Raft共识机制驱动多列车区域资源协商

doi:10.16265/j.cnki.issn1003-3033.2022.12.2590

中国安全科学学报 ›› 2022, Vol. 32 ›› Issue (12): 110-117.doi: 10.16265/j.cnki.issn1003-3033.2022.12.2590

Raft共识机制驱动多列车区域资源协商

黄苏苏¹^,²(), 文韬¹^,^**(), 李鹍³^,⁴, 王琳², 冯浩楠², 蔡柏根¹

¹ 北京交通大学电子信息工程学院,北京 100044
² 中国铁道科学研究院集团有限公司通信信号研究所,北京100081
³ 中国铁道科学研究院集团有限公司标准计量研究所,北京100081
⁴ 中铁检验认证中心有限公司,北京100081

收稿日期:2022-07-14 修回日期:2022-10-11 出版日期:2022-12-28 发布日期:2023-06-28
通讯作者: 文韬
作者简介:
黄苏苏 (1988—),女,江苏南通人,博士研究生,主要研究方向为轨道交通列车运行控制系统。E-mail:10120289@bjtu.edu.cn。
基金资助:
国家重点研发计划项目(2020YFB1313301); 国家自然科学基金资助(62120106011); 国家自然科学基金资助(52172323); 国家自然科学基金资助(U22A2046); 北京市自然科学基金资助(L211004)

Multi-train regional resource negotiation driven by Raft consensus mechanism

HUANG Susu¹^,²(), WEN Tao¹^,^**(), LI Kun³^,⁴, WANG Lin², FENG Haonan², CAI Baigen¹

¹ School of Electronic and Information Engineering, Beijing Jiaotong University, Beijing 100044, China
² Signal & Communication Research Institute, China Academy of Railway Science Co., Ltd., Beijing 100081, China
³ Standards & Metrology Research Institute, China Academy of Railway Science Co., Ltd., Beijing 100081, China
⁴ China Railway Test & Certification Center, Beijing 100081, China

Received:2022-07-14 Revised:2022-10-11 Online:2022-12-28 Published:2023-06-28
Contact: WEN Tao

摘要/Abstract

摘要：

为进一步提高信号系统运行效率,提出一种基于车车通信的列车自主运行系统(TACS)的分散列车线路资源协商方法。从系统结构的角度出发,对比中心化系统和去中心化系统的网络模块度,证明去中心化系统稳定度高,是更适合应用于多智能体协同控制的系统网络结构。以区块链技术中的Raft共识机制为基础进一步设计TACS列车节点状态转换原则,用来描述竞选资源车和资源车交接这2个具体场景;通过虚拟机加端口映射的方式进行性能测试,总结竞选成功概率、竞选周期与超时临界值的关系,结合测试结果和行业标准,给出设置TACS中车车通信超时临界值在 50~100 ms 的建议。结果表明:基于Raft共识机制的多列车资源协商策略能够提高列控系统运行效率和减小对通信系统的时间依赖。

关键词: 共识机制, 资源协商, 多智能体系统(MAS), 去中心化, 区块链技术, 列车自主运行系统(TACS)

Abstract:

In order to further improve the operation efficiency of the signal system, a decentralized train line resource negotiation method based on TACS was proposed. From the perspective of system structure, the network modularity of the centralized system and decentralized system was compared. It was proved that the decentralized system structure had high stability and was more suitable for system network structure of multi-agent system cooperative control. Based on Raft consensus mechanism in blockchain technology, the principle of train node state transition of the decentralized TACS system was designed to descreibe two specific scenarios of campaign leader train and leader train handover. The performance test was carried out by means of virtual machine and port mapping, and the relationship between campaign success probability, campaign cycle and timeout critical value was summarized. Combined with the test results and industry standards, the suggestion of setting the vehicle communication timeout critical value in TACS in 50-100 ms was given. The results show that this multi-train resource negotiation driven by Raft consensus mechanism can improve the operation efficiency of train control system and reduce the time dependence on communication system.

Key words: consensus mechanism, resource negotiation, multi-agent system (MAS), decentralization, blockchain technology, train autonomous circumambulate system(TACS)

黄苏苏, 文韬, 李鹍, 王琳, 冯浩楠, 蔡柏根. Raft共识机制驱动多列车区域资源协商[J]. 中国安全科学学报, 2022, 32(12): 110-117.

HUANG Susu, WEN Tao, LI Kun, WANG Lin, FENG Haonan, CAI Baigen. Multi-train regional resource negotiation driven by Raft consensus mechanism[J]. China Safety Science Journal, 2022, 32(12): 110-117.

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算法	PoW	PoS	PBFT	Raft
原理	拜占庭容错条件下,基于节点的计算工作量自我证明确认结果	拜占庭容错条件下,基于持有超过半数股权的节点表决同意确认结果	拜占庭容错条件下,基于大部分节点投票选举确认结果	故障容错条件下,基于大部分节点投票选举确认结果
区块链种类	公链	公链	联盟链	私链
算法通信复杂度	O(n)	O(n)	O(n²)	O(n)
最大故障和容错节点	51%	51%	N-2f>f	N-f>f
吞吐量	低	较高	高	高
一致性	概率性	概率性	高	高
优点	应用广泛	节能、不易受“规模经济”影响	效率高	模型简单,安全性高
缺点	速度慢、耗能大、对环境不友好	会有无利害关系攻击问题	可扩展性差,不能直接用于公链	不容纳作恶节点,高并发场景下性能差,只适合应用于私有网络

Raft共识机制驱动多列车区域资源协商

Multi-train regional resource negotiation driven by Raft consensus mechanism

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