CN114338775B - 4G/5G wireless transmission method for urban railway vehicle-mounted maintenance terminal - Google Patents
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Abstract
The invention relates to a 4G/5G wireless transmission method of an urban railway vehicle-mounted maintenance terminal, which comprises the following steps: a data acquisition step: the terminal collects data of all equipment of the vehicle in real time; TCP connection: the terminal sends a TCP connection request to a server, and the server receives the request and starts a data receiving service thread; device handshake step: the terminal sends a message with equipment information to the server, when the equipment information is correct, the server returns a command for allowing sending after the equipment information is ready, otherwise, the terminal refuses to receive the command; and a data transmission step: packaging communication data in 1024ms units to generate a packet comprising a time stamp, a channel, a data packet byte number and data, and transmitting one packet at a time when transmitting the data; TCP disconnection step: after the terminal is powered off, the terminal is disconnected with the server, and after the data transmission of the terminal under the condition of non-power-off is completed, the TCP connection is not disconnected and the connection is kept. The invention can avoid the increase of vehicles to enable the ground data receiving center to reach a saturated state.
Description
Technical Field
The invention belongs to the technical field of rail transit, relates to a train information transmission technology, and particularly relates to a 4G/5G wireless transmission method of an urban rail vehicle-mounted maintenance terminal.
Background
Along with the explosive growth of urban rail transit vehicles, subway operation companies urgently need intelligent operation and maintenance systems of urban rail transit vehicle key systems, and the intelligent operation and maintenance systems can efficiently conduct timely diagnosis on vehicle fault analysis and fault prediction. For each key system of the railway vehicle, the first step of realizing intelligent operation and maintenance is to acquire enough real-time data of each key system. Information on a train is transmitted to a ground data receiving center through a 4G/5G communication technology, so that a train ground wireless transmission monitoring system is established.
For analysis of faults of rail vehicles, certain requirements are often set on the density of transmission data, and for some valves or other electrical equipment, the time interval of data points is too long to analyze the cause of the faults well. So, the current communication method often pursues a fast communication frequency, such as 100ms, to update the data once, which results in high requirements on hardware and software performance of the ground data receiving center, and as vehicles increase, the ground data receiving center may reach a saturated state quickly. On the other hand, the existing internet of things protocol is complicated for point-to-point data transmission in the track industry, and the protocol framework can cause partial traffic loss. Meanwhile, specific information transmission cannot be well carried out on data of a CAN communication protocol and a TRDP (real-time Ethernet in vehicle) protocol which are commonly used on a railway vehicle.
Disclosure of Invention
Aiming at the problems that the ground data receiving center reaches a saturated state due to the increase of ground vehicles in the prior art, the invention provides a 4G/5G wireless transmission method of a vehicle-mounted maintenance terminal of an urban railway vehicle, which can avoid the situation that the ground data receiving center reaches the saturated state due to the increase of vehicles, and can well solve the problems of data continuity and integrity by utilizing the characteristics of good signals at urban railway stations and poor signals between stations when the connection is abnormal.
In order to achieve the above purpose, the invention provides a 4G/5G wireless transmission method for an urban railway vehicle-mounted maintenance terminal, which comprises the following steps:
a data acquisition step: the vehicle-mounted maintenance terminal collects data of various devices of the vehicle in real time;
TCP connection: the vehicle-mounted maintenance terminal sends a TCP connection request to a specified port of the server, and the server receives the vehicle-mounted maintenance terminal request and starts a data receiving service thread;
device handshake step: the vehicle-mounted maintenance terminal sends a message with equipment information to the server, when the equipment information is correct, the server returns a command for allowing sending after the equipment information is ready, otherwise, the server refuses to receive data;
and a data transmission step: packaging communication data in 1024ms units to generate a packet comprising a time stamp, a channel, a data packet byte number and data, and transmitting one packet at a time when transmitting the data;
TCP disconnection step: after the vehicle-mounted maintenance terminal is powered off, the vehicle-mounted maintenance terminal is disconnected with the server, and after the data transmission of the non-power-off condition of the vehicle-mounted maintenance terminal is completed, the TCP connection is not disconnected and the connection is kept.
Preferably, in the step of TCP connection, when there are a plurality of vehicle-mounted maintenance terminals requesting TCP connection at the same time, the server starts a data receiving service thread corresponding to the number of vehicle-mounted maintenance terminals.
Preferably, in the data sending step, the vehicle-mounted maintenance terminal automatically packetizes and sends data by using a TCP client streaming protocol mechanism in the process of starting data sending, the server automatically completes data packet splicing by the TCP server streaming protocol, and returns a receiving success command to the vehicle-mounted maintenance terminal after the data is successfully checked, otherwise, sends a receiving failure command.
Preferably, in the data transmission step, the data of each packet includes a plurality of CAN data packets or a plurality of TRDP data packets, wherein each CAN data packet includes a sequence number of 1 byte, an ID of 4 bytes, and CAN bus data content of 8 bytes, and total 13 bytes of content, each TRDP data packet includes a sequence number of 1 byte, an ID of 4 bytes, and TRDP bus data content of X bytes, and the number of bytes of the TRDP bus data content depends on different items.
Further, the method also comprises the step of processing the abnormal data: when the vehicle-mounted maintenance terminal cannot normally communicate with the server in the communication process, the vehicle-mounted maintenance terminal caches the received CAN/TRDP bus data into a circulation buffer zone, when the data volume in the circulation buffer zone reaches the transmission requirement, the vehicle-mounted maintenance terminal initiates data transmission, if the data cannot be transmitted at the moment, the data CAN be continuously cached in the circulation buffer zone until the vehicle-mounted maintenance terminal resumes communication with the server, the buffer data are transmitted to the server in a blank mode in a normal data transmission interval, and the server reorders the data according to the time stamp.
Preferably, in the step of processing the abnormal data, if the vehicle-mounted maintenance terminal cannot establish an effective network connection with the server for a long time, the CAN/TRDP bus data which is received by the vehicle-mounted maintenance terminal last time will cover the old data in sequence in the caching process, and the abnormal event is written into the log system of the vehicle-mounted maintenance terminal.
Preferably, in the step of processing abnormal data, the specific method for inserting the buffer data into the normal data transmission interval to be transmitted to the server is as follows: after the current data transmission is completed within 1024ms of the round, the buffered data is transmitted to the server according to the packets packaged by 1024ms within the rest time of 1024ms of the round, the transmission sequence is based on the principle of last-in first-out, and the rest buffered data is continuously inserted and transmitted in the next 1024ms time period.
Preferably, in the step of processing the abnormal data, before the buffered data is inserted and transmitted, whether the new remaining time is longer than the last successful data transmission time is judged, if so, the packet which is packaged by the last packet of 1024ms of the buffered data is transmitted, and if not, the next 1024ms is waited for the new packaging transmission.
Preferably, in the step of disconnecting the TCP, after the vehicle-mounted maintenance terminal is powered off, when the vehicle-mounted maintenance terminal is disconnected from the server, the server-side data receiving service thread completes data receiving, and after completing data submission, the data receiving service thread is ended, and server resources are released.
Preferably, in the data acquisition step, all data copies acquired by the vehicle-mounted maintenance terminal are stored in an SD card of the vehicle-mounted maintenance terminal.
Compared with the prior art, the invention has the advantages and positive effects that:
(1) The invention overcomes the defect that the existing communication method pursues very fast communication frequency (such as updating data once in 100 ms), and according to the development trend of the 4G/5G technology, the requirement of data density is not met by pursuing the acceleration of the frequency when data transmission is carried out, but the requirement of second-level fault analysis is not met according to the wireless transmission speed capability and the requirement of track traffic on time, and the time interval of transmission is slowed down to 1024ms through reasonable data arrangement, so that the requirements of no packet loss and high data density are met, and the requirements of hardware and software performance of a ground data receiving center are reduced. When data is transmitted, the data is uniformly packed by taking 1024ms as a unit to generate a packet comprising a timestamp, a channel, the byte number of the data packet and the data, the timestamp which is unnecessary to repeatedly appear is compressed by combining the sequence number and other marks, meanwhile, the data packets with different frequencies have a uniform time sequence, the problem that the data bit of a bus and the identity number mark are recognized in sequence before and after the data of different types within 1024ms is solved, and a large timestamp CAN be shared, so that the data processing method is suitable for CAN/TRDP bus type data.
(2) According to the invention, when the communication between the vehicle-mounted maintenance terminal and the server is abnormal, the vehicle-mounted maintenance terminal caches the data in the circulation buffer area, and after the communication is recovered to be normal, the buffer data is inserted and emptied in the normal data transmission interval to be transmitted to the server, so that the continuous transmission processing of the data can be well carried out, the normal data transmission is not influenced during the continuous transmission, the data can be automatically ordered according to the time stamp at the ground data receiving center, and the problems of continuity and integrity of the data are solved.
Drawings
Fig. 1 is a communication timing chart of a normal communication process of a 4G5G wireless transmission method of an urban rail vehicle maintenance terminal according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for wireless transmission of a 4G5G maintenance terminal on board an urban rail vehicle according to an embodiment of the present invention;
fig. 3 is a schematic diagram of data acquisition of a vehicle-mounted maintenance terminal in a 4G5G wireless transmission method of a vehicle-mounted maintenance terminal of an urban railway vehicle according to an embodiment of the invention.
In the figure, 1, a vehicle-mounted maintenance terminal, 2 and a CAN/TRDP bus.
Detailed Description
The present invention will be specifically described below by way of exemplary embodiments. It is to be understood that elements, structures, and features of one embodiment may be beneficially incorporated in other embodiments without further recitation.
In the urban rail vehicles at present, referring to fig. 1, each vehicle may send data of each device (such as traction device, braking device, network device, etc.) to the vehicle-mounted maintenance terminals in the cab at two ends through the CAN bus or TRDP bus, and each vehicle-mounted maintenance terminal collects the data, performs wireless transmission on the ground, and sends the collected data to the ground data receiving center. The various data intervals in the bus often have 1ms or 2ms scheduling intervals, and data transmission is performed with 16ms/32ms/64ms/128ms/256ms/512ms/1024ms as a period.
Referring to fig. 2 and 3, the embodiment provides a wireless transmission method for a vehicle-mounted maintenance terminal 4G/5G of an urban railway vehicle, which comprises the following steps:
s1, data acquisition: the vehicle-mounted maintenance terminal collects data of various devices of the vehicle in real time. Specifically, the data form that on-vehicle maintenance terminal gathered includes CAN bus data and TRDP bus data.
In order to prevent the data read by the server from being lost, in the data acquisition step, all data copies acquired by the vehicle-mounted maintenance terminal are stored in the SD card of the vehicle-mounted maintenance terminal. If the lost data is required to be read, the data stored in the SD card can be read out through terminal maintenance software to carry out subsequent processing.
S2, TCP connection: the vehicle-mounted maintenance terminal sends a TCP connection request to a designated port of the server, and the server receives the vehicle-mounted maintenance terminal request and starts a data receiving service thread.
In the step of TCP connection, when there are a plurality of vehicle-mounted maintenance terminals requesting TCP connection at the same time, the server starts a data receiving service thread corresponding to the number of vehicle-mounted maintenance terminals.
S3, device handshake step: and the vehicle-mounted maintenance terminal sends a message with equipment information to the server, when the equipment information is correct, the server returns a command for allowing sending after the equipment information is ready, and otherwise, the server refuses to receive data.
S4, data transmission: the communication data is packetized in 1024ms units to generate a packet including a time stamp, a channel, the number of bytes of the data packet, and the data, and the packet is transmitted one at a time when the data is transmitted.
Specifically, in the data transmission step, in the process of starting data transmission by the vehicle-mounted maintenance terminal, the data is automatically packaged and transmitted by using a TCP client streaming protocol mechanism, the server automatically completes data packet splicing by the TCP server streaming protocol, and after the data is successfully checked, a successful receiving command is returned to the vehicle-mounted maintenance terminal, otherwise, a failure receiving command is transmitted.
It should be noted that, the vehicle maintenance terminal needs to perform a device handshake step before each data transmission.
S5, TCP disconnection: after the vehicle-mounted maintenance terminal is powered off, the vehicle-mounted maintenance terminal is disconnected with the server, and after the data transmission of the non-power-off condition of the vehicle-mounted maintenance terminal is completed, the TCP connection is not disconnected and the connection is kept.
Specifically, in the step of disconnecting the TCP, after the vehicle-mounted maintenance terminal is powered off, when the vehicle-mounted maintenance terminal is disconnected with the server, the server-side data receiving service thread finishes data receiving, and after data is submitted, the data receiving service thread is finished, and server resources are released.
In the data transmission step, the data of each packet includes a plurality of CAN packets or a plurality of TRDP packets.
Each CAN packet includes a sequence number of 1 byte, an ID of 4 bytes, and CAN bus data contents of 8 bytes (empty complement 0x 00), for a total of 13 bytes (see table 1). When the vehicle-mounted maintenance terminal receives a certain CAN data packet, the CAN data sequence number bit of the packet is added with 1, and the packet is taken as a life signal, so that whether the communication data of the train CAN bus is changed or not CAN be conveniently identified. Each ID number has its own sequence number, which is counted again after each 1024 ms. However, since some ID numbers appear only once in 1024ms, the sequence number is always 0.
TABLE 1
| Serial number (1 byte) | ID (4 bytes) | DATA (8 bytes) |
| 0～0xFF | 00 00 00 00 | 01 02 03 04 05 06 07 08 |
Each TRDP data includes a sequence number of 1 byte, a comID of 4 bytes, and a TRDP bus data content of X bytes (see table 2), the number of bytes of the TRDP bus data content being dependent on different items. When the vehicle-mounted maintenance terminal receives a certain TRDP data packet, the TRDP data sequence number bit of the packet is added with 1, and the TRDP data sequence number bit is used as a life signal, so that whether the TRDP bus data of the train change or not can be conveniently identified. Each comID number has its own sequence number, which is counted again after each 1024 ms. However, since some comID numbers appear only once at 1024ms, then its sequence number is always 0.
TABLE 2
The vehicle-mounted maintenance terminal receives the data sent by the CAN bus as CAN bus communication data, and receives the data sent by the TRDP bus as TRDP bus communication data. The following describes in detail packets generated by packaging CAN bus communication data and TRDP bus communication data in 1024ms units, respectively.
The communication data is CAN bus communication data, and when data transmission is performed, the CAN bus communication data is packed in 1024ms units to generate a packet including a time stamp, a channel, a number of bytes of a data packet, and a plurality of CAN data packets (see table 3). Wherein:
UTC time (timestamp): the vehicle maintenance terminal loads [ s,1970] the current UTC time according to the self time, which is a relative time of 1970, and the unit is seconds.
The channel is as follows: the first path of CAN0 channel is normally used as 0, and the first path of CAN0 channel is normally used as 1 when the first path of CAN0 channel fails.
Number of bytes of data packet: the CAN data packet is a fixed value of 13, i.e. each CAN data packet is followed by 13 bytes, which are mainly TRDP services.
CAN data packet: CAN data received during a 1024ms period.
Because some CAN data packets are updated in 1024ms, a plurality of CAN data packets with the same ID number exist in 1024ms, but the data in the CAN data packets are continuously updated, and only the CAN data packets are required to be arranged backward according to the receiving sequence.
TABLE 3 Table 3
The communication data is TRDP bus communication data, which is performed in the same format as CAN bus communication data, and when data transmission is performed, the TRDP bus communication data is packetized in 1024ms units to generate a packet including a time stamp, a channel, the number of bytes of the data packet, and a plurality of TRDP data packets (see table 4). Wherein:
UTC time (timestamp): the vehicle maintenance terminal loads [ s,1970] the current UTC time according to the self time, which is a relative time of 1970, and the unit is seconds.
The channel is as follows: the first TRDP0 channel is normally used as 0, and the first TRDP1 channel is used as 1 when the first TRDP0 channel fails.
Number of bytes of data packet: this bit CAN packet is a fixed value of 13, but the on-board maintenance terminal is required to perform the judgment and fill this bit value for the TRDP packet.
TRDP data packet: CAN data received during a 1024ms period.
Since there are several packets of the same comID number TRDP packet within 1024ms, the same comID number is updated continuously, and only the TRDP packet is required to be arranged backward in the receiving order. Since the single comID data update period of the TRDP packet is shorter than that of the CAN packet, the data size CAN be improved by about 6 times, and the relevant receiving mechanism CAN be reserved according to the specific application, for example, the data received by the TRDP is defined as being updated about 50ms at the fastest time in the vehicle-mounted maintenance terminal.
TABLE 4 Table 4
Because the urban rail industry has a section with a 4G/5G signal difference, but the 4G/5G signal in each station is guaranteed to a certain extent, abnormal data transmission processing is required. The wireless transmission method of the embodiment further includes an abnormal data processing step: when the vehicle-mounted maintenance terminal cannot normally communicate with the server in the communication process, the vehicle-mounted maintenance terminal caches the received CAN/TRDP bus data into a circulation buffer zone, when the data volume in the circulation buffer zone reaches the transmission requirement, the vehicle-mounted maintenance terminal initiates data transmission, if the data cannot be transmitted at the moment, the data CAN be continuously cached in the circulation buffer zone until the vehicle-mounted maintenance terminal resumes communication with the server, the buffer data are transmitted to the server in a blank mode in a normal data transmission interval, and the server reorders the data according to the time stamp. In the abnormal data processing step in this embodiment, when the 4G/5G signal is recovered to be normal, that is, when the vehicle-mounted maintenance terminal and the server recover to communicate, the buffer data is sent to the server by adopting an insertion mode in a normal data sending interval, so that data continuous transmission processing can be well performed, and normal data transmission is not affected.
Specifically, in the step of processing the abnormal data, if the vehicle-mounted maintenance terminal cannot establish effective network connection with the server for a long time, the latest received CAN/TRDP bus data of the vehicle-mounted maintenance terminal CAN sequentially cover old data in the caching process, and the abnormal event is written into the log system of the vehicle-mounted maintenance terminal. After the network is restored, the vehicle-mounted maintenance terminal intelligently transmits the data in the current circulation buffer zone, and cannot retransmit the covered old data.
Specifically, in the step of processing abnormal data, the specific method for inserting the buffer data into the normal data transmission interval to be transmitted to the server is as follows: after the current data transmission is completed within 1024ms of the round, the buffered data is transmitted to the server according to the packets packaged by 1024ms within the rest time of 1024ms of the round, the transmission sequence is based on the principle of last-in first-out, and the rest buffered data is continuously inserted and transmitted in the next 1024ms time period. And table 5 is a time table of data volume sent once by handshaking the vehicle-mounted maintenance terminal and the ground data receiving center equipment. As can be seen from table 5, the direct time required for one transmission is generally within 200ms, and there is time to insert and empty data of a certain packet number, and the remaining buffered data packets continue to be inserted and empty for the next 1024ms period. The ground data receiving center reorders the packets according to the time stamps in the packets.
TABLE 5
| Number of transmitted bytes | Time |
| 9512 | 173ms |
| 9344 | 169ms |
| 9720 | 180ms |
| 9568 | 149ms |
| 9312 | 159ms |
In the step of processing the abnormal data, referring to fig. 3, before the buffered data is inserted and transmitted, it is determined whether the remaining time of the new round is longer than the last successful data transmission time, if so, the packet packed by 1024ms of the last packet of the buffered data is transmitted, and if not, the next 1024ms is waited for the new round of packet transmission.
The above-described embodiments are intended to illustrate the present invention, not to limit it, and any modifications and variations made thereto are within the spirit of the invention and the scope of the appended claims.
Claims (10)
1. A4G/5G wireless transmission method of an urban railway vehicle-mounted maintenance terminal is characterized by comprising the following steps:
a data acquisition step: the vehicle-mounted maintenance terminal collects data of various devices of the vehicle in real time;
TCP connection: the vehicle-mounted maintenance terminal sends a TCP connection request to a specified port of the server, and the server receives the vehicle-mounted maintenance terminal request and starts a data receiving service thread;
device handshake step: the vehicle-mounted maintenance terminal sends a message with equipment information to the server, when the equipment information is correct, the server returns a command for allowing sending after the equipment information is ready, otherwise, the server refuses to receive data;
and a data transmission step: packaging communication data in 1024ms units to generate a packet comprising a time stamp, a channel, a data packet byte number and data, and transmitting one packet at a time when transmitting the data;
TCP disconnection step: after the vehicle-mounted maintenance terminal is powered off, the vehicle-mounted maintenance terminal is disconnected with the server, and after the data transmission of the non-power-off condition of the vehicle-mounted maintenance terminal is completed, the TCP connection is not disconnected and the connection is kept.
2. The urban rail vehicle in-vehicle maintenance terminal 4G/5G wireless transmission method according to claim 1, wherein in the TCP connection step, when there are a plurality of in-vehicle maintenance terminals requesting TCP connection at the same time, the server starts a data reception service thread corresponding to the number of in-vehicle maintenance terminals.
3. The method for wireless transmission of 4G/5G of the urban rail vehicle maintenance terminal according to claim 1, wherein in the step of transmitting data, the vehicle maintenance terminal automatically packetizes and transmits data by using a TCP client streaming protocol mechanism in the process of starting data transmission, the server automatically completes data packet splicing by a TCP server streaming protocol, and returns a reception success command to the vehicle maintenance terminal after the data verification is successful, otherwise, transmits a reception failure command.
4. The urban rail vehicle-mounted maintenance terminal 4G/5G wireless transmission method according to claim 1, wherein in the data transmission step, the data of each packet includes a plurality of CAN data packets or a plurality of TRDP data packets, wherein each CAN data packet includes a serial number of 1 byte, an ID of 4 bytes, and CAN bus data content of 8 bytes, and total 13 bytes, each TRDP data packet includes a serial number of 1 byte, an ID of 4 bytes, and TRDP bus data content of X bytes, and the number of bytes of TRDP bus data content depends on different items.
5. The urban rail vehicle-mounted maintenance terminal 4G/5G wireless transmission method according to claim 1, further comprising an abnormal data processing step of: when the vehicle-mounted maintenance terminal cannot normally communicate with the server in the communication process, the vehicle-mounted maintenance terminal caches the received CAN/TRDP bus data into a circulation buffer zone, when the data volume in the circulation buffer zone reaches the transmission requirement, the vehicle-mounted maintenance terminal initiates data transmission, if the data cannot be transmitted at the moment, the data CAN be continuously cached in the circulation buffer zone until the vehicle-mounted maintenance terminal resumes communication with the server, the buffer data are transmitted to the server in a blank mode in a normal data transmission interval, and the server reorders the data according to the time stamp.
6. The method for wireless transmission of 4G/5G of an on-board maintenance terminal for an urban rail vehicle according to claim 5, wherein in the step of processing the abnormal data, if the on-board maintenance terminal cannot establish an effective network connection with the server for a long time, the CAN/TRDP bus data received by the on-board maintenance terminal last will sequentially cover the old data during the buffering process, and the abnormal event is written into the log system of the on-board maintenance terminal.
7. The method for wireless transmission of 4G/5G for an on-board maintenance terminal of an urban rail vehicle according to claim 5, wherein in the step of processing abnormal data, the specific method for transmitting the buffered data to the server by inserting a null in a normal data transmission interval is as follows: after the current data transmission is completed within 1024ms of the round, the buffered data is transmitted to the server according to the packets packaged by 1024ms within the rest time of 1024ms of the round, the transmission sequence is based on the principle of last-in first-out, and the rest buffered data is continuously inserted and transmitted in the next 1024ms time period.
8. The method for wireless transmission of 4G/5G for a maintenance terminal on a vehicle of an urban rail vehicle according to claim 7, wherein in the step of processing abnormal data, before inserting and transmitting the buffered data, it is determined whether the remaining time of the new round is longer than the last successful transmission data time, if so, the packet packed by 1024ms of the last packet of the buffered data is transmitted, and if not, the next 1024ms of the buffered data is waited for the new round to be transmitted.
9. The method for wireless transmission of 4G/5G of an urban rail vehicle on-board maintenance terminal according to claim 1, wherein in the step of disconnecting the TCP, when the on-board maintenance terminal is disconnected from the server after the on-board maintenance terminal is powered off, the server-side data receiving service thread completes data receiving, and after completing data submission, the data receiving service thread ends, and server resources are released.
10. The urban rail vehicle in-vehicle maintenance terminal 4G/5G wireless transmission method according to any one of claims 1 to 9, wherein in the data acquisition step, all data copies acquired by the in-vehicle maintenance terminal are stored in the SD card of the in-vehicle maintenance terminal.
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| CN111628908A (en) * | 2020-05-19 | 2020-09-04 | 西安翔迅科技有限责任公司 | TRDP protocol data acquisition and analysis device and method |
| CN111787125A (en) * | 2020-08-05 | 2020-10-16 | 安徽江淮汽车集团股份有限公司 | Information interaction system and method |
| CN112269327A (en) * | 2020-10-19 | 2021-01-26 | 广州通达汽车电气股份有限公司 | Method and system for realizing remote diagnosis and controlling vehicle |
| CN112436948A (en) * | 2020-11-12 | 2021-03-02 | 中国铁道科学研究院集团有限公司 | Train Ethernet card based on TSN and data receiving and transmitting method |
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