A hybrid traffic transmission method and system in a time-sensitive network

Abstract

The present disclosure provides a method and system for transmitting hybrid traffic in a time-sensitive network, relating to the technical field of hybrid traffic transmission, including: constructing a TSN time-sensitive network topology and a directed graph model of time-triggered flows; obtaining a TT flow set and an AVB flow set, and sorting the priorities of the TT flow set and the AVB flow set; performing preliminary scheduling on the sorted TT flow set and the AVB flow set using the ASAP scheduling algorithm, generating time slots after all flows are initially scheduled, determining an initial scheduling plan based on the time slots, and calculating the total worst-case end-to-end delay of all flows in the flow set from the source node to the destination node using network calculations; selecting the flow with the highest priority from the AVB flow set and exchanging it with the flows in the TT flow set, rescheduling, and deleting the AVB flow after the exchange from the AVB flow set; recalculating the total worst-case delay until all AVB flows have participated in the exchange and the optimal scheduling plan is determined. The present disclosure improves the scheduling efficiency of AVB flows.

Description

Technical Field

[0001] The present disclosure relates to the technical field of hybrid traffic transmission, and in particular to a method and system for hybrid traffic transmission in a time-sensitive network. Background Art

[0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art.

[0003] With the continuous increase in production and demand, the requirements for real-time and deterministic information transmission are becoming increasingly stringent. Ethernet, with its high data rate and low cost, offers significant advantages in scalability and compatibility. However, it lacks strict Quality of Service (QoS) guarantees and cannot meet the requirements of high-real-time and security-critical applications. Deterministic networks have strict control requirements for latency, packet loss, and jitter in data transmission. To achieve low-latency, deterministic transmission, the industry has proposed a variety of proprietary network protocols based on standard Ethernet. However, due to technical incompatibilities and poor interoperability of these proprietary protocols, the IEEE Time-Sensitive Networking (TSN) Working Group is working to develop deterministic networking standards to standardize key real-time and security mechanisms in Ethernet, thereby enabling the coexistence of time-sensitive and non-time-sensitive flows on the same Ethernet network.

[0004] TSN (Time-Sensitive Networking) is an extension of standard Ethernet technology with backward compatibility. In TSN, mixed-criticality services are divided into three priority categories based on different Quality of Service (QoS) requirements: time-triggered (TT) services with strict timing constraints, audio-video bridging (AVB) services with bounded latency but relatively relaxed timing requirements, and best-effort (BE) services without timing guarantees. To meet these diverse QoS requirements, TSN implements appropriate mechanisms in switches for each service type: TT services utilize queue isolation and a time-aware shaper (TAS) for deterministic transmission, AVB services utilize a credit-based shaper (CBS) for rate limiting and burst-free transmission, and mixed services utilize preemption mechanisms to improve bandwidth utilization.

[0005] Based on these mechanisms, traffic scheduling determines the routing and timing behavior of data flows through admission control, which is key to ensuring deterministic and real-time transmission in TSN. However, existing research has primarily focused on scheduling TT flows under the TAS mechanism and has not yet fully covered mixed-criticality scenarios where all mechanisms coexist. In such scenarios, flows are typically classified based on their associated applications. For example, control data for an Industrial Automation and Control System (IACS) is mapped as TT flows, while voice messages requiring less than 10 milliseconds of latency and jitter are mapped as AVB flows. After traffic classification is completed, the corresponding flows are cached in predefined output port queues on the switch. According to the IEEE 802.1Qbv standard, there are eight queues on each switch output port: one or more for TT flows, two for AVB flows, and the remaining for BE flows.

[0006] However, statically assigning flow types can lead to a cumulative delay effect for specific types of flows when the output queue overflows. With static priority assignment, if the AVB flow corresponds to a large number of application messages, severe queuing delays or even timeouts can occur. In practice, different applications have different QoS requirements, and flow priorities are often unevenly distributed. If a static priority assignment strategy is adopted, different types of services may experience significantly different delays, with some facing severe queuing delays while others experience almost no backlog. Summary of the Invention

[0007] To address the aforementioned issues, the present disclosure proposes a method and system for hybrid traffic transmission in a time-sensitive network (TSN). Specifically, for the mixed transmission of time-sensitive flows (TT flows), AVB flows, and BE flows in TSN, the CQF mechanism in the TSN system is improved and combined with TAS. This mechanism is applied to the transmission of mixed traffic, temporarily expanding the priority in large-scale data interaction scenarios. This allows the scheduling efficiency of AVB flows to be maximized while maintaining strict scheduling of TT flows.

[0008] According to some embodiments, the present disclosure adopts the following technical solutions:

[0009] A method for transmitting mixed traffic in a time-sensitive network, comprising:

[0010] Build a TSN time-sensitive network topology and a directed graph model of time-triggered flows;

[0011] Obtain TT stream sets and AVB stream sets, and sort the priorities of TT stream sets and AVB stream sets;

[0012] The ASAP scheduling algorithm is used to perform preliminary scheduling on the sorted TT flow set and AVB flow set. After all flows are preliminarily scheduled, time slots are generated and the initial scheduling scheme is determined based on the time slots. The total worst-case delay from the source node to the destination node of all flows in the flow set is calculated using network calculus.

[0013] Select the flow with the highest priority from the AVB flow set and swap it with the flow in the TT flow set, reschedule it and delete the swapped AVB flow from the AVB flow set;

[0014] The worst-case delay is recalculated. Based on the comparison between the recalculated worst-case delay and the previously calculated worst-case delay, it is determined whether the initial scheduling scheme needs to be updated. The flow switching steps are repeated until all AVB flows have participated in the switching.

[0015] According to some embodiments, the present disclosure adopts the following technical solutions:

[0016] A mixed traffic transmission system in a time-sensitive network, comprising:

[0017] Model building module, used to build TSN time-sensitive network topology and directed graph model of time-triggered flow;

[0018] A sorting module is used to obtain the TT stream set and the AVB stream set, and sort the priorities of the TT stream set and the AVB stream set;

[0019] The calculation module is used to perform preliminary scheduling of the sorted TT flow set and AVB flow set using the ASAP scheduling algorithm. After all flows are preliminarily scheduled, time slots are generated, and the initial scheduling scheme is determined based on the time slots. The worst-case end-to-end delay of all flows in the flow set from the source node to the destination node is calculated using network calculations.

[0020] The update module is used to select the flow with the highest priority from the AVB flow set and exchange it with the flow in the TT flow set, reschedule and delete the exchanged AVB flow from the AVB flow set; recalculate the total worst-case delay, and determine whether the initial scheduling plan needs to be updated based on the comparison result of the recalculated total worst-case delay with the previously calculated total worst-case delay. The flow exchange steps are repeated until all AVB flows have participated in the exchange.

[0021] According to some embodiments, the present disclosure adopts the following technical solutions:

[0022] A non-transitory computer-readable storage medium is used to store computer instructions. When the computer instructions are executed by a processor, the method for transmitting mixed traffic in a time-sensitive network is implemented.

[0023] According to some embodiments, the present disclosure adopts the following technical solutions:

[0024] An electronic device includes: a processor, a memory, and a computer program; wherein the processor is connected to the memory, and the computer program is stored in the memory. When the electronic device is running, the processor executes the computer program stored in the memory to enable the electronic device to implement the method for hybrid traffic transmission in a time-sensitive network.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] The present disclosure provides a method for transmitting mixed traffic in a time-sensitive network. The method uses the ASAP scheduling algorithm to perform preliminary scheduling on the sorted TT flow set and AVB flow set, and utilizes a hybrid service scheduling strategy to apply the CQF mechanism to the RC flow. The CQF mechanism uses odd and even queues to cyclically receive and forward RC flows. Each service needs to be sequentially injected into different time slots after sorting. If multiple RC flows arrive at the switch and queue at the same time, only one RC flow is injected into each time slot. After all flows are scheduled, time slots are generated, and the initial scheduling scheme is determined based on the time slots. This method combines TAS and CQF to globally solve the priority adjustment problem between different traffic types, and proposes an adaptive priority adjustment algorithm that can improve scheduling performance by temporarily expanding the priority in large-scale data interaction scenarios. It flexibly determines the adjustment strategy, and can maximize the scheduling efficiency of AVB flows while maintaining strict scheduling of TT flows.

[0027] The present disclosure provides a method for transmitting mixed traffic in a time-sensitive network. This method prioritizes time-sensitive flows by comprehensively considering three indicators: period, deadline, and flow size. The three indicators are comprehensively evaluated using a comprehensive evaluation method from mathematical modeling. The three indicators are first homogenized to distinguish between extremely large and extremely small indicators. The flow deadline is considered an extremely small indicator, while the flow period and size are considered extremely large indicators. The data for each indicator is then standardized using a range variation method. After standardization, the evaluation indicators are weighted, and the time-sensitive flows are sorted according to the weights. The TT flows are then scheduled according to the sorting results. The proposed method for prioritizing flows can make flow sorting more reasonable and significantly improve the success rate of flow scheduling compared to flows sorted using only a single indicator. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings, which constitute a part of the present disclosure, are used to provide a further understanding of the present disclosure. The exemplary embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation to the present disclosure.

[0029] Figure 1 is a schematic diagram of a gating model according to an embodiment of the present disclosure;

[0030] Figure 2 The present invention is a flowchart of a method for transmitting hybrid traffic in a time-sensitive network according to an embodiment of the present invention. DETAILED DESCRIPTION

[0031] The present disclosure will be further described below with reference to the accompanying drawings and embodiments.

[0032] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present disclosure belongs.

[0033] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0034] Example 1

[0035] In one embodiment of the present disclosure, a method for transmitting mixed traffic in a time-sensitive network is provided, including:

[0036] Step 1: Build a TSN time-sensitive network topology and a directed graph model of time-triggered flows;

[0037] Step 2: Obtain the TT stream set and the AVB stream set, and sort the priorities of the TT stream set and the AVB stream set;

[0038] Step 3: Use the ASAP scheduling algorithm to perform preliminary scheduling on the sorted TT and AVB flow sets. After all flows are preliminarily scheduled, time slots are generated and the initial scheduling scheme is determined based on the time slots. Network calculus is then used to calculate the worst-case end-to-end delay from the source node to the destination node for all flows in the flow set.

[0039] Step 4: Select the flow with the highest priority from the AVB flow set and exchange it with the flow in the TT flow set, reschedule it, and delete the exchanged AVB flow from the AVB flow set;

[0040] Step 5: Recalculate the total worst-case delay and determine whether the initial scheduling plan needs to be updated based on the total worst-case delay result. Repeat the flow switching steps until all AVB flows have participated in the switching.

[0041] As an embodiment, the present disclosure provides a hybrid traffic transmission method in a time-sensitive network and proposes a hybrid traffic scheduling method. This method combines TAS and CQF to globally solve the priority adjustment problem between different traffic types and proposes an adaptive priority adjustment algorithm. This algorithm can improve scheduling performance by temporarily expanding priorities in large-scale data interaction scenarios. It also flexibly determines adjustment strategies, enabling the scheduling efficiency of AVB flows to be maximized while maintaining strict scheduling of TT flows. The specific implementation process is as follows:

[0042] Step 1: Build a TSN time-sensitive network topology and a directed graph model of time-triggered flows;

[0043] Specifically, the topology of the TSN network is first modeled as a directed graph G = {V, E}. The vertex set V consists of the terminal device set ES and the switch set SW, expressed as V = ES∪SW. The terminal devices serve as the source and destination nodes of the flow, while the switches only forward the flow. The edge set E represents the data link. The network supports full-duplex transmission, so the data link is directed. For example, two vertices v a ,v b ∈E determines the two links [v a ,v b ] and [v b ,v a ], the transmission rate of each data link is constant, denoted as l.speed.

[0044] According to the different QoS requirements of data transmission, TSN flows are divided into three priorities: TT flow, AVB flow, and BE flow. Assume that the disclosure has calculated the GCL of the output port of each node in the 7 priority queues, that is, the opening and closing time of the TT service gating (called TT window). Each TT flow By octet f i ={src,dst,prd,siz,ddl,pri,route,φ}, where src,dst are the source and destination nodes of the TT stream respectively, prd is the sending period, siz defines the frame size, and ddl is the deadline. pri represents the priority of the stream, and all TT services are set to 7. route represents the transmission path, and φ represents the time slot offset, which is configured by the results of the routing algorithm and the scheduling algorithm. AVB services have the characteristics of long period, multiple data packets, and long data packets, and require a certain delay and jitter. AVB services are divided into Class A and Class B according to the minimum sending interval. Each AVB stream It is defined by an octet, similar to a TT flow. φ represents the flow injection time slot, which is different from the concept of time slot units in the TT wait-free scheduling mechanism. The next step is to prioritize the TT and AVB flows.

[0045] Step 2: Obtain the TT stream set and the AVB stream set, and sort the priorities of the TT stream set and the AVB stream set;

[0046] Specifically, a. TT flow ranking: Current flow ranking algorithms mostly use single metrics such as period, deadline, and flow size for ranking. Therefore, this disclosure comprehensively considers these three metrics: period, deadline, and flow size. Because the three metrics have different dimensions, this disclosure uses a comprehensive evaluation method from mathematical modeling to comprehensively evaluate these three metrics and finally ranks the flows based on the results.

[0047] First, the three indicators are homogenized. It is necessary to distinguish between extremely large indicators and extremely small indicators. Extremely large indicators mean that the larger the value, the better, while extremely small indicators mean that the larger the value, the worse; this concept can be interpreted as the "urgency" of the flow, that is, the larger the value, the more urgent the corresponding situation. Under normal circumstances, the deadline of the flow is the extremely small indicator, and the period and size of the flow are extremely large indicators. After defining the extremely large indicators and extremely small indicators, the range change method is used to standardize the data of each indicator, which can be expressed as follows:

[0048]

[0049] Formula (1) and (2) are the formulas for processing extremely large indicators and extremely small indicators respectively. Among them, x is the initial data, x min is the minimum value of the initial data, x max is the maximum value of the initial data, r is the range of the data, that is, x max -x min .

[0050] After the standardization process is completed, the evaluation indicators are given weights, and the formula is:

[0051]

[0052] Among them, α is the weight, r is the range of the data, that is, x max -x min , m is the number of flow indicators.

[0053] Calculate the weight of each indicator, where m is the number of indicators of the flow. Finally, conduct a comprehensive evaluation of the time-triggered flow, and the total weight of each time-triggered flow is calculated by the linear weighted comprehensive model formula.

[0054]

[0055] Where w is the total weight of the time-triggered flow, prd is the sending period, siz defines the frame size, and ddl is the deadline.

[0056] Based on the above, the flows can be sorted according to the weights, and the time-triggered flows (TT flows) can be scheduled according to this order.

[0057] Furthermore, b. Sorting of AVB flows: For AVB flows, the period and load of AVB flows are significantly greater than those of TT flows. The present disclosure only uses the deadline as an indicator to sort the AVB flows in ascending order. The present disclosure uses the DMS algorithm for sorting. The DMS algorithm is developed on the basis of the RMS algorithm. It weakens the restrictions on the task model in the RMS algorithm and allows the time limit of the task to be less than the period. It statically assigns priority based on the relative deadline of each task in the task set. When applied to flow sorting, it sorts according to the size of the flow deadline. This step will generate an AVB flow set, and the flows in the flow set will be sorted from small to large according to the deadline. The smaller the deadline, the higher its priority.

[0058] Step 3: Use the ASAP scheduling algorithm to perform preliminary scheduling on the sorted TT and AVB flow sets. After all flows are preliminarily scheduled, time slots are generated and the initial scheduling scheme is determined based on the time slots. Network calculus is then used to calculate the total worst-case end-to-end delay from the source node to the destination node for all flows in the flow set.

[0059] After sorting is complete, TT and AVB flows are initially scheduled. This disclosure uses the ASAP algorithm to schedule TT flows. In the ASAP algorithm, frames are scheduled sequentially at the earliest possible offset where the link on their route is idle and the queue is empty. If a frame is not assigned to the same empty queue block as it was on the previous link, the algorithm backtracks and reschedules the previous frame to the next empty queue block. If the last frame is scheduled within the deadline, the flow is successfully scheduled; otherwise, it fails.

[0060] The hybrid flow scheduling strategy proposed in the present disclosure applies the CQF mechanism to RC flows. Priority queues 5 and 6 are set as CQF queues for transmitting RC traffic. The CQF mechanism uses odd and even queues to cyclically receive and forward RC flows. RC flows also need to be sorted by the DMS algorithm, and each service needs to be injected into different time slots sequentially after sorting. If multiple RC flows arrive at the switch and queue at the same time, only one RC flow is injected into each time slot. In this way, the RC flows in the ping-pong queue are assigned to different time slots, which prevents service congestion. Compared with using only the TAS mechanism, the hybrid service scheduling strategy reduces the fine-grained constraint differentiation of RC flows. It uses the RC flow transmission rules specified in the CQF mechanism for time slot injection, and improves the success rate of RC flow scheduling while meeting the TT flow requirements.

[0061] Step 3.1 performs preliminary scheduling on the sorted TT flows and AVB flows. The TT flows are scheduled via priority queues 1 and 2, and the AVB flows are scheduled via CQF queues 5 and 6. The scheduling method uses the As Soon As Possible (ASAP) method.

[0062] After all flows are scheduled in step 3.2, the total delay and scheduling success of all flows are recorded.

[0063] After all flows are scheduled using the ASAP method, a complete timeslot table is generated based on the time slots assigned to the frames of all flows. This table contains which frames are transmitted on which links in each timeslot. Based on this generated timeslot table, an initial scheduling plan is determined. The scheduling plan records the frames that each link needs to transmit in each timeslot.

[0064] Using network calculus to calculate the worst end-to-end delay of all flows from source node to destination node in the flow set, the service time slot will be guaranteed. Offset between time slots Substitute the parameters into the service curve function and we get:

[0065] (5)

[0066] Among them, T GCL For the super cycle, is the time of streaming, The maximum waiting time for the data frame to start transmission within the queue's current super cycle. T,L (t) Describes the conventional service curve of the fluid flow model combined with the TDMA protocol.

[0067]

[0068] Among them, C out is the link transmission rate, T is the period, and L is the transmission duration.

[0069] Taking i as the starting point, all time slots in a super period Tgcl By adding and summing, we can get the output curve of any transmission time slot i

[0070]

[0071] Among them, N m is the number of gated windows of priority queue m within a Tgcl, and its value is equal to T GCL / T m .

[0072] The arrival curve is calculated based on the transmission performance of the switch and the network calculation theory. The service curve obtained from the above Target flow rate f r The maximum delay on the queue at the kth switching node can be expressed as,

[0073]

[0074] The h(α,β) function represents the maximum horizontal deviation Dmax between two curves in network calculation.

[0075] Flow rate f r In its propagation path route i The worst-case end-to-end delay on the network is obtained by summing the maximum delay of the nodes passed from the source node to the destination node and the link propagation delay.

[0076]

[0077] Among them, dst i For r i The destination node, |h| is the route r i The number of nodes on C l is the constant delay on the link. After the calculation is completed, the total end-to-end delay is recorded.

[0078] Step 4: Select the flow with the highest priority from the AVB flow set and swap it with the flow in the TT flow set. Reschedule and delete the swapped AVB flow from the AVB flow set.

[0079] Specifically, the flow with the highest priority in the AVB flow set is first selected, and the flow with the smallest deadline difference in the TT flow set is found for exchange. Then all flows are scheduled and the total worst-case delay is recalculated according to the formula.

[0080] Step 5: Recalculate the total worst-case delay and determine whether the initial scheduling plan needs to be updated based on the total worst-case delay result. Repeat the flow switching steps until all AVB flows have participated in the switching.

[0081] Recalculate the total worst-case delay using formulas (5)-(9). If the current solution is better than the previous best solution, update the current solution to the best solution. Otherwise, keep the priority of the AVB stream unchanged. Repeat the above steps until all the flows in the AVB stream set are traversed.

[0082] After the traversal is completed, the best scheduling transmission plan is generated.

[0083] Example 2

[0084] In one embodiment of the present disclosure, a system for transmitting mixed traffic in a time-sensitive network is provided, including:

[0085] Model building module, used to build TSN time-sensitive network topology and directed graph model of time-triggered flow;

[0086] A sorting module is used to obtain the TT stream set and the AVB stream set, and sort the priorities of the TT stream set and the AVB stream set;

[0087] The calculation module is used to perform preliminary scheduling of the sorted TT flow set and AVB flow set using the ASAP scheduling algorithm. After all flows are preliminarily scheduled, time slots are generated, and the initial scheduling scheme is determined based on the time slots. The worst-case end-to-end delay of all flows in the flow set from the source node to the destination node is calculated using network calculations.

[0088] The update module is used to select the flow with the highest priority from the AVB flow set and exchange it with the flow in the TT flow set, reschedule and delete the exchanged AVB flow from the AVB flow set; recalculate the total worst-case delay, and determine whether the initial scheduling plan needs to be updated based on the comparison result of the recalculated total worst-case delay with the previously calculated total worst-case delay. The flow exchange steps are repeated until all AVB flows have participated in the exchange.

[0089] Example 3

[0090] In one embodiment of the present disclosure, a non-transitory computer-readable storage medium is provided, wherein the non-transitory computer-readable storage medium is used to store computer instructions. When the computer instructions are executed by a processor, the method for transmitting hybrid traffic in a time-sensitive network is implemented.

[0091] Example 4

[0092] In one embodiment of the present disclosure, an electronic device is provided, comprising: a processor, a memory, and a computer program; wherein the processor is connected to the memory, and the computer program is stored in the memory. When the electronic device is running, the processor executes the computer program stored in the memory, so that the electronic device executes the method for hybrid traffic transmission in a time-sensitive network.

[0093] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0094] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0095] Although the above describes the specific implementation methods of the present disclosure in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present disclosure. Those skilled in the art should understand that, based on the technical solution of the present disclosure, various modifications or variations that can be made by those skilled in the art without creative work are still within the scope of protection of the present disclosure.

Claims

1. A method for transmitting mixed traffic in a time-sensitive network, characterized in that: include: Build a TSN time-sensitive network topology and a directed graph model of time-triggered flows; Obtain TT stream sets and AVB stream sets, and sort the priorities of TT stream sets and AVB stream sets; The ASAP scheduling algorithm is used to perform preliminary scheduling on the sorted TT and AVB flow sets. After all flows are preliminarily scheduled, time slots are generated and the initial scheduling scheme is determined based on the time slots. The network calculus is then used to calculate the total worst-case end-to-end delay from the source node to the destination node for all flows in the flow set. Select the flow with the highest priority from the AVB flow set and swap it with the flow in the TT flow set, reschedule it and delete the swapped AVB flow from the AVB flow set; The worst-case delay is recalculated. Based on the comparison between the recalculated worst-case delay and the previously calculated worst-case delay, it is determined whether the initial scheduling scheme needs to be updated. The flow switching steps are repeated until all AVB flows have participated in the switching.

2. The method for transmitting mixed traffic in a time-sensitive network according to claim 1, wherein: Obtain the TSN time-sensitive network topology and time-sensitive flow, and model the TSN time-sensitive network topology as a directed graph model G = {V, E}. The vertex set V consists of the terminal device set ES and the switch set SW, expressed as V = ES∪SW. The terminal devices serve as the source and destination nodes of the flow, while the switches only forward the flow. The edge set E represents the data link. The data link is directional and the transmission rate of each data link is constant.

3. The method for transmitting mixed traffic in a time-sensitive network according to claim 1, wherein: Obtain the TT flow set and the AVB flow set, first prioritize the TT flow set, and prioritize the TT flows by comprehensively considering the three indicators of period, deadline and flow size. Use the comprehensive evaluation method in mathematical modeling to comprehensively evaluate the three indicators. First, homogenize the three indicators and distinguish between extremely large indicators and extremely small indicators. The deadline of the flow is an extremely small indicator, and the period and size of the flow are extremely large indicators. Use the range change method to standardize the data of each indicator. After the standardization is completed, assign weights to the evaluation indicators, sort the TT flows according to the weights, and schedule the TT flows according to the sorting results.

4. The method for transmitting mixed traffic in a time-sensitive network according to claim 1, wherein: For AVB flows, the DMS algorithm is used for priority sorting. The DMS algorithm allows the task deadline to be smaller than the cycle. It statically assigns priorities based on the relative deadlines of each task in the task set to generate an AVB flow set. The flows in the AVB flow set are sorted from small to large in terms of deadline. The flow with a smaller deadline has a higher priority.

5. The method for transmitting mixed traffic in a time-sensitive network according to claim 1, wherein: The ASAP scheduling algorithm is used to perform preliminary scheduling on the sorted TT flow set and AVB flow set, and the CQF mechanism is applied to RC flows using a hybrid service scheduling strategy. The CQF mechanism uses odd and even queues to cyclically receive and forward RC flows. Each service needs to be injected into different time slots sequentially after sorting. If multiple RC flows arrive at the switch and queue at the same time, only one RC flow is injected into each time slot. After all flows are scheduled, time slots are generated, and the initial scheduling plan is determined based on the time slots.

6. The method for transmitting mixed traffic in a time-sensitive network according to claim 1, wherein: The worst-case end-to-end delay of all flows in a flow set from a source node to a destination node is calculated using network calculations, including: substituting guaranteed service time slots and offset parameters between time slots into a service curve function, determining a starting point, summing up the service functions of all time slots within a super period Tgcl, and obtaining an output curve for any transmission time slot; obtaining an arrival curve based on network calculation theory; combining the arrival curve and the service curve; and calculating the maximum delay of the target flow in a queue at a certain switching node. The worst-case end-to-end delay of the flow on its propagation path is obtained by summing the maximum delay of the nodes it passes through from its source node to its destination node and the link propagation delay.

7. The method for transmitting mixed traffic in a time-sensitive network according to claim 1, wherein: The highest-priority stream is selected from the AVB stream set and exchanged with the streams in the TT stream set. The stream is then rescheduled and the exchanged AVB stream is removed from the AVB stream set. This includes: selecting the highest-priority stream in the AVB stream set, finding the stream with the smallest deadline difference in the TT stream set to exchange with it, then scheduling all streams and recalculating the total worst-case delay. If the total worst-case delay is better than the initial scheduling plan, the current plan is updated to the optimal plan. Otherwise, the priority of the AVB stream remains unchanged and the exchange and calculation steps are repeated until all the streams in the AVB stream set are traversed.

8. A hybrid traffic transmission system in a time-sensitive network, characterized in that: Model building module, used to build TSN time-sensitive network topology and directed graph model of time-triggered flow; A sorting module is used to obtain the TT stream set and the AVB stream set, and sort the priorities of the TT stream set and the AVB stream set; The calculation module is used to perform preliminary scheduling of the sorted TT flow set and AVB flow set using the ASAP scheduling algorithm. After all flows are preliminarily scheduled, time slots are generated, and the initial scheduling scheme is determined based on the time slots. The worst-case end-to-end delay of all flows in the flow set from the source node to the destination node is calculated using network calculations. An update module is used to select a flow with the highest priority from the AVB flow set and exchange it with a flow in the TT flow set, reschedule it, and delete the exchanged AVB flow from the AVB flow set; The worst-case delay is recalculated. Based on the comparison between the recalculated worst-case delay and the previously calculated worst-case delay, it is determined whether the initial scheduling scheme needs to be updated. The flow switching steps are repeated until all AVB flows have participated in the switching.

9. A non-transitory computer-readable storage medium, characterized in that The non-transitory computer-readable storage medium is used to store computer instructions. When the computer instructions are executed by the processor, the method for transmitting mixed traffic in a time-sensitive network according to any one of claims 1 to 7 is implemented.

10. An electronic device, characterized in that: include: A processor, a memory, and a computer program; wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory to enable the electronic device to implement a hybrid traffic transmission method in a time-sensitive network as described in any one of claims 1 to 7.

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