Convergence gateway of TSN network and AUTBUS network, and terminal node of AUTBUS network

Abstract

The embodiment of the invention provides a convergence gateway of a TSN network and an AUTBUS network and a terminal node of the AUTBUS network. The convergence gateway comprises a TSN module and at least one CN node module of the AUTBUS network, the fusion gateway is connected with the TSN node through a TSN module in the fusion gateway; the CN node module of the fusion gateway is connected with a plurality of terminal TN nodes through an AUTBUS bus; the CN node module of the fusion gateway performs phase alignment according to the time mark provided by the TSN module at fixed time intervals, so that the phases of the AUTBUS network and the TSN network are kept synchronous; and a CN node module of the AUTBUS network is provided with a storage and forwarding model and a flow scheduling mechanism which are the same as those of the TSN network, and is used for scheduling passing messages. According to the embodiment of the invention, the time synchronization of the TSN module of the convergence gateway and the CN node module of the AUTBUS network is realized, the CN node and the TSN node of the AUTBUS adopt the same store-and-forward model and flow scheduling mechanism, and the time certainty of the data flow between the TSN node and the TN node in the end-to-end communication is realized.

Description

Technical Field

[0001] The present application relates to the field of industrial Internet, and in particular to a fusion gateway of a TSN network and an AUTBUS network, and a terminal node of the AUTBUS network. Background Art

[0002] TSN network refers to a real-time network based on traditional Ethernet, which uses high-precision time synchronization, limits transmission delay by ensuring bandwidth, and provides high-level service quality to support various industrial applications. TSN technology is based on the advantages of Ethernet, making its application more and more extensive. TSN consists of a series of technical standards, mainly including clock synchronization, data flow scheduling strategy (i.e., shaper), and TSN network and user configuration related standards.

[0003] AUTBUS technology includes IEC 61158 and IEC 61784 international standards and GB / T 42019-2022 national standards. The above standards have been released and implemented. AUTBUS is a time-sensitive industrial network used to connect edge devices to achieve high-bandwidth, deterministic, strong real-time and highly reliable data transmission. An AUTBUS bus network can support 254 valid nodes, one of which is a control node (CN) and the others are terminal nodes (also known as user nodes, TerminalNode, TN). The control node is responsible for managing, allocating and recycling various system resources, and pushing system configurations to all nodes in real time, allocating communication bandwidth, etc. The AUTBUS bus has the function of high-precision clock synchronization in physical layer synchronization, and can provide deterministic data transmission services for time-sensitive and non-time-sensitive services based on time triggering.

[0004] The applicant has found in actual applications that for large-scale industrial network application systems with a large number of nodes, fast collection and transmission requirements, and high synchronization accuracy requirements, a TSN network and AUTBUS network fusion networking method can be used to construct them. The switching network adopts TSN networking, and the industrial field layer adopts AUTBUS bus networking. The AUTBUS network is connected to the TSN network to meet the requirements of such large-scale industrial network application systems for end-to-end time deterministic communication.

[0005] However, TSN and AUTBUS networks are heterogeneous networks with different working mechanisms. How to achieve time determinism in end-to-end communication of specified business data flows in a heterogeneous system integrating TSN and AUTBUS networks is a technical problem that needs to be solved urgently. Summary of the invention

[0006] In view of this, the embodiments of the present application provide a fusion gateway of a TSN network and an AUTBUS network, and a terminal node of an AUTBUS network. The technical solution of the embodiments of the present application realizes time synchronization between the TSN network and the AUTBUS network. The CN node and the TSN node of the AUTBUS adopt the same storage and forwarding model and traffic scheduling mechanism to realize time determinism of the data flow between the TSN node and the TN node in end-to-end communication.

[0007] In the first aspect, an embodiment of the present application provides a fusion gateway of a TSN network and an AUTBUS network, comprising: a TSN module and at least one control CN node module of an AUTBUS network; the fusion gateway is connected to the TSN node through the TSN module therein; the CN node module of the fusion gateway is connected to multiple terminal TN nodes through the AUTBUS bus; the TSN module of the fusion gateway provides a physical clock source to the control CN node module of the AUTBUS network, and the CN node module performs phase alignment according to the time mark provided by the TSN module at fixed intervals to keep the phase of the AUTBUS network synchronized with that of the TSN network; the CN node module of the AUTBUS network is provided with the same storage and forwarding model and traffic scheduling mechanism as that of the TSN network, which is used to schedule the passing messages so that the data flow between the TSN node and the TN node can achieve time certainty in end-to-end communication.

[0008] From the above, the time synchronization between the TSN module of the fusion gateway and the CN node module of the AUTBUS network is achieved through time stamping, thereby realizing the time synchronization between the TSN network and the AUTBUS network. The CN node and TSN node of AUTBUS adopt the same storage and forwarding model and traffic scheduling mechanism to realize the time determinism of the data flow between the TSN node and the TN node in end-to-end communication.

[0009] In a possible implementation manner of the first aspect, the TSN module included in the converged gateway is connected to the control CN node module of the AUTBUS network via Ethernet.

[0010] From the above, the TSN module of the fusion gateway is connected to the CN node module of the AUTBUS network through Ethernet to achieve broadband time communication between the two, thereby achieving broadband communication between the TSN network and the AUTBUS network.

[0011] In a possible implementation manner of the first aspect, the TSN module included in the converged gateway and the control CN node module of the AUTBUS network are arranged on the same PCB board.

[0012] From the above, by integrating the TSN module of the gateway and the CN node module of the AUTBUS network on the same PCB board, the clock drift between the TSN network and the AUTBUS network can be achieved, thus meeting the requirements of time-sensitive services.

[0013] In a possible implementation manner of the first aspect, the TSN module included in the converged gateway performs time stamping on the control CN node module of each AUTBUS bus in a PPS+TOD manner at the MAC layer of the Ethernet.

[0014] From the above, the TSN module of the fusion gateway uses the PPS+TOD method to time-mark the CN node module of each AUTBUS network, realize microsecond-level phase alignment between the TSN network and the AUTBUS network, and microsecond-level phase alignment of the start time, further meeting the requirements of time-sensitive services.

[0015] In a possible implementation of the first aspect, the CN node module of the AUTBUS network participates in the global scheduling and global resource allocation of the TSN network as a node of the TSN network, and the scheduling period of the AUTBUS network is consistent with the scheduling period of the TSN network.

[0016] From the above, the duration of the scheduling cycle of the AUTBUS network is consistent with the duration of the scheduling cycle of the TSN network. Combined with the priority-based time slice scheduling, the TSN network and the AUTBUS network connected by the fusion gateway can achieve time determinism of end-to-end data transmission.

[0017] In a possible implementation manner of the first aspect, the control CN node module included in the converged gateway is provided with a configuration interface for the TSN network configurator to configure a scheduling period on the AUTBUS network.

[0018] From the above, through the configuration interface provided by the CN node of the AUTBUS network, the CNC of the TSN network configures the scheduling cycle on the AUTBUS network, so that the CNC of the TSN network can uniformly configure the scheduling cycles of the TSN network and the AUTBUS network connected through the fusion gateway.

[0019] In a possible implementation of the first aspect, the scheduling period of the TSN network is set based on the minimum scheduling granularity of the AUTBUS network.

[0020] From the above, the implementation specifically includes: the scheduling period of the TSN network is divided into time slices of each TN node of the AUTBUS network, and the time slice of each TN node is at least equal to the minimum scheduling granularity of the AUTBUS network. The minimum scheduling granularity corresponds to an AUTBUS symbol, so that the scheduling period of the TSN network meets the minimum scheduling granularity of the AUTBUS network.

[0021] In a possible implementation of the first aspect, a network configurator is provided on the control CN node module of the AUTBUS network, which is used to divide the scheduling period configured by the TSN network configurator into multiple time slices and allocate the divided time slices to the TN nodes on the AUTBUS network.

[0022] From the above, the scheduling period configured by the TSN network configurator is the scheduling period of AUTBUS. The scheduling period is configured into multiple time slices and allocated to the TN nodes on the AUTBUS network to realize the resource management of the TN nodes.

[0023] In a possible implementation manner of the first aspect, when destination TN nodes of several data flows of one priority level correspond to different TN nodes of the AUTBUS network respectively, the network configurator on the CN node module configures a time slice for each of the different TN nodes.

[0024] As described above, when the destination TN nodes of several data flows of one priority correspond to different TN nodes of an AUTBUS network respectively, a time slice is configured for each of the different TN nodes to implement scheduling of data flows of the same priority.

[0025] In a possible implementation manner of the first aspect, a time slice of a data stream with the same priority in a scheduling period of the AUTBUS network is greater than or equal to a corresponding time slice in a scheduling period of the TSN network.

[0026] As described above, by configuring the time slice of the data stream with the same priority in the scheduling cycle of the AUTBUS network to be greater than or equal to the corresponding time slice in the scheduling cycle of the TSN network, the data stream with the priority of the TSN network is deterministically scheduled in the AUTBUS network.

[0027] In a possible implementation of the first aspect, when the fusion gateway includes control CN node modules of multiple AUTBUS networks, the scheduling period of each AUTBUS network is the same as the TSN scheduling period, and after receiving the broadcast command from the TSN network, the broadcast command is forwarded in parallel in each AUTBUS network.

[0028] From the above, the scheduling period of each AUTBUS network is the same as the TSN scheduling period, so unified scheduling of each AUTBUS network and TSN network is achieved from the scheduling period.

[0029] In a possible implementation of the first aspect, in the converged gateway, for the data transmission direction from the TSN module to the CN node module, the start time of the scheduling cycle of the TSN module is earlier than the start time of the scheduling cycle of the CN node module, and the transmission delay from the TSN module to the CN node module includes: the line delay between the two and the data processing delay in the TSN module.

[0030] From the above, according to the transmission delay from the TSN module to the CN node module, the start time deviation of the scheduling period of the TSN module and the scheduling period of the CN node module in the data transmission direction from the TSN module to the CN node module is configured to achieve end-to-end deterministic data transmission from the start time of the scheduling period.

[0031] In a possible implementation of the first aspect, in the converged gateway, for the data transmission direction from the CN node module to the TSN module, the start time of the scheduling cycle of the CN node module is earlier than the start time of the scheduling cycle of the TSN module. The transmission delay from the CN node module to the TSN module is: the line delay between the two and the data processing delay in the CN node module.

[0032] From the above, according to the transmission delay from the CN node module to the TSN module, the start time of the scheduling period of the TSN module in the data transmission direction from the CN node module to the TSN module is configured to deviate from the start time of the scheduling period of the CN node module, so as to achieve end-to-end deterministic data transmission from the start time of the scheduling period.

[0033] In a possible implementation manner of the first aspect, the CN node module of the AUTBUS network is further used to implement conversion between AUTBUS messages and TSN messages, including priority conversion and address conversion.

[0034] From the above, the CN node module of the AUTBUS network is also used to realize the conversion between the AUTBUS message and the TSN message, so as to realize the flow mapping and frame mapping between the TSN network and the AUTBUS network connected by the fusion gateway.

[0035] In a possible implementation of the first aspect, the storage and forwarding model set on the CN node module of the AUTBUS network is used to implement flow identification, flow classification and flow storage functions of the AUTBUS message; the traffic scheduling mechanism set on the CN node module of the AUTBUS network is used to implement the flow scheduling function based on the priority and time slice allocation mechanism for the AUTBUS message.

[0036] From the above, the CN node module of the AUTBUS network realizes the functions of incoming flow identification, flow classification and flow storage through the storage and forwarding model, and schedules the messages in each queue based on priority and time slice through the traffic scheduling mechanism, so as to realize the storage and forwarding and traffic scheduling of downlink messages in the AUTBUS network connected by the converged gateway with the same mechanism as the TSN network.

[0037] In a possible implementation of the first aspect, the storage and forwarding model set on the CN node module of the AUTBUS network is specifically used to identify and classify AUTBUS messages, and store the messages in the priority queues corresponding to the corresponding categories according to the categories and priorities of the messages; the traffic scheduling mechanism set on the CN node module of the AUTBUS network is specifically used to schedule the messages in each queue based on the AUTBUS scheduling cycle and the time slices allocated in the AUTBUS scheduling cycle and the queue priority, so as to send the messages in the queue to the destination TN node of the message via AUTBUS.

[0038] From the above, the CN node module of the AUTBUS network identifies and classifies the downstream AUTBUS messages through the downstream storage and forwarding model, and stores them in the corresponding priority queues. The messages in each queue are scheduled based on priority and time slices through the traffic scheduling mechanism, so as to realize the storage and forwarding and traffic scheduling of downstream messages in the AUTBUS network connected by the converged gateway with the same mechanism as the TSN network.

[0039] In the second aspect, an embodiment of the present application provides an AUTBUS terminal node, which is connected to the fusion gateway described in any implementation method of the first aspect of the present application, and is provided with an uplink storage and forwarding model for realizing the flow identification, flow classification and flow storage functions of the AUTBUS message; it is also provided with a traffic scheduling mechanism for realizing the flow scheduling function based on the priority and time slice allocation mechanism for the mapped AUTBUS message.

[0040] From the above, by setting up an uplink storage and forwarding model and a traffic scheduling mechanism at the TN node, the uplink message can be stored and forwarded and traffic scheduling with the same mechanism as the TSN network in the AUTBUS network connected to the converged gateway connected through any implementation method of the first aspect.

[0041] In a possible implementation of the second aspect, the uplink storage and forwarding model is specifically used to identify and classify AUTBUS messages, and store the messages in priority queues corresponding to the corresponding categories according to the categories and priorities of the messages; the traffic scheduling mechanism is specifically used to schedule the messages in each queue based on the AUTBUS scheduling cycle and the time slices and queue priorities allocated in the scheduling cycle, so as to send the messages in the queue to the CN node module in the fusion gateway via AUTBUS.

[0042] From the above, the TN node module identifies and classifies the uplink AUTBUS messages through the uplink storage and forwarding model, and stores them in the corresponding priority queues. The messages in each queue are scheduled based on priority and time slices through the traffic scheduling mechanism, so as to realize the storage, forwarding and traffic scheduling of uplink messages in the AUTBUS network connected to the fusion gateway connected through any implementation method of the first aspect with the same mechanism as the TSN network. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A schematic diagram of the structure of an application scenario of a fusion gateway of a TSN network and an AUTBUS network of the present application; Figure 2 A schematic diagram of the structure of an embodiment of a fusion gateway of a TSN network and an AUTBUS network of the present application; Figure 3 A schematic diagram of the structure of a time synchronization method between a CN node module and a TSN module of a TSN network and AUTBUS network fusion gateway embodiment of the present application; Figure 4 A schematic diagram of the deviation of the start time of the scheduling cycle between the TSN network and the AUTBUS network in an embodiment of a fusion gateway of a TSN network and an AUTBUS network of the present application; Figure 5 A schematic diagram of a storage-and-forwarding model and a traffic scheduling mechanism of a CN node module of an AUTBUS network of an embodiment of a fusion gateway of a TSN network and an AUTBUS bus of the present application; Figure 6 A schematic diagram of the start time deviation of a data stream end-to-end scheduling period in an embodiment of a heterogeneous system integrating a TSN network and an AUTBUS network of the present application. DETAILED DESCRIPTION

[0044] In the following description, reference is made to “some embodiments”, which describe a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0045] In the following description, the terms "first\second\third, etc." or module A, module B, module C, etc. are not only used to distinguish similar objects, or to distinguish different embodiments, but do not represent a specific ordering of the objects. It can be understood that the specific order or sequence can be interchanged where permitted, so that the embodiments of the present application described here can be implemented in an order other than that illustrated or described here.

[0046] In the following description, the numbers representing the steps, such as S110, S120, etc., do not necessarily mean that the steps must be executed in this manner. If permitted, the order of the previous and next steps can be interchanged, or they can be executed simultaneously.

[0047] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0048] The following is an introduction to the terms involved in this application.

[0049] TSN (Time Sensitive Networking) is a real-time network based on traditional Ethernet, which uses high-precision time synchronization, limits transmission delays by ensuring bandwidth, and provides high-level service quality to support various industrial applications. TSN network technology is based on the advantages of Ethernet, making its application more and more extensive. TSN network consists of a series of technical standards, mainly including clock synchronization, data flow scheduling strategy (i.e., shaper), and TSN network and user configuration related standards.

[0050] The AUTBUS network includes the AUTBUS bus, which is a broadband fieldbus that uses two-wire non-bridge media and OFDM technology at the physical layer. The AUTBUS bus has a transmission rate of 100Mps when the transmission distance is 500 meters and a transmission rate of 6.25Mbps when the transmission distance is 2500 meters. It supports up to 254 nodes. The twisted pair has no polarity and the wiring is simple.

[0051] The nodes of the AUTBUS bus include control nodes (AUTBUS-CN) and terminal nodes (AUTBUS-TN). CN: The control node in the AUTBUS network completes network control. All terminal nodes synchronize time with the control node at the physical layer. The control node schedules the time slot resources of the AUTBUS bus for the terminal node to perform data transmission, supports mixed carrying of real-time and non-real-time business data, and ensures the time determinism and real-time nature of various data transmissions.

[0052] The AUTBUS bus has a high-precision clock synchronization function at the physical layer, and can provide deterministic data transmission services for time-sensitive and non-time-sensitive services based on time triggering.

[0053] The embodiment of the present application provides a fusion gateway of a TSN network and an AUTBUS network, and a terminal node of the AUTBUS network, wherein the fusion gateway includes: a TSN module and at least one CN node module of the AUTBUS network; the fusion gateway is connected to the TSN node through the TSN module therein; the CN node module of the fusion gateway is connected to multiple terminal TN nodes through the AUTBUS bus; the TSN module of the fusion gateway provides a physical clock source to the CN node module of the AUTBUS network, and the CN node module performs phase alignment according to the time mark provided by the TSN module at fixed intervals to keep the phase of the AUTBUS network synchronized with that of the TSN network; the CN node module of the AUTBUS network is provided with the same storage and forwarding model and traffic scheduling mechanism as that of the TSN network, which is used to schedule the passing messages, so that the data flow between the TSN node and the TN node can achieve time certainty in end-to-end communication.

[0054] The technical solution of the embodiment of the present application is used for the industrial Internet. The TSN network is the switching network of the industrial Internet, and the AUTBUS network is the access network. The TSN network and the AUTBUS network are connected through a fusion gateway. The fusion gateway of the embodiment of the present application realizes time synchronization between the TSN network and the AUTBUS network, and the AUTBUS network and the TSN network adopt the same storage and forwarding model and traffic scheduling mechanism to realize end-to-end time determinism in the fusion network of the TSN network and the AUTBUS network, and also realizes the compatibility of data scheduling between the TSN network and the AUTBUS network.

[0055] The following describes various embodiments of the present application in conjunction with the accompanying drawings. Figure 1 The present invention introduces an application scenario of a TSN network and AUTBUS network fusion gateway.

[0056] Figure 1 The structure of an application scenario of a TSN network and AUTBUS network fusion gateway of the present application is shown, including a TSN network and several AUTBUS networks.

[0057] Among them, the TSN network is a switching network, including several TSN network nodes (TSN Node), some of which are connected to the AUTBUS network. Each AUTBUS network is an access network, including the CN node (control node) of the AUTBUS bus and several TN nodes (terminal nodes). Each TN node of the AUTBUS bus is connected to industrial equipment to perform real-time control on the industrial equipment.

[0058] Figure 1The TSN Node connected to the AUTBUS network and the CN node of the AUTBUS bus constitute a fusion gateway. The TSN Node in the fusion gateway is hereinafter referred to as the TSN module of the fusion gateway, and the CN node of the AUTBUS bus in the fusion gateway is hereinafter referred to as the CN node module of the fusion gateway.

[0059] For example, Figure 1 The TSN network in the example includes three TSN network nodes. TSN network node 1 (TSN Node1) and the CN node of AUTBUS bus 1 form a converged gateway 1. TSN network node 1 is also called the TSN module of converged gateway 1, and the CN node of AUTBUS bus 1 is also called the CN node module of converged gateway 1. TSN network node 3 (TSN Node3) and the CN node of AUTBUS bus 2 form a converged gateway 2. TSN network node 3 is also called the TSN module of converged gateway 2, and the CN node of AUTBUS bus 2 is also called the CN node module of converged gateway 2. In actual scenarios, the number of nodes in the TSN network and the number of converged gateway nodes are determined according to actual needs, and the number of TN nodes connected to each AUTBUS bus is also determined according to actual needs.

[0060] For example, the fusion gateway provided by the present invention can be applied to a solar thermal mirror field control system, which receives real-time data from each heliostat, such as position, angle, reflectivity, etc., and adjusts the operating status of the mirror field according to the data to ensure that sunlight can be accurately reflected and focused on the absorber. Monitor the overall operating status of the mirror field, including equipment status, energy consumption, safety status, etc., to ensure the stable operation of the monitored mirror field. In the solar thermal mirror field control system that integrates the TSN network and the AUTBUS network, each heliostat controller is connected to the fusion gateway containing the AUTBUS control node and the TSN switch chip through a non-polarity twisted pair as an AUTBUS TN node. The fusion gateway is connected to the TSN switch through Ethernet, and the data is converged upward to the system server located at the upper layer to achieve precise control and management of the mirror field. Specifically, the solar thermal mirror field control system adopts a 3-layer architecture, namely the AUTBUS bus layer, the access layer, and the aggregation layer. The AUTBUS bus layer is connected to the heliostat controller through a non-polarity twisted pair cable. Each AUTBUS bus can connect 10-15 heliostat controllers. The access layer uses AUTBUS to access the TSN switch. There are 2 Ethernet optical ports, one active and one standby, which are used to access the aggregation layer to form an Ethernet ring network. There are 2 Ethernet electrical ports, one active and one standby, which are used for AUTBUS access to the TSN switch to form a local daisy chain Ethernet network. The four AUTBUS bus channels can connect 40-60 heliostat controllers downward, and the other two AUTBUS bus channels are used as standby channels. The Ethernet + AUTBUS bus architecture can greatly reduce the number of access layer switches while improving communication reliability, thereby significantly reducing the cost of the mirror field network system. The aggregation layer uses an n optical port L3 managed switch, which is connected to the access layer switch downward and forms an aggregation layer Ethernet ring upward to connect to the system server. Based on the heterogeneous system time synchronization mechanism, scheduling cycle configuration strategy and delay calculation provided by the embodiments of the present invention, the heliostat controller collects real-time data of the heliostat, such as position, angle, reflectivity, etc., and transmits it to the system server through the AUTBUS network and the TSN network, thereby achieving end-to-end time certainty of the real-time data stream from the heliostat controller to the server.

[0061] Combine the following Figure 2 The present invention introduces a TSN network and AUTBUS network fusion gateway embodiment.

[0062] Figure 2The structure of an embodiment of a fusion gateway of a TSN network and an AUTBUS network is shown, including a TSN module of the TSN network and a CN node module of the AUTBUS network. The TSN module is connected to the TSN network as a node of the TSN network, and the CN node module is connected to the AUTBUS network as a CN node of the AUTBUS bus. The AUTBUS bus is connected to multiple TN nodes.

[0063] For example, Figure 2 The CN node module of an AUTBUS network is included. In actual scenarios, multiple CN node modules of AUTBUS networks are included according to requirements. The working principle of the CN node module of each AUTBUS network is the same.

[0064] In the converged gateway, the TSN module provides a physical clock source to the CN node module of the AUTBUS network so that the two heterogeneous networks can achieve clock synchronization. The CN node module performs phase alignment according to the time mark provided by the TSN module at fixed intervals to keep the phase of the AUTBUS network and the TSN network synchronized, and the start time of the two is synchronized.

[0065] Among them, in the actual scenario, in the TSN network, the time server is used as the benchmark, and the 1588 protocol is used to perform synchronization correction and periodic timekeeping of the corresponding 1588 clock in each TSN network node. The time is UTC time, and the TSN time server finally connects to the GPS positioning time / Beidou time. In the AUTBUS network, the CN control node is used as the benchmark. Under the AUTBUS physical layer communication mechanism, the AUTBUS communication clock is corrected and time synchronized in each TN node, such as the CN node broadcasting the pilot signal for synchronization to the AUTBUS network in a fixed frame, and the time is the AUTBUS internal definition time. The two networks use different time synchronization mechanisms. To solve this technical problem, the TSN time server in the TSN module of the fusion gateway provides a physical clock source for the CN node module of the AUTBUS network, so that the clocks of the two networks are homologous. The CN node module performs phase alignment according to the time mark provided by the TSN module at fixed intervals, so that the phases of the AUTBUS network and the TSN network are synchronized, and the calibration of the two networks is homologous. After the AUTBUS network and the TSN network achieve the same clock source and time calibration source, the start time of the two networks remains synchronized, thus providing the same time reference for communication between the two networks.

[0066] In some implementations of this example, the TSN module performs time stamping on the CN node module of each AUTBUS network in the PPS+TOD mode at the MAC layer of the Ethernet to achieve phase synchronization, so as to achieve microsecond-level time calibration between the TSN network and the AUTBUS network and meet the requirements of time-sensitive services.

[0067] Figure 3 The schematic diagram of the structure of the time synchronization method of this implementation method is shown. The TSN module and CN node module of the fusion gateway are connected through ETH (Ethernet), and the clock is calibrated at the MAC layer of Ethernet. The TSN switch chip of the TSN module is designed with a "PPS+TOD" interface method (GPIO+UART docking) to perform UTC time synchronization and periodic triggering on the AUTBUS chip of the CN node module of the downstream AUTBUS network. Among them, PPS provides a periodic pulse signal to define the arrival of the specified UTC moment, and TOD is a matching output of the UTC time expression string (year-month-day-hour-minute-second-millisecond-microsecond). All of this time information is uniformly derived from the TSN time server, so that the time calibration can be homologous.

[0068] In some implementations of this example, the TSN module is used as the clock source of the CN node module of the AUTBUS network. The TSN module included in each converged gateway and the CN node module of the AUTBUS network are set on the same PCB board, so as to achieve zero clock drift between the TSN network and the AUTBUS network, and further meet the requirements of time-sensitive services.

[0069] In some implementations of this example, the CN node module of the AUTBUS network sends a pilot signal at the physical layer to maintain absolute time synchronization with the TN node. The TN node obtains a clock source from the pilot signal, and based on the different time between the CN node module of the AUTBUS network and the TSN network, absolute time synchronization between the TN node and the TSN network is achieved.

[0070] In some implementations of this example, the CN node module of the AUTBUS network participates in the global scheduling and global resource allocation of the TSN network as a node of the TSN network. The scheduling cycle of the CN node module is consistent with that of the TSN module, that is, the scheduling cycle of the AUTBUS network is consistent with that of the TSN network. Combined with priority-based time slice scheduling, the TSN network and the AUTBUS network connected by the converged gateway can achieve time certainty of end-to-end data transmission.

[0071] In some implementations of this embodiment, when the fusion gateway includes CN node modules of multiple AUTBUS networks, the scheduling period of each CN node module is consistent with that of the TSN module, that is, the scheduling period of each AUTBUS network is the same as the TSN scheduling period, thereby realizing unified scheduling of each AUTBUS network and the TSN network. After receiving the broadcast command from the TSN network, the broadcast command is forwarded in parallel on each AUTBUS network.

[0072] In some implementations of this example, within the converged gateway, the scheduling period of the TSN network is set based on the minimum scheduling granularity of the AUTBUS network, specifically including: the scheduling period of the TSN network is divided into time slices of each TN node of the AUTBUS network, and the time slice of each TN node is greater than or equal to the minimum scheduling granularity of the AUTBUS network, and the minimum scheduling granularity corresponds to an AUTBUS symbol, so that the scheduling period of the TSN network meets the minimum scheduling granularity of the AUTBUS network in the heterogeneous system. If the time slice configured for any TN node is less than the time slice of an AUTBUS symbol duration, the AUTBUS network cannot be allocated. Therefore, when configuring the network configurator, it is necessary to note that within a TSN scheduling period, the time slices of each priority level of the TSN constitute a TSN scheduling period, and the time slices of each priority level of the TSN must be greater than an AUTBUS symbol time slice of the AUTBUS network.

[0073] In some implementations of this embodiment, in the fusion gateway, the control CN node module is provided with a configuration interface for the TSN network configurator to configure the scheduling period on the AUTBUS network. Through the configuration interface provided by the CN node of the AUTBUS network, the CNC of the TSN network configures the scheduling period on the AUTBUS network, thereby realizing the unified configuration of the scheduling period of the TSN network and the AUTBUS network connected through the fusion gateway by the CNC of the TSN network.

[0074] In some embodiments of this example, in the downlink scheduling direction, the time slice of data streams with the same priority in the scheduling cycle of the AUTBUS network is greater than or equal to the corresponding time slice in the scheduling cycle of the TSN network, so that the data streams of the TSN network are deterministically scheduled in the AUTBUS network to achieve end-to-end deterministic scheduling in heterogeneous systems.

[0075] In some implementations of this embodiment, in the converged gateway, for the data transmission direction from the TSN module to the CN node module, the start time of the scheduling cycle of the TSN module is earlier than the start time of the scheduling cycle of the CN node module by the transmission delay from the TSN module to the CN node module, so as to achieve end-to-end deterministic data transmission from the start time of the scheduling cycle. The transmission delay from the TSN module to the CN node module includes: the line delay between the two and the data processing delay in the TSN module.

[0076] In some implementations of this embodiment, in the converged gateway, for the data transmission direction from the CN node module to the TSN module, the start time of the scheduling cycle of the CN node module is earlier than the start time of the scheduling cycle of the TSN module, and the transmission delay from the CN node module to the TSN module is achieved from the start time of the scheduling cycle. End-to-end deterministic data transmission is achieved, and the transmission delay from the CN node module to the TSN module is: the line delay between the two and the data processing delay in the CN node module.

[0077] Figure 4 A schematic diagram showing the deviation of the start time of the scheduling cycle between the TSN network and the AUTBUS network is shown. The scheduling cycle lengths of the AUTBUS network and the TSN network use the same value, 4 ms by way of example, and Δt is the difference in the start time of the scheduling cycle. Figure 4 Indicates the start time deviation of the scheduling cycle between the TSN network and the AUTBUS network in the downstream scheduling direction of the converged gateway. The start time of the scheduling cycle of the TSN network is before that of the AUTBUS network. If it is in the upstream scheduling direction, the start time of the scheduling cycle of the TSN network is after that of the AUTBUS network.

[0078] Among them, the difference Δt of the start time of the scheduling cycle between the TSN module and the CN node module in each fusion gateway is obtained according to the transmission delay Δtt between the TSN module and the CN node module in the fusion gateway. Δtt is a determined value obtained in advance, including the line delay and data processing delay between the TSN module and the CN node module. Δt can further include the jitter delay of the transmission delay.

[0079] In some implementations of this embodiment, within the fusion gateway, a network configurator is provided on the control CN node module of the AUTBUS network, which is used to divide the scheduling period configured by the TSN network configurator into multiple time slices, and allocate the divided time slices to the TN nodes on the AUTBUS network to realize resource management of the TN nodes.

[0080] In some implementations of this embodiment, when the destination TN nodes of several data streams of one priority correspond to different TN nodes of an AUTBUS network respectively, the network configurator on the CN node module configures a time slice for each of the different TN nodes to implement the scheduling of data streams of TN nodes of the same priority. The AUTBUS network has multiple nodes, such as a maximum of 254 nodes. In the frame structure defined by the TSN network, the data defining the priority has only 3 bits, and there are only 8 priorities in the priority of the TSN network. When the network configurator configures the priority for the TN node, it is impossible to achieve different priorities for different TN nodes. Therefore, it is necessary to set multiple TN nodes to correspond to one priority in the TSN network configuration. At this time, a time slice must be configured for each TN node involved, but it should be noted that too many TN nodes should not correspond to one priority during the configuration, so as to avoid the situation where too many time slices are configured and exceed the scheduling period.

[0081] In order to achieve scheduling mechanism compatibility between TSN network and AUTBUS network, the nodes of AUTBUS network are regarded as extensions of TSN network in the converged gateway. The CN node module of AUTBUS network is equipped with the same storage and forwarding model and traffic scheduling mechanism as TSN network, which is used to schedule the passing messages so that the data flow between TSN nodes and TN nodes can achieve time determinism in end-to-end communication.

[0082] In some implementations of this embodiment, the CN node module of the AUTBUS network is also used to implement conversion between AUTBUS messages and TSN messages, which conversion implements conversion of the data stream of the MAC layer protocol in the AUTBUS PHY chip and the data stream of the Ethernet 802.3MAC layer, and the conversion includes at least one of the following: flow identification and classification, priority mapping.

[0083] Among them, an ingress port is set in the CN node module of each AUTBUS network, and the standard fields (VLAN, IP, QOS, DSCP and other fields) in the link layer message of the TSN network and the TSN data flow identity information are classified and converted into flow identity information in the downstream data flow of the AUTBUS bus. At the same time, the priority of the TSN data flow is mapped to the priority of the AUTBUS bus in the downstream data flow of the AUTBUS bus to obtain the downstream data flow of the AUTBUS bus. Each downstream data flow of the AUTBUS bus corresponds to a priority based on the AUTBUS bus.

[0084] Among them, an output port is set in the CN node module of each AUTBUS network to identify the flow identity information in the upstream data stream of the AUTBUS bus and convert it into the standard fields of the TSN data flow identity information in the link layer message of the TSN network (VLAN, IP, QOS, DSCP and other fields). At the same time, the AUTBUS priority in the upstream data stream of the AUTBUS bus is converted into the priority of the TSN data stream to obtain the TSN upstream data stream.

[0085] For example, during flow identity mapping, the mapping between the standard fields of the flow identity information of the TSN data flow and the Data ID of the AUTBUS is implemented through a predefined flow classification mapping table. During priority mapping, the mapping between the TSN data flow QOS or IP layer DSCP and the data type of the AUTBUS bus is implemented through a predefined priority mapping table.

[0086] Among them, the CN node module of each AUTBUS network is also used to realize the mapping between the data frame of the TSN data stream and the data frame of the AUTBUS bus, and realize the mapping between the address in the data frame of the TSN data stream and the address in the data frame of the AUTBUS bus, so as to realize the unique addressing of the service flow in the converged gateway. When mapping the data frame, because the data frame packet length of the Ethernet is greater than the packet length of the AUTBUS link layer, the model of the AUTBUS bus moving data from the Ethernet is set to reduce the number of times the TSN data stream is unpacked.

[0087] In some implementations of this embodiment, the storage-forwarding model set on the CN node module of the AUTBUS network is used to implement the flow identification, flow classification and flow storage functions of the AUTBUS message; the traffic scheduling mechanism set on the CN node module of the AUTBUS network is used to implement the flow scheduling function based on the priority and time slice allocation mechanism for the AUTBUS message, so as to realize the storage-forwarding and flow scheduling of the downstream message with the same mechanism as the TSN network in the AUTBUS network connected by the fusion gateway. The flow identification here is to identify the identity information of the downstream data flow, the flow classification is to classify the downstream data flow according to the flow identity information, and the flow storage function is to store the downstream data flow in the corresponding queue according to the data frame according to the classification result.

[0088] In some implementations of the present embodiment, the store-and-forward model provided on the CN node module of the AUTBUS network is specifically used to identify and classify AUTBUS messages, and store the messages in priority queues corresponding to corresponding categories according to the categories and priorities of the messages; the traffic scheduling mechanism provided on the CN node module of the AUTBUS network is specifically used to schedule the messages in each queue based on the AUTBUS scheduling cycle and the time slices and queue priorities allocated in the AUTBUS scheduling cycle, so as to send the messages in the queue to the destination TN node of the message via AUTBUS, so as to realize the storage-and-forwarding and traffic scheduling of downlink messages in the AUTBUS network connected via a converged gateway with the same mechanism as that of the TSN network.

[0089] Figure 5 The schematic diagram of the storage and forwarding model and traffic scheduling mechanism of the CN node module of the AUTBUS network is shown. The CN node module is used to identify the flow identity of the downstream data flow of the AUTBUS bus, and then store the data frame of the downstream data flow into the downstream cache queue corresponding to the priority of the downstream data flow. The AUTBUS bus defines 8 priorities based on the data type, so Figure 5 There are 8 cache queues in the AUTBUS. The CN node module is also used to schedule the output of the downlink cache queue according to the traffic scheduling rules similar to TSN time, and schedule the downlink time slice for each data frame in each downlink cache queue according to the priority corresponding to each downlink cache queue. It should be noted that when the data streams sent to multiple TN nodes in an AUTBUS bus correspond to the same priority, the CN node module will schedule each data stream of the priority to be sent to the time slice of the corresponding TN node.

[0090] In some implementations of this embodiment, the TN node of the AUTBUS bus is provided with an uplink storage and forwarding model and a traffic scheduling mechanism, which is used to implement the flow identification, flow classification and flow storage functions of the AUTBUS message, and implement the flow scheduling function based on the priority and time slice allocation mechanism for the mapped AUTBUS message, so as to implement the storage and forwarding and traffic scheduling of the uplink message in the AUTBUS network with the same mechanism as the TSN network. The flow identification here is to identify the identity information of the uplink data flow, the flow classification is to classify the uplink data flow according to the flow identity information, and the flow storage function is to store the uplink data flow in the corresponding queue according to the data frame according to the classification result.

[0091] In some implementations of the present embodiment, the uplink storage and forwarding model of the TN node is specifically used to identify and classify the AUTBUS messages generated by the TN node, and store them in the corresponding priority queue; the traffic scheduling mechanism of the TN node is specifically used to schedule the messages in each queue based on the AUTBUS scheduling cycle and the time slices and queue priorities allocated in the scheduling cycle, so as to send the messages in the queue to the CN node module in the fusion gateway via AUTBUS, so as to realize the time-determined scheduling of the uplink messages.

[0092] In some implementations of this embodiment, after receiving the AUTBUS message and converting it into an Ethernet data stream, the CN node module in the fusion gateway sends it to the TSN module in the fusion gateway to realize the transmission of the message from the TN node in the TSN network.

[0093] In summary, a fusion gateway embodiment of a TSN network and an AUTBUS network realizes time synchronization between the TSN network and the AUTBUS network, and applies the storage and forwarding model and traffic scheduling mechanism of TSN to the AUTBUS network, thereby realizing end-to-end time determinism in the fusion network of the TSN network and the AUTBUS network, and also realizing the compatibility of downlink message scheduling between the TSN network and the AUTBUS network.

[0094] An embodiment of a terminal node of an AUTBUS network of the present application is introduced below.

[0095] The present application also provides an AUTBUS terminal node (hereinafter referred to as TN node) embodiment, which is provided with an uplink storage and forwarding model similar to the TSN network, for realizing the flow identification, flow classification and flow storage functions of the AUTBUS message; and is also provided with a traffic scheduling mechanism for realizing the flow scheduling function based on the priority and time slice allocation mechanism for the mapped AUTBUS message.

[0096] The TN node of this embodiment is connected to the AUTBUS bus in the fusion gateway of any implementation manner of the fusion gateway embodiment of the present application that integrates the TSN network and the AUTBUS network, thereby achieving end-to-end time determinism of the uplink message of the AUTBUS network in the fusion network of the AUTBUS network and the TSN network, and also achieving compatibility of message scheduling between the TSN network and the AUTBUS network.

[0097] In some implementations of this embodiment, the uplink store-and-forward model is specifically used to identify and classify AUTBUS messages, and store the messages in priority queues corresponding to corresponding categories according to the categories and priorities of the messages; the traffic scheduling mechanism is specifically used to schedule the messages in each queue based on the AUTBUS scheduling cycle and the time slices and queue priorities allocated in the scheduling cycle, so as to send the messages in the queue to the CN node module in the fusion gateway through AUTBUS.

[0098] Combine the following Figure 1 and Figure 6 An implementation scheme of a heterogeneous system integrating a TSN network and an AUTBUS network is introduced.

[0099] A heterogeneous system embodiment integrating a TSN network and an AUTBUS network comprises a plurality of TSN nodes, at least one integrated gateway and a plurality of TN nodes of an AUTBUS bus; each integrated gateway is a integrated gateway of any implementation manner of an integrated gateway embodiment of a TSN network and an AUTBUS network of the present application, comprising a TSN module and at least one CN node module of an AUTBUS network; each integrated gateway is connected to a TSN node via the TSN module therein; and the TN nodes described in any implementation manner of a terminal node embodiment of an AUTBUS network of the present application are connected via an AUTBUS bus.

[0100] Figure 1 It also shows the structure of a heterogeneous system embodiment integrating a TSN network and an AUTBUS network. Figure 1 The TSN Node connected to the AUTBUS network and the CN node of the AUTBUS bus constitute a fusion gateway of any implementation manner of a fusion gateway embodiment of a TSN network and an AUTBUS network of the present application. The TSN Node in the fusion gateway is hereinafter referred to as the TSN module of the fusion gateway, and the CN node of the AUTBUS bus in the fusion gateway is hereinafter referred to as the CN node module of the fusion gateway.

[0101] In heterogeneous systems, the time between the TSN network and the AUTBUS network is synchronized, and the scheduling cycle is the same. In each converged gateway, the TSN module and the CN node module share the same PCB board and are connected via Ethernet. The TSN module calibrates the clock at the MAC layer of Ethernet and provides a time stamp for the CN node module by designing a "PPS+TOD" interface method (GPIO+UART docking).

[0102] In the heterogeneous system, the data flow of each priority is scheduled in the scheduling cycle + time slice mode. On the network nodes passed, the deviation of the start time of the scheduling cycle in the two adjacent nodes is the transmission delay of the two nodes in the direction of the data flow. Among them, the start time of the scheduling cycle of each node in the TSN network is first determined, and then the transmission delay between the CN node module and the TSN module in the fusion gateway is determined based on the TSN module of the fusion gateway, and the start time of the scheduling cycle of the CN node module in the fusion gateway is determined. The nodes in the heterogeneous system include TSN nodes, TSN modules and CN node modules in the fusion gateway, and TN nodes of AUTBUS.

[0103] In heterogeneous systems, the time slice allocated to each priority in the scheduling cycle is the same within the TSN network. For the downlink data flow, the time slice corresponding to the priority within the AUTBUS network is greater than or equal to the time slice within the TSN network. When the priority includes data streams of multiple TN nodes, a time slice is allocated to each of the multiple TN nodes in the AUTBUS network, and the time slice corresponding to the priority of each TN node is less than or equal to the time slice within the TSN network.

[0104] Figure 6 A schematic diagram of the start time deviation of an end-to-end scheduling period of a data stream in an embodiment of a heterogeneous system integrating a TSN network and an AUTBUS network is shown.

[0105] For the convenience of description, Figure 6 Take the data flow FlowA from TSN Node1 to the TN node of the AUTBUS bus as an example.

[0106] The data flow FlowA is sent periodically. The period of the data flow FlowA controlled at the industrial control application layer is the same as the scheduling period of the TSN network. The time when the data flow FlowA is sent is Period. TSN Node1 is the TSN node to which it is connected. The starting data of its scheduling period is configured as Period+T0, where T0 is the time consumed by the service entering TSN Node1.

[0107] The data flow FlowA passes through TSN Node2 and the TSN module of the fusion gateway in the forwarding path in the TSN network. Each node is uniformly configured with a unidirectional communication time slice at the same position; the transmission delay from TSN Node1 to TSN Node2 is ΔT1, and the time when the scheduling period of TSN Node2 starts is Period+T0+ΔT1; the transmission delay from TSN Node2 to the TSN module of the fusion gateway is ΔT2, and the time when the scheduling period of TSN Node2 starts is Period+T0+ΔT1+ΔT2.

[0108] Among them, the transmission delay between nodes within the TSN network is obtained according to the AS protocol of the TSN network, and the line delay and data processing delay of the message are calculated.

[0109] Among them, ΔT1 and ΔT2 both include line delay and data processing delay within the node. The transmission delay from the TSN module of the converged gateway to the CN node module of the converged gateway is ΔT3, and the time when the scheduling cycle of the AUTBUS bus starts is Period+T0+ΔT1+ΔT2+ΔT3; this service flow is output at the final AUTBUS target node, and its delay is added with ΔT4, which is the fixed line delay within the AUTBUS bus, set according to the scheduling cycle.

[0110] Finally, the end-to-end delay of data flow FlowA is ΔT1+ΔT2+ΔT3+ΔT4+T0. This delay only includes the end-to-end transmission delay and the initial data processing delay, ensuring the time determinism and real-time nature of its end-to-end communication.

[0111] Period+T0+ΔT1+ΔT2+ΔT3+ΔT4 as the end-to-end delay can also take into account the overall delay jitter caused by clock alignment jitter and internal processing jitter, which is described as Period+T±ΔTd, T is the end-to-end delay T0+ΔT1+ΔT2+ΔT3+ΔT4 in the system, specifically the line delay and the node internal data processing delay ΔTd is the overall delay jitter deviation range, specifically the possible uncertainty deviation under the above delay estimation and the deviation of the entire system time synchronization jitter. In an embodiment of the present invention, the network configurator configures the start time of the scheduling period of each node based on the end-to-end delay calculation, so that each node in the system keeps synchronization in communication and computing, and ensures that the data stream can achieve end-to-end time certainty when transmitted in a heterogeneous system.

[0112] In a heterogeneous system, for a TSN network, each AUTBUS bus is a continuation of its network, and the CN nodes and TN nodes of each AUTBUS bus are nodes extended from the TSN network.

[0113] The CN node module of each AUTBUS network is used to realize the conversion between the data stream of the AUTBUS bus and the TSN data stream of the TSN network. The conversion realizes the conversion of the data stream of the MAC layer protocol in the AUTBUS PHY chip and the data stream of the Ethernet 802.3MAC layer. The conversion includes at least one of the following: flow identity mapping and priority mapping.

[0114] Table 1 shows the time slices for scheduling data flows of each priority level within the TSN network. Pri is the priority level based on the TSN network, including 8 priorities from 0 to 7 from high to low. Gcl represents the time slice, and a 0.1ms time slice is scheduled for priorities 3 to 6, and a 9.6ms time slice is scheduled for priorities 0 to 2 (high priority). The reason why priority 7 is enabled is to ensure that the AS protocol cannot be blocked.

[0115] Table 1

[0116] According to the length of the time slice of each priority defined in Table 1, the time slices of each priority constitute a TSN scheduling cycle. It is also necessary to configure the start time and length of each time slice in the TSN scheduling cycle to determine the sending position of the time slice of each priority in the TSN scheduling cycle. The scheduling process is illustrated in combination with Table 1. The configured TSN scheduling cycle is ‌10ms, and there are 5 time slices in one scheduling cycle. After the gate state management is enabled, in time slice 0, the gate state is 192 (binary 11000000), and only queues of priority 6 and 7 are allowed to pass through for 100μs. In time slice 1, the gate state is 160 (binary 10100000), and queues of priority 5 and 7 are opened for 100μs. In time slice 2, the gate state is 144 (binary 10010000), and queues of priority 4 and 7 are opened for 100μs. In time slice 3, the gate state is 136 (binary 10001000), and queues of priority 3 and 7 are opened for 100μs‌. In time slice 4, the gating state is 135 (binary 10000111), and priority 0, 1, 2, and 7 queues are open for 9.6ms.

[0117] In order to achieve unified management and resource configuration of TSN networks and AUTBUS networks in heterogeneous systems, the centralized network configurator CNC of the TSN network is used to configure end-to-end time determinism between TSN nodes and TN nodes, including the scheduling period, the start time of the scheduling period, and the time slice of each priority data flow.

[0118] The CN node module of the AUTBUS network sets a configuration interface, which is used by the centralized network configurator CNC of the TSN network to configure the scheduling cycle of the AUTBUS network and divide the scheduling cycle into each TN; it is also used to configure the time slice for each priority and divide the time slice of each priority into TN nodes.

[0119] The CN node modules and TN nodes of the AUTBUS network are equipped with the same storage and forwarding model and traffic scheduling mechanism as the TSN network, making the scheduling mechanism of AUTBUS compatible with the TSN network.

[0120] Inside the TSN network, each TSN network node identifies the flow identity of the TSN data flow through a storage-and-forward model. Each TSN data flow corresponds to a priority based on the TSN network, and is stored in the storage queue corresponding to the priority in the scheduling direction of the TSN data flow. It is then scheduled to different egress ports based on priority and time slices through the traffic scheduling mechanism.

[0121] In the downstream scheduling direction of the AUTBUS bus, the CN node module of each AUTBUS network receives the TSN data stream from the gateway node of the TSN network to which it is connected, and converts the downstream data stream of the AUTBUS bus. After identifying the stream identity of the downstream data stream, the data frame of the downstream data stream is stored in the downstream cache queue corresponding to the priority of the downstream data stream using a storage and forwarding model similar to TSN. The CN node module of each AUTBUS network schedules a downstream time slice for each data frame in each downstream cache queue according to the priority corresponding to each downstream cache queue through a traffic scheduling mechanism similar to TSN, and sends it to the target TN node in the time slice, wherein the width of the downstream time slice of each data frame changes positively with the priority of the downstream data stream.

[0122] In the uplink scheduling direction of the AUTBUS bus, the TN node of each AUTBUS bus uses a storage-forwarding model similar to TSN. After identifying the flow identity of the uplink data flow of the AUTBUS bus, the data frame of the uplink data flow is stored in the uplink cache queue corresponding to the priority of the uplink data flow. The TN node of each AUTBUS bus also schedules an uplink time slice for each data frame in each uplink cache queue according to the priority corresponding to each uplink cache queue in a traffic scheduling mechanism similar to TSN, and sends it to the CN node module in the time slice, wherein the width of the uplink time slice of each data frame changes positively with the priority of the uplink data flow, and is scheduled from the uplink time slot resources allocated to the TN node. The CN node module of each AUTBUS network is also used to convert the uplink data flow into a TSN data flow after receiving the uplink data flow sent by the TN node of the AUTBUS bus, so as to send it to the TSN network.

[0123] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may also include more other equivalent embodiments without departing from the concept of the present application, all of which belong to the scope of protection of the present application.

Claims

1. A fusion gateway of a TSN network and an AUTBUS network, characterized in that: include: TSN module and at least one CN node module of an AUTBUS network; The fusion gateway is connected to the TSN node through the TSN module; the CN node module of the fusion gateway is connected to multiple TN nodes via the AUTBUS bus; The TSN module of the fusion gateway provides a physical clock source to the CN node module of the AUTBUS network. The CN node module performs phase alignment according to the time mark provided by the TSN module at fixed intervals to keep the phase of the AUTBUS network and the TSN network synchronized; The CN node module of the AUTBUS network is equipped with the same store-and-forward model and traffic scheduling mechanism as the TSN network, which is used to schedule the passing messages so that the data flow between the TSN node and the TN node can achieve time determinism in end-to-end communication.

2. The fusion gateway according to claim 1, characterized in that: The TSN module included in the fusion gateway is connected to the control CN node module of the AUTBUS network via Ethernet.

3. The fusion gateway according to claim 1, characterized in that: The TSN module included in the fusion gateway and the control CN node module of the AUTBUS network are arranged on the same PCB board.

4. The fusion gateway according to claim 1, characterized in that: The TSN module included in the fusion gateway performs time stamping on the control CN node module of each AUTBUS bus through the PPS+TOD method at the MAC layer of the Ethernet.

5. The fusion gateway according to claim 1, characterized in that: The CN node module of the AUTBUS network participates in the global scheduling and global resource allocation of the TSN network as a node of the TSN network. The scheduling cycle of the AUTBUS network is consistent with the scheduling cycle of the TSN network.

6. The fusion gateway according to claim 1, characterized in that: The control CN node module included in the fusion gateway provides a configuration interface for the TSN network configurator to configure the scheduling cycle on the AUTBUS network.

7. The fusion gateway according to claim 1, characterized in that: The scheduling cycle of the TSN network is set based on the minimum scheduling granularity of the AUTBUS network.

8. The fusion gateway according to claim 6, characterized in that: A network configurator is provided on the control CN node module of the AUTBUS network, which is used to divide the scheduling cycle configured by the TSN network configurator into multiple time slices and allocate the divided time slices to the TN nodes on the AUTBUS network.

9. The fusion gateway according to claim 1, characterized in that: When the destination TN nodes of several data flows of one priority level correspond to different TN nodes of the AUTBUS network respectively, the network configurator on the CN node module configures a time slice for each of the different TN nodes.

10. The converged gateway according to claim 1, characterized in that: The time slice of data streams with the same priority in the scheduling cycle of the AUTBUS network is greater than or equal to the corresponding time slice in the scheduling cycle of the TSN network.

11. The fusion gateway according to claim 1, characterized in that: When the fusion gateway includes control CN node modules of multiple AUTBUS networks, the scheduling period of each AUTBUS network is the same as the TSN scheduling period. After receiving a broadcast command from the TSN network, the broadcast command is forwarded in parallel in each AUTBUS network.

12. The converged gateway according to claim 1, characterized in that: The CN node module of the AUTBUS network is provided with the store-and-forward model, which is used to realize the flow identification, flow classification and flow storage functions of the AUTBUS message; The CN node module of the AUTBUS network is provided with the flow scheduling mechanism, which is used to implement the flow scheduling function based on the priority and time slice allocation mechanism for the AUTBUS message.

13. The fusion gateway according to claim 11, characterized in that: The store-and-forward model set on the CN node module of the AUTBUS network is specifically used to identify and classify AUTBUS messages, and store the messages in the priority queue corresponding to the corresponding category according to the category and priority of the messages; The traffic scheduling mechanism set on the CN node module of the AUTBUS network is specifically used to schedule the messages in each queue based on the AUTBUS scheduling cycle and the time slices and queue priorities allocated in the AUTBUS scheduling cycle, so as to send the messages in the queue to the destination TN node of the message through AUTBUS.

14. An AUTBUS terminal node, characterized in that: Connected to the fusion gateway described in claim 1, an uplink storage and forwarding model is provided to implement the flow identification, flow classification and flow storage functions of AUTBUS messages; A flow scheduling mechanism is also provided to implement a flow scheduling function based on a priority and time slice allocation mechanism for the mapped AUTBUS messages.

15. The node according to claim 14, characterized in that: The uplink store-and-forward model is specifically used to identify and classify AUTBUS messages, and store the messages in priority queues corresponding to the corresponding categories according to the categories and priorities of the messages; The traffic scheduling mechanism is specifically used to schedule the messages in each queue based on the AUTBUS scheduling cycle and the time slices and queue priorities allocated in the scheduling cycle, so as to send the messages in the queue to the CN node module in the fusion gateway through AUTBUS.

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