decomposed into four parts of pilot vehicle election, log replication, member change and safety limitation conditions. And the state space is simplified by reducing the number of states to be considered, so that the system is more coherent, and uncertainty is eliminated as much as possible.
In the embodiment of the invention, the line resource negotiates with the target positions of multiple trains, the pilot vehicle is selected to manage the target positions, and the target positions of the trains related to the target positions are mainly obtained after each train executes the relevant log entries and are returned to the dispatching system periodically.
Furthermore, an excitation mechanism is introduced on the basis of realizing train consensus, so that the running efficiency of the inside of the virtual linking group is improved. Overall, the following:
the train consensus mainly means that the virtual linking group keeps dynamic consistency consensus in the running process, namely after the virtual linking group finishes the pilot vehicle election, the pilot vehicle manages the virtual linking group, and a plurality of trains realize pilot vehicle-following vehicle states in a small range.
The train in the regional network selects a pilot vehicle first, and the pilot vehicle is responsible for managing the copied log. The pilot vehicle receives the scheduling instructions from the dispatching system to generate corresponding log entries and copies the logs on other follower vehicles, and simultaneously informs the follower vehicles when it is safe to start applying the log entries. Under certain conditions (for example, when the virtual linking group needs emergency braking when the vehicle-to-ground communication is lost), the pilot vehicle can decide to place new log entries in the log without consulting the operation and regulation system, and autonomously manage the whole virtual linking group. The pilot may also actively or passively exit the pilot state due to a scheduled operation or failure, at which time the remaining trains will again elect a new pilot.
At any given time, each train is in one of three states: pilot, follower or race cars. Under normal conditions, only one pilot vehicle exists in the virtual linking group, and all other trains are trailing vehicles. The follower vehicles are passive in that they do not place control demands, but rather respond to requests from pilot vehicles and racing vehicles. And processing a dispatching instruction of the operation and control system by the pilot vehicle, and if the operation and control system contacts with the following vehicle, notifying the operation and control system by the following vehicle, and then retransmitting the operation and control system to the pilot vehicle. The competitive vehicle state is mainly used for electing a new pilot vehicle. If a certain following vehicle does not receive the heartbeat packet within a certain time, actively entering an competitive election state and initiating competitive election. The train that gets the most train confirmation in the entire virtual linked group in the election period becomes the new pilot, which will typically keep its role in managing the entire virtual linked group until actively or passively exiting the pilot state. The transition of the three states of the train is shown in fig. 3.
2. And selecting the pilot vehicle.
In the embodiment of the invention, a heartbeat mechanism is used for triggering train election, and the heartbeat packet is a remote message which does not contain log entries. And the pilot vehicle periodically sends heartbeat packets to all the following vehicles, and the virtual linking state of the train virtual linking group is maintained through information in the heartbeat packets. If the following vehicle does not receive any heartbeat packet within a certain time, the following vehicle considers that the pilot vehicle does not exist in the area and starts to enter the state of the racing vehicle, then the racing vehicle increases the cycle number of the following vehicle and votes to the following vehicle, and meanwhile, a voting request is sent to other trains in the area to wait for replies of the other trains. If the election train receives a vote confirmation from a plurality of nodes in the area, the train becomes a pilot train. The specific flow chart is shown in fig. 4.
The switching of the racing car state mainly comprises the following conditions: 1) The election is successful, and the pilot vehicle is formed; 2) If the election fails, another train becomes a pilot vehicle and the election vehicle becomes a following vehicle; 3) If the election fails and the train election is not successful, the next round of election is carried out.
3. And (5) log replication.
In the embodiment of the invention, after the pilot vehicle is selected, the pilot vehicle starts to provide service according to the requirement of the dispatching instruction. Each scheduling instruction contains a command that is executed by the state machine. The pilot appends the scheduling instruction as a new log entry to its own log and then sends the group message in parallel to the other trains within the virtual linked group to replicate the log entry. When the log entry is safely duplicated by other trains in the virtual linked group, the pilot vehicle applies the log entry to its state machine and returns the execution result to the dispatching system. If the following vehicles crash, run slowly and network packets are lost, the pilot vehicle retries for a plurality of times within a certain time by adopting a corresponding strategy until all the following vehicles finally store all the log entries. The log entries generated by the pilot vehicle are numbered in sequence. Each log entry contains the terminology used in creating it and the commands for the state machine. The pilot vehicle decides when it is safe to apply the journal entries to the state machines (e.g., decision making may be made based on receipt of all follower vehicle status information), and the consensus algorithm ensures that submitted journal entries are consistent and will ultimately be executed by the state machines available in each follower vehicle. If a log entry is safe (i.e., the corresponding log entry is executed) for application to the state machine of the lead vehicle and the lead vehicle copies the log entry securely to the following vehicle beyond the set ratio, such log entry is referred to as a committed log entry, and the set ratio may be, for example, 50% or 2/3, although the invention is not limited to a particular value, and in practice, the user may set a particular value based on the actual situation or experience. The pilot tracks the highest number of submitted log entries it knows and embeds that number in future group messages so that other trains can also find this highest number. The following vehicle immediately applies a journal entry to the state machine of the vehicle in sequence when it knows that the journal entry has been committed.
The information of the target position, the target speed and the like can be obtained by each train through executing submitted log entries, and then the information is periodically returned to the dispatching system.
By designing the log mechanism, the logs on different trains can be kept consistent at a high level, so that the behavior of the system is simplified and the system is more predictable.
4. And (5) member change.
In the actual running process, the virtual linking group member may be changed, for example, the virtual linking group needs to be added with a train or exits from the virtual linking group when a certain train fails. It is therefore necessary to set the functionality to automatically alter the virtual linked group and to add security constraints for such operations to the consensus algorithm. The automatic change function of the virtual linking group members can realize a certain degree of self-organization for the TACS system.
In the process of changing the virtual linking group members, if switching from one group configuration to another is performed directly, there is a problem of safety, because different trains can be switched at different times. To ensure security and availability, it is necessary to design a related group configuration change policy. The invention designs the following two group change strategies according to the actual application requirements:
strategy one: a joint consistency is used in combination with the new and old group configuration method.
The group configuration change is divided into two stages, firstly, the virtual linking group is ensured to be switched to the transition group configuration, and the joint consistency algorithm is implemented. Once federation agreement is committed, the system transitions to a new group configuration.
Strategy II: a single node group member change method is used.
I.e. only one train node at a time. Compared with multi-node change, the method has the advantages that most of new and old group configurations are overlapped, and the problem that two pilot vehicles are generated when group members change is avoided. The group member change for correspondingly increasing or decreasing the multiple trains can be completed by executing the single-node change for multiple times.
5. Safety constraints.
The safety constraints are to ensure that each train's own state machine executes exactly the same commands in the same order. For example, when a pilot submits multiple log entries, a certain follower may not be available, and this unavailable follower may be selected as a new pilot in the future and the log entries of the lead pilot may be overlaid with the new log entries, resulting in different state machines possibly executing different command sequences, thus requiring setting of constraints to avoid.
The scheme provided by the embodiment of the invention can be applied to the existing train control system, taking a train autonomous operation control system (TACS) as an example, the TACS system needs to set corresponding safety limits on the pilot train performance, train group configuration, log entry index rules and the like, and the specific setting mode can refer to the conventional technology.
The invention provides a decentralized, strong-consistency and high-availability distributed strategy to realize the function of negotiating line resources in the running process of multiple trains and support the flexible grouping of the multiple trains in the running process. The beneficial effects brought by the scheme of the invention mainly comprise the following aspects:
1. autonomous autonomy of the train control system is realized.
The invention adopts a decentralised network structure to construct a rail transit train operation control system, and large and complex transportation tasks are completed through communication, cooperation and competition behaviors among a plurality of single trains, so that autonomous autonomy of the trains is realized.
2. And the expandability of the train control system is improved.
The running control of the rail transit train is changed into the treatment of multiple concurrency problems of the decentralized distributed system, the expandability of the system is further improved, and flexible linking and unbinding of the train in the running process can be supported through a digital running control platform.
3. And the dynamic consistency of the system is improved.
The invention provides a corresponding dynamic consistency implementation scheme for solving the problem of multi-train line resource negotiation, ensures the dynamic consistency of trains in the system, and ensures the safety, availability and fault tolerance of the system under various conditions.
4. And the digital degree of the railway signal system is improved.
The invention divides the multi-train line resource negotiation process into a plurality of periods, designs train running state conversion logic, sets a state machine safety principle for trains in each running state, virtually hangs train heartbeat packages and log distribution principles in the group, automatically adapts group member change strategies, innovates service logic and improves the digital development degree of a railway signal system.
From the description of the above embodiments, it will be apparent to those skilled in the art that the above embodiments may be implemented in software, or may be implemented by means of software plus a necessary general hardware platform. With such understanding, the technical solutions of the foregoing embodiments may be embodied in a software product, where the software product may be stored in a nonvolatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.), and include several instructions for causing a computer device (may be a personal computer, a server, or a network device, etc.) to perform the methods of the embodiments of the present invention.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims (9)
1. A method for decentralizing trainline resource negotiations, comprising:
in the decentralized regional network, each train selects a pilot vehicle in the current period in the virtual linking group in an competitive manner, and other vehicles are called follower vehicles;
the method comprises the steps that a pilot vehicle receives a dispatching instruction from a dispatching system, generates log entries with corresponding numbers corresponding to the dispatching instruction, and copies the generated log entries into a following vehicle in parallel, and when a state machine of the pilot vehicle can safely execute the log entries and the pilot vehicle safely copies the log entries into the following vehicle exceeding a set proportion, the corresponding log entries are called submitted log entries; sequentially executing submitted log entries by the following vehicles through the state machines according to the sequence; and the pilot vehicle and the following vehicle periodically return the information obtained by executing the corresponding log entries to the operation and regulation system, so that the train line resource negotiation is realized.
2. The decentralized trainline resource negotiation method according to claim 1, wherein the selecting the pilot vehicle of the current period in the virtual linking group by the respective trains through an election mode comprises:
each train is in one of three states: pilot, follower or race cars;
each train judges whether the train receives the heartbeat packet in real time or not, if so, the train is used as a following train;
if the heartbeat packet is not received within the set time, converting to an election vehicle and initiating an election, increasing the cycle number of the election vehicle and voting to the election vehicle, simultaneously sending voting requests to other trains, waiting for replies of the other trains, and if the election vehicle receives the votes of the most trains in the area, forming a pilot vehicle;
if the election vehicle does not receive the votes of the most trains in the area, judging whether a heartbeat packet is received, and if so, converting into a following vehicle; if the heartbeat packet is not received, the election fails, and the election is restarted.
3. The decentralised trainline resource negotiation method of claim 2, wherein in a normal state, only one pilot train is in the virtual hitch group and all other trains are follower trains; the pilot vehicle periodically sends heartbeat packets to all the following vehicles so as to maintain the virtual linking state of the virtual linking group; and if the following vehicle receives the dispatching instruction of the dispatching system, informing the dispatching system, and retransmitting the dispatching system to the pilot vehicle.
4. The decentralised trainline resource negotiation method of claim 1, further comprising: the train which maintains the train communication condition in the decentralised regional network forms a virtual linking group, when the virtual linking group changes, the set joint consistency is adopted to combine with a new and old group configuration method or a single node group member changing method, and the group configuration is updated; the group configuration refers to train composition information in the virtual linking group.
5. The decentralised trainline resource negotiation method of claim 4, wherein the joint agreement combined old and new group configuration method comprises:
dividing group configuration change into two stages, wherein in the first stage, a virtual connection group is switched to a transition group configuration, a joint consistency algorithm is implemented, and then a second stage is entered, and the transition group configuration is switched to a new group configuration; the transition group is configured to be in a preset configuration state.
6. The decentralised trainline resources negotiation method of claim 4, wherein the single-node group membership change method is to add or subtract only one train at a time, and wherein multiple single-node group membership changes are performed when a group membership change involves multiple trains.
7. The decentralised trainline resource negotiation method of any one of claims 1-6, further comprising: the security constraints are set so that the state machines in all trains execute exactly the same committed log entries in the same order.
8. The decentralised trainline resource negotiation method of claim 1, wherein performing the information obtained from the corresponding log entry comprises: target position and target speed information.
9. The decentralised trainline resource negotiation method of claim 1, wherein a blockchain-based consensus algorithm is introduced in implementing trainline resource negotiation; wherein:
performing consensus decision by the trains in the virtual linking group through a block chain-based consensus algorithm to determine whether a state machine of the pilot vehicle can safely execute log entries;
and determining whether the log entry is securely copied to the follower by a blockchain-based consensus algorithm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310899177.9A CN116663852A (en) | 2023-07-21 | 2023-07-21 | Decentralised train line resource negotiation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310899177.9A CN116663852A (en) | 2023-07-21 | 2023-07-21 | Decentralised train line resource negotiation method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116663852A true CN116663852A (en) | 2023-08-29 |
Family
ID=87709989
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310899177.9A Pending CN116663852A (en) | 2023-07-21 | 2023-07-21 | Decentralised train line resource negotiation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116663852A (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019045589A1 (en) * | 2017-08-31 | 2019-03-07 | Siemens Aktiengesellschaft | Blockchain-based real-time control network, real-time control system and real-time control method |
| CN116032934A (en) * | 2023-01-04 | 2023-04-28 | 北京工业大学 | Rail transit network resource allocation method based on blockchain and edge calculation in ad hoc network scene |
-
2023
- 2023-07-21 CN CN202310899177.9A patent/CN116663852A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019045589A1 (en) * | 2017-08-31 | 2019-03-07 | Siemens Aktiengesellschaft | Blockchain-based real-time control network, real-time control system and real-time control method |
| CN116032934A (en) * | 2023-01-04 | 2023-04-28 | 北京工业大学 | Rail transit network resource allocation method based on blockchain and edge calculation in ad hoc network scene |
Non-Patent Citations (3)
| Title |
|---|
| DIEGO ONGARO 等: "In Search of an Understandable Consensus Algorithm (Extended Version)", USENIX ATC’14: PROCEEDINGS OF THE 2014 USENIX CONFERENCE ON USENIX ANNUAL TECHNICAL CONFERNCE, pages 305 - 320 * |
| 韩健: "分布式协议与算法实战 攻克分布式系统设计的关键难题", 机械工业出版社, pages: 75 - 76 * |
| 黄苏苏 等: "Raft共识机制驱动多列车区域资源协商", 中国安全科学学报, vol. 32, no. 12, pages 110 - 117 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR102124927B1 (en) | Method for managing resources and resource management method for virtual connection in autonomous train control system | |
| KR101618077B1 (en) | Control of automatic guided vehicles without wayside interlocking | |
| US11340607B2 (en) | Vehicle external communication method and apparatus, and terminal | |
| CN111105155B (en) | Role-based group unmanned system collaborative task management method | |
| CN103152434A (en) | Leader node replacing method of distributed cloud system | |
| CN111688766B (en) | Automatic sectional route arranging method for high-speed railway complex long-route | |
| US20220250665A1 (en) | Apparatus and method for controlling a railway system | |
| CN113562037A (en) | Distributed autonomous dispatching centralized system supporting multiple turn-back functions | |
| CN114954581B (en) | Track resource control method and device | |
| CN112606881A (en) | Automatic turnout triggering method and device based on vehicle-vehicle communication | |
| CN113157499A (en) | Safe computer platform based on cloud computing | |
| Krueger et al. | Multi-layer event-based vehicle-to-grid (V2G) scheduling with short term predictive capability within a modular aggregator control structure | |
| CN114872767B (en) | Train operation diagram adjusting method and system based on interval unidirectional slow motion | |
| CN110213359A (en) | A kind of car networking networking data delivery system and method based on D2D | |
| CN116489167A (en) | Data synchronization method and system | |
| CN110861681B (en) | Automatic configuration method and device for return rails of rail train | |
| CN116663852A (en) | Decentralised train line resource negotiation method | |
| CN112172879B (en) | Main/standby control center switching method and rail transit comprehensive monitoring system | |
| CN115158408B (en) | Train conflict detection method, train conflict detection device and electronic equipment | |
| EP3058475A1 (en) | Dynamically scalable distributed heterogenous platform relational database | |
| CN115107836B (en) | Degraded train path handover method and system | |
| JP2021517087A (en) | A method for scheduling or controlling the movement of multiple vehicles on a route network | |
| JP5701197B2 (en) | Train information management apparatus and train information management method | |
| CN107783414A (en) | System coordination multi-mode with dynamic fault-tolerant requirement is distributed and switched when running | |
| CN115503795B (en) | Resource application method, system, equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |