Time delay calculation method based on NearLink-TSN residence time compensation

Abstract

The invention relates to a time delay calculation method based on NearLink-TSN residence time compensation, and belongs to the technical field of vehicle sensor time synchronization, and the method comprises the steps: obtaining a plurality of pieces of time information of message receiving and transmitting of a TSN master clock and a TSN slave clock, the TSN master clock and the TSN slave clock receiving and transmitting messages through NearLink; the residence time of the message in the NearLink is calculated based on the TSN converter on the equipment side; and determining the transmission delay of the TSN system according to the multiple pieces of time information and the residence time information. The invention solves the technical problem that in the prior art, in a NearLink and TSN fusion network, when a TSN time synchronization message is transmitted through the NearLink, a time delay measurement method of an IEEE802.1 AS standard may generate a large calculation error, and a deviation exists between a measured value and an actual value of path transmission time delay, so that the time synchronization precision of the TSN is low.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle sensor time synchronization, and in particular to a delay calculation method based on NearLink-TSN dwell time compensation. Background Art

[0002] Vehicle sensor time synchronization technology refers to the use of precise time synchronization mechanisms to ensure that multiple sensor nodes on a vehicle can maintain time consistency in order to achieve efficient data collection and processing. This technology is particularly important in intelligent transportation systems, self-driving cars, and Internet of Vehicles applications. One of the key challenges of sensor time synchronization technology is how to deal with the time delay differences between sensor nodes. These differences may be caused by factors such as sensor locations, different signal transmission paths, and communication network delays. In order to solve these problems, various technologies and protocols have been proposed and applied.

[0003] Among them, the technology based on time-sensitive network (TSN) is one of the widely adopted solutions. Time-sensitive network is one of the wired transmission technologies for the industrial Internet to achieve low latency, high reliability and deterministic transmission. TSN uses precise clock synchronization and traffic scheduling mechanisms to ensure real-time transmission of data in the network and support strict control of latency and bandwidth. By deploying TSN in the vehicle network, the time of multiple sensor nodes can be effectively synchronized and ensure that they can coordinate and cooperate when performing tasks. The large bandwidth, low latency and high reliability characteristics of Huawei's NearLink network can meet the wireless connection requirements of vehicle equipment and provide stable and reliable wireless transmission technology for the vehicle local network. Therefore, the fusion of NearLink and TSN is an important foundation for realizing the wirelessization of vehicle local networks in the future.

[0004] The TSN network uses the 802.1AS protocol developed by IEEE to achieve strict time synchronization. The delay measurement method used by the IEEE802.1AS protocol is based on the symmetry of the transmission path between the master and slave clocks and the small transmission jitter. However, in the NearLink and TSN fusion network, when the TSN time synchronization message is transmitted through the NearLink, the upstream and downstream transmissions of the NearLink are not symmetrical, and there may be large transmission jitter on the wireless side. Therefore, the delay measurement method of the IEEE802.1AS standard may produce large calculation errors, resulting in deviations between the measured value of the path transmission delay and the actual value, resulting in the time synchronization accuracy of the TSN not meeting the requirements. Summary of the invention

[0005] In view of this, it is necessary to provide a delay calculation method based on NearLink-TSN residence time compensation to solve the technical problem that in the prior art, in a NearLink and TSN fusion network, when the TSN time synchronization message is transmitted through NearLink, the IEEE802.1AS standard delay measurement method may produce a large calculation error, resulting in a deviation between the measured value of the path transmission delay and the actual value, thereby causing low TSN time synchronization accuracy.

[0006] In order to solve the above problems, the present invention provides a delay calculation method based on NearLink-TSN residence time compensation, comprising: Obtain multiple time information of messages sent and received by the TSN master clock and the TSN slave clock, wherein the TSN master clock and the TSN slave clock send and receive messages via NearLink; Obtain the residence time of the message in NearLink calculated by the TSN converter on the device side; The transmission delay of the TSN system is determined based on the multiple time information and the residence time information.

[0007] In a possible implementation, the acquiring of multiple time information of messages sent and received by the TSN master clock and the TSN slave clock includes: Obtain the sending and receiving time of message interaction between at least two groups of TSN master clocks and TSN slave clocks; wherein the sending and receiving time of the message interaction includes the sending time of the TSN master clock sending the first message, and includes the receiving time of the TSN slave clock receiving the first message.

[0008] In a possible implementation, obtaining the sending and receiving time of message interactions between at least two groups of TSN master clocks and TSN slave clocks includes: Obtain a first sending time when the TSN master clock sends a first message via NearLink, and obtain a first receiving time when the TSN slave clock receives the first message; A second reception time when the TSN master clock receives the second message sent by the TSN slave clock via the NearLink is obtained, and a third message sent by the TSN slave clock via the NearLink is obtained, wherein the third message includes the second sending time of the second message.

[0009] In a possible implementation, determining the transmission delay of the TSN system according to the multiple time information and the residence time information includes: Determine a first corrected receiving time according to a difference relationship between the first receiving time and the dwell time information; Determine a second corrected receiving time according to a difference relationship between the second receiving time and the dwell time information; Determining a revised receiving and sending time of a first group of message interactions according to the first revised receiving time; and determining a revised receiving and sending time of a second group of message interactions according to the second revised receiving time; The transmission delay of the TSN system is determined according to the mean relationship between the corrected sending and receiving time of the first group of message interactions and the corrected sending and receiving time of the second group of message interactions.

[0010] In a possible implementation, determining the transmission delay of the TSN system according to the mean relationship between the corrected sending and receiving time of the first group of message interactions and the corrected sending and receiving time of the second group of message interactions includes: Determine a first difference according to a difference between the first corrected receiving time and the first sending time; Determine a second difference according to the difference between the second corrected receiving time and the second sending time; The transmission delay of the TSN system is determined according to the mean relationship between the first difference and the second difference.

[0011] In a possible implementation, the method further includes: determining a local time adjusted by a TSN slave clock according to a transmission delay and a residence time, including: According to the transmission delay, determine the correction time that should be adjusted after the message is written into the slave clock; Determine the local time based on the dwell time and the correction time.

[0012] In a possible implementation, the local time may be expressed by the following formula:

[0013] in, is the local time, is the time before the slave clock is corrected, is the transmission delay, For the dwell time.

[0014] In a second aspect, the present invention further provides a delay calculation device based on NearLink-TSN residence time compensation, comprising: An acquisition module is used to acquire multiple time information of messages sent and received by the TSN master clock and the TSN slave clock, wherein the TSN master clock and the TSN slave clock send and receive messages via NearLink; The residence time acquisition module is used to obtain the residence time of the message in NearLink calculated by the TSN converter on the device side; The transmission delay determination module is used to determine the transmission delay of the TSN system according to multiple time information and residence time information.

[0015] In a third aspect, the present invention further provides an electronic device, comprising: a processor and a memory; The memory stores a computer-readable program executable by the processor; When the processor executes the computer-readable program, the steps in the delay calculation method based on NearLink-TSN residence time compensation as described above are implemented.

[0016] In a fourth aspect, the present invention further provides a computer-readable storage medium storing one or more programs, which can be executed by one or more processors to implement the steps in the delay calculation method based on NearLink-TSN residence time compensation as described above.

[0017] The beneficial effects of the present invention are: first, multiple time information of the TSN master clock and the TSN slave clock for sending and receiving messages is obtained, wherein the TSN master clock and the TSN slave clock send and receive messages via NearLink; and the residence time of the message in NearLink is calculated based on the TSN converter on the device side; finally, the transmission delay of the TSN system is determined according to the multiple time information and the residence time information; the transmission delay of the NearLink-TSN path is reduced to solve the accuracy problem of time synchronization of sensors through wireless connections, thereby determining the local time adjusted by the TSN slave clock according to the transmission delay and the residence time. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of a delay measurement method in the prior art of the present invention; Figure 2 A method flow chart of an embodiment of a delay calculation method based on NearLink-TSN residence time compensation provided by the present invention; Figure 3 A structural schematic diagram of an embodiment of a delay measurement method in a delay calculation method based on NearLink-TSN residence time compensation provided by the present invention; Figure 4 A method flow chart of an embodiment of step S203 in the delay calculation method based on NearLink-TSN residence time compensation provided by the present invention; Figure 5 is a schematic diagram of an embodiment of a delay calculation device based on NearLink-TSN residence time compensation provided by the present invention; Figure 6 It is a schematic diagram of the operating environment of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0019] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0020] In the prior art, most vehicle sensors are connected to the vehicle Ethernet and CAN bus through wired connections, and the time synchronization between the sensor and the master clock is achieved through the traditional PTP time synchronization protocol.

[0021] The solution of the present invention is based on Huawei's NearLink technology, combined with the delay calculation method of residence time compensation, to achieve high-precision time synchronization in the fusion network of NearLink and time-sensitive network (TSN). Time-sensitive network (TSN) is one of the wired transmission technologies for the industrial Internet to achieve low latency, high reliability and deterministic transmission. The large bandwidth, low latency and high reliability characteristics of the NearLink network can meet the wireless connection requirements of vehicle equipment and provide a stable and reliable wireless transmission technology for the vehicle local network. Therefore, the fusion of NearLink and TSN is an important foundation for realizing the wirelessization of vehicle local networks in the future.

[0022] The TSN network uses the 802.1AS protocol developed by IEEE to achieve strict time synchronization. The basic process is as follows: each clock in the same domain executes the best master clock algorithm (BMCA), and selects the clock with the best performance as the master clock based on the performance parameters of each clock. After the BMCA is executed, the connection relationship and connection tree between the clocks are determined, and the role of each clock is determined to be the master clock or the slave clock. After the master clock is determined, the master clock will periodically send time synchronization messages. After receiving the synchronization message, the slave clock corrects the local time to the time in the synchronization message, so as to achieve the purpose of keeping the time of the master and slave clocks consistent.

[0023] Specifically, after the master clock sends a time synchronization message, the message needs to go through a certain transmission delay before it can reach the slave clock. Therefore, it is necessary to measure the transmission delay to compensate for the synchronization time. The delay measurement method used by the IEEE802.1AS protocol is as follows: Figure 1As shown: the master clock sends a Sync message and records the time t1; the slave clock receives the Sync message and records the time t2 when the Sync message is received. After the master clock sends the Sync message, it immediately sends a Follow_up message, which carries t1. After the slave clock receives the Follow_up message, it obtains t1. The slave clock sends a Delay_req delay measurement request message and records the sending time t3; after the master clock receives the Delay_req message, it records the receiving time t4 and sends a Delay_resp delay measurement response message, which carries t4. After the slave clock receives the Delay_resp message, it has four times t1, t2, t3, and t4 locally, so the transmission delay between the master and slave clocks is calculated as: (1) Calculate the time offset between the master and slave clocks as: (2) Substituting formula (1) into formula (2), we get (3) The time to which the slave clock should be adjusted is: (4) in is the local time of the slave clock. So far, the delay measurement is completed.

[0024] Through the delay measurement method, the transmission delay between the master and slave clocks is calculated, and the time offset between the master and slave clocks is compensated, so as to calculate the precise time value that the slave clock should be adjusted to; then, the time of the slave clock is adjusted to make the time of the master and slave clocks consistent. The key premise for the above delay measurement method to be valid is that the delay from the master clock to the slave clock is equal to the delay from the slave clock to the master clock.

[0025] The delay measurement method used by the IEEE802.1AS protocol is based on the symmetry of the transmission path between the master and slave clocks and the small transmission jitter. However, in the NearLink and TSN converged network, when the TSN time synchronization message is transmitted through the NearLink, the upstream and downstream transmissions of the NearLink are not symmetrical, and there may be large transmission jitter on the wireless side. Therefore, the delay measurement method of the IEEE802.1AS standard may produce large calculation errors, resulting in deviations between the measured value of the path transmission delay and the actual value, resulting in the TSN time synchronization accuracy not meeting the requirements.

[0026] Therefore, a specific embodiment of the present invention discloses a delay calculation method based on NearLink-TSN residence time compensation, which is applicable to TSN time synchronization of NearLink and TSN fusion network, please refer to Figure 2 ,include: S201, obtaining multiple time information of the TSN master clock and the TSN slave clock sending and receiving messages, wherein the TSN master clock and the TSN slave clock send and receive messages via NearLink; S202, calculating the residence time of the message in NearLink based on the TSN converter on the device side; S203: Determine the transmission delay of the TSN system according to the multiple time information and the residence time information.

[0027] In this embodiment, first, multiple time information of the TSN master clock and the TSN slave clock sending and receiving messages is obtained, wherein the TSN master clock and the TSN slave clock send and receive messages via NearLink; and the residence time of the message in NearLink is calculated based on the TSN converter on the device side; finally, the transmission delay of the TSN system is determined based on the multiple time information and the residence time information; the transmission delay of the NearLink-TSN path is reduced to solve the accuracy problem of time synchronization of sensors through wireless connections, so as to determine the local time adjusted by the TSN slave clock based on the transmission delay and the residence time.

[0028] It should be noted that in step S201, the messages sent and received by the TSN master clock and the TSN slave clock generally refer to data messages used in the synchronization process. Sync messages are used to transmit data between different systems or devices to keep their states synchronized or consistent. Specifically, the Sync message may contain specific synchronization commands, data updates or confirmation information to ensure the correct transmission and update of data between multiple systems. In this embodiment, the data message in the synchronization process is recorded at the time point when the slave clock and the master clock interact, so as to determine the transmission delay based on the time offset between multiple time points.

[0029] In step S102, the residence time of the NearLink is calculated by the device-side TSN translator DS-TT (device-side TSN translator) or the network-side TSN translator NW-TT (network TSN translator) and filled into the message. When the message enters the NearLink, the DS-TT or NW-TT writes the entry time into the message; when the message leaves the NearLink, the DS-TT or NW-TT records the message departure time, and the departure time minus the entry time is the residence time of the message in the NearLink.

[0030] In some embodiments, the acquiring of multiple time information of messages sent and received by the TSN master clock and the TSN slave clock includes: Obtain the sending and receiving time of message interaction between at least two groups of TSN master clocks and TSN slave clocks; wherein the sending and receiving time of the message interaction includes the sending time of the TSN master clock sending the first message, and includes the receiving time of the TSN slave clock receiving the first message.

[0031] In this embodiment, by obtaining the sending and receiving times of at least two groups of message interactions and determining the delay amount by the average value of the two groups of sending and receiving times, the measurement accuracy of the delay amount can be improved. It can be understood that obtaining more sending and receiving times of message interactions and determining the delay amount by the average method can further improve the measurement accuracy of the delay amount.

[0032] In some embodiments, obtaining the sending and receiving time of message interactions between at least two groups of TSN master clocks and TSN slave clocks includes: Obtain a first sending time when the TSN master clock sends a first message via NearLink, and obtain a first receiving time when the TSN slave clock receives the first message; A second reception time when the TSN master clock receives the second message sent by the TSN slave clock via the NearLink is obtained, and a third message sent by the TSN slave clock via the NearLink is obtained, wherein the third message includes the second sending time of the second message.

[0033] In a specific embodiment, Figure 3 As shown in the figure, the TSN master clock sends a Delay_req delay measurement request to the TSN slave clock. The sending time of the Delay_req message is t1. The message is transmitted through NearLink and TSN. The TSN slave clock receives the Delay_req message at t2. The residence time of the Delay_req message in the NearLink system is The TSN slave clock replies to the delay measurement response message Delay_resp, which carries t2. The sending time of the Delay_resp message is t3, and the residence time of the Delay_resp message in the NearLink is The TSN master clock receives the Delay_resp message at time t4 and obtains t2 from the Delay_resp message. After the Delay_resp message is sent, the TSN slave clock immediately sends a Follow_up message, which carries t3. After receiving the Follow_up message, the TSN master clock obtains t3 from it. So far, the TSN master clock has four time values ​​t1, t2, t3, and t4 locally.

[0034] Furthermore, the above steps may be repeated to obtain two sets of "t1, t2, t3, t4" values ​​locally, thereby determining the delay by the average of multiple sets of time differences, thereby improving the measurement accuracy of the delay.

[0035] In some embodiments, the transmission delay of the TSN system is determined based on the multiple time information and the residence time information. Figure 4 ,include: S401, determining a first corrected receiving time according to a difference relationship between the first receiving time and the residence time information; S402, determining a second corrected receiving time according to a difference relationship between the second receiving time and the residence time information; S403, determining a revised sending and receiving time of a first group of message interactions according to the first revised receiving time; and determining a revised sending and receiving time of a second group of message interactions according to the second revised receiving time; S404: Determine a transmission delay of the TSN system according to a mean relationship between a corrected sending and receiving time of a first group of message interactions and a corrected sending and receiving time of a second group of message interactions.

[0036] In this embodiment, combined with the above specific embodiments, it can be seen that t2 and t4 include the 5G residence time. and , the values ​​of t2 and t4 need to be corrected to calculate the transmission delay of the TSN system. The corrected times are (5) (6) The transmission delay between the TSN master and slave clocks in the TSN system is calculated as (7) Substituting equation (5) and equation (6) into equation (7), we get (8) Furthermore, after calculating the transmission delay of the TSN system, the TSN master clock sends a time synchronization message Sync to the slave clock. The message is transmitted through the NearLink and TSN system. The residence time of the Sync message in the NearLink is When the TSN master clock sends a Sync message, the time to which the slave clock should be adjusted is written in the message. (9) After TSN receives the Sync message from the clock, it writes the Sync message according to the DS-TT or NW-TT. The value of , calculates the time to which the local time should be adjusted (10) Finally, the TSN slave clock adjusts the local time to the calculated The value of can eliminate the deviation between the measured value and the actual value that may be introduced by the NearLink transmission delay and jitter during the delay measurement process, and realize high-precision TSN time synchronization in the NearLink and TSN fusion network.

[0037] Based on the above-mentioned delay calculation method based on NearLink-TSN residence time compensation, the embodiment of the present invention also provides a delay calculation device 500 based on NearLink-TSN residence time compensation, please refer to Figure 5 ,include: An acquisition module 510 is used to acquire multiple time information of a TSN master clock and a TSN slave clock sending and receiving messages, wherein the TSN master clock and the TSN slave clock send and receive messages via a NearLink; The residence time acquisition module 520 is used to calculate the residence time of the message in the NearLink based on the device-side TSN converter; The transmission delay determination module 530 is used to determine the transmission delay of the TSN system according to the multiple time information and the residence time information.

[0038] like Figure 6 As shown, based on the above-mentioned delay calculation method based on NearLink-TSN residence time compensation, the present invention also provides an electronic device, which can be a computing electronic device such as a mobile terminal, a desktop computer, a notebook, a palm computer and a server. The electronic device includes a processor 610, a memory 620 and a display 630. Figure 6 Only some components of the electronic device are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0039] In some embodiments, the memory 620 may be an internal storage unit of the electronic device, such as a hard disk or memory of the electronic device. In other embodiments, the memory 620 may also be an external storage electronic device of the electronic device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device. Further, the memory 620 may also include both an internal storage unit of the electronic device and an external storage electronic device. The memory 620 is used to store application software and various types of data installed in the electronic device, such as program codes for installing the electronic device. The memory 620 may also be used to temporarily store data that has been output or is to be output. In one embodiment, a delay calculation program 640 based on NearLink-TSN residence time compensation is stored on the memory 620, and the delay calculation program 640 based on NearLink-TSN residence time compensation can be executed by the processor 610, thereby realizing the delay calculation method based on NearLink-TSN residence time compensation in each embodiment of the present application.

[0040] In some embodiments, the processor 610 may be a central processing unit (CPU), a microprocessor or other data processing chip, used to run program codes or process data stored in the memory 620, such as executing a delay calculation method based on NearLink-TSN residence time compensation.

[0041] In some embodiments, the display 630 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 630 is used to display information of the delay calculation electronic device based on NearLink-TSN dwell time compensation and to display a visual user interface. The components 610-630 of the electronic device communicate with each other via a system bus.

[0042] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0043] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A delay calculation method based on NearLink-TSN residence time compensation, characterized in that: include: Obtain multiple time information of messages sent and received by the TSN master clock and the TSN slave clock, wherein the TSN master clock and the TSN slave clock send and receive messages via NearLink; Obtain the residence time of the message in NearLink calculated by the TSN converter on the device side; The transmission delay of the TSN system is determined based on the multiple time information and the residence time information.

2. The delay calculation method based on NearLink-TSN residence time compensation according to claim 1, characterized in that: The obtaining of multiple time information of the TSN master clock and the TSN slave clock for sending and receiving messages includes: Obtain the sending and receiving time of message interaction between at least two groups of TSN master clocks and TSN slave clocks; wherein the sending and receiving time of the message interaction includes the sending time of the TSN master clock sending the first message, and includes the receiving time of the TSN slave clock receiving the first message.

3. The delay calculation method based on NearLink-TSN residence time compensation according to claim 2, characterized in that: The obtaining of the sending and receiving time of the message interaction between at least two groups of TSN master clocks and TSN slave clocks includes: Obtain a first sending time when the TSN master clock sends a first message via NearLink, and obtain a first receiving time when the TSN slave clock receives the first message; A second reception time when the TSN master clock receives the second message sent by the TSN slave clock via the NearLink is obtained, and a third message sent by the TSN slave clock via the NearLink is obtained, wherein the third message includes the second sending time of the second message.

4. The delay calculation method based on NearLink-TSN residence time compensation according to claim 3 is characterized in that: The determining of the transmission delay of the TSN system according to the multiple time information and the residence time information includes: Determine a first corrected receiving time according to a difference relationship between the first receiving time and the dwell time information; Determine a second corrected receiving time according to a difference relationship between the second receiving time and the dwell time information; Determining a revised receiving and sending time of a first group of message interactions according to the first revised receiving time; and determining a revised receiving and sending time of a second group of message interactions according to the second revised receiving time; The transmission delay of the TSN system is determined according to the mean relationship between the corrected sending and receiving time of the first group of message interactions and the corrected sending and receiving time of the second group of message interactions.

5. The delay calculation method based on NearLink-TSN residence time compensation according to claim 4, characterized in that: The determining the transmission delay of the TSN system according to the mean relationship between the corrected sending and receiving time of the first group of message interactions and the corrected sending and receiving time of the second message interaction includes: Determine a first difference according to a difference between the first corrected receiving time and the first sending time; Determine a second difference according to the difference between the second corrected receiving time and the second sending time; The transmission delay of the TSN system is determined according to the mean relationship between the first difference and the second difference.

6. The delay calculation method based on NearLink-TSN residence time compensation according to claim 1, characterized in that: Also includes: Based on the transmission delay and residence time, the local time adjusted by the TSN slave clock is determined, including: According to the transmission delay, determine the correction time that should be adjusted after the message is written into the slave clock; Determine the local time based on the dwell time and the correction time.

7. The delay calculation method based on NearLink-TSN residence time compensation according to claim 6, characterized in that: The local time can be expressed by the following formula: in, is the local time, is the time before the slave clock is corrected, is the transmission delay, For the dwell time.

8. A delay calculation device based on NearLink-TSN residence time compensation, characterized in that: include: An acquisition module is used to acquire multiple time information of messages sent and received by the TSN master clock and the TSN slave clock, wherein the TSN master clock and the TSN slave clock send and receive messages via NearLink; The residence time acquisition module is used to obtain the residence time of the message in NearLink calculated by the TSN converter on the device side; The transmission delay determination module is used to determine the transmission delay of the TSN system according to multiple time information and residence time information.

9. An electronic device, characterized in that: include: Processor and memory; The memory stores a computer-readable program executable by the processor; When the processor executes the computer-readable program, the processor implements the steps in the delay calculation method based on NearLink-TSN residence time compensation as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the delay calculation method based on NearLink-TSN residence time compensation as described in any one of claims 1-7.

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