A heterogeneous system integrating TSN and AUTBUS networks

Abstract

The embodiment of the present application provides a heterogeneous system that integrates a TSN network and an AUTBUS network, including: multiple TSN nodes and at least one integrated gateway and multiple TN nodes of the AUTBUS bus; the integrated gateway includes a TSN module and at least one 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; the scheduling cycle of the AUTBUS network is consistent with the scheduling cycle of the TSN network; the network configurator of the TSN network configures end-to-end time determinism between the TSN nodes and the TN nodes; the CN node module of the AUTBUS network is provided with the same store-and-forward model and traffic scheduling mechanism as the TSN network. The technical solution of the embodiment of the present application realizes end-to-end time determinism in the heterogeneous system of the TSN network and the AUTBUS network.

Description

Technical Field

[0001] The present application relates to the field of industrial Internet, and in particular to a heterogeneous system integrating TSN network and AUTBUS network. Background Art

[0002] TSN is a real-time network based on traditional Ethernet that uses highly accurate time synchronization, guarantees bandwidth to limit transmission latency, and provides high-quality service to support various industrial applications. Leveraging the strengths of Ethernet, TSN technology is increasingly being used. TSN consists of a series of technical standards, primarily covering clock synchronization, data flow scheduling strategies (i.e., shapers), and TSN network and user configuration.

[0003] AUTBUS technology includes the international standards IEC 61158 and IEC 61784, as well as the national standard GB / T 42019-2022. These standards have been published and implemented. AUTBUS is a time-sensitive industrial network for connecting edge devices, enabling high-bandwidth, deterministic, real-time, and highly reliable data transmission. An AUTBUS bus network can support 254 active nodes, one of which is a control node (CN) and the others are terminal nodes (TN). The control node is responsible for managing, allocating, and reclaiming system resources, and pushes system configurations and allocates communication bandwidth to all nodes in real time. The AUTBUS bus features high-precision clock synchronization at the physical layer, enabling deterministic data transmission services for both time-sensitive and non-time-sensitive services based on time triggers.

[0004] In actual applications, the applicant found that for industrial application systems with a large number of nodes, fast acquisition 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 application system's requirements 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 that integrates TSN and AUTBUS networks is a technical problem that needs to be solved urgently. Summary of the Invention

[0006] In view of this, an embodiment of the present application provides a heterogeneous system that integrates the TSN network and the AUTBUS network. On the basis of the same time synchronization and cyclic scheduling period of the TSN network and the AUTBUS network, the time determinism of end-to-end transmission between the TSN node and the TN node is configured through the network configurator 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 the TSN network, so that the communication of the specified service data flow in the heterogeneous system that integrates the TSN network and the AUTBUS network can achieve end-to-end time determinism.

[0007] An embodiment of the present application provides a heterogeneous system that integrates a TSN network and an AUTBUS network, comprising: a plurality of TSN nodes and at least one integrated gateway and a plurality of TN nodes of an AUTBUS bus; the integrated gateway comprises a TSN module and at least one CN node module of an AUTBUS network; the integrated gateway is connected to the TSN node via the TSN module therein; the CN node module of the integrated gateway is connected to a plurality of TN nodes via an 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 synchronized with that of the TSN network. The CN node module of the AUTBUS network participates in the global scheduling and global resource allocation of the TSN as a node of the TSN network. The scheduling cycle of the AUTBUS network is consistent with the scheduling cycle of the TSN network. When the network configurator of the TSN network configures the end-to-end time determinism between the TSN node and the TN node, the end-to-end transmission delay includes the start time deviation between the TSN network scheduling cycle and the AUTBUS network scheduling cycle. The time deviation is obtained according to the transmission delay between the TSN module and the CN node module of the fusion gateway. The CN node module of the AUTBUS network is provided with the same storage and forwarding 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.

[0008] As described above, based on the identical time synchronization and cyclic scheduling periods of the TSN network and the AUTBUS network, the time determinism of end-to-end transmission between TSN nodes and TN nodes is configured through the TSN network's network configurator, achieving end-to-end time determinism in the heterogeneous system of the TSN network and the AUTBUS network. In the best case, this only includes the line delay between adjacent nodes and the data processing delay within the node, with no waiting delay. The CN node module of the AUTBUS network is equipped with the same storage and forwarding model and traffic scheduling mechanism as the TSN network, making the AUTBUS bus and the TSN network compatible in terms of data scheduling mechanism. Through the above solution, whether the data stream is transmitted from the TSN network to the destination terminal TN node of the AUTBUS network, or the data stream is transmitted from the AUTBUS TN node to the TSN network, the time determinism requirement can be achieved in end-to-end communication.

[0009] In a possible implementation of the embodiment of the present application, the TSN module included in the converged gateway is connected to the CN node module of the AUTBUS network via Ethernet.

[0010] As shown above, the TSN module of the fusion gateway is connected to the CN node module of the AUTBUS network through Ethernet, realizing broadband communication between the TSN network and the AUTBUS network.

[0011] In a possible implementation of the embodiment of the present application, the TSN module included in the converged gateway performs time stamping on the CN node module of each AUTBUS network in a PPS+TOD manner at the MAC layer of the Ethernet.

[0012] As described above, the TSN module of the converged gateway uses the PPS+TOD method to time-stamp the CN node module of each AUTBUS network, achieving microsecond-level phase alignment between the TSN network and the AUTBUS network, meeting the requirements of time-sensitive services.

[0013] In a possible implementation of the embodiment of the present application, the TSN module included in the converged gateway and the CN node module of the AUTBUS network are set on the same PCB board.

[0014] As mentioned above, by integrating the TSN module of the gateway and the CN node module of the AUTBUS network on the same PCB board, clock drift is eliminated between the TSN network and the AUTBUS network, further meeting the requirements of time-sensitive services.

[0015] In a possible implementation of the embodiment of the present application, 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.

[0016] From the above, 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, thereby achieving absolute time synchronization between the TN node and the TSN network.

[0017] In a possible implementation of the embodiment of the present application, the TSN network adopts a centralized network configuration method to uniformly manage and configure resources for the TSN nodes and the CN control nodes in the converged gateway.

[0018] From the above, the TSN network centralized network configuration method is used to configure the TSN nodes and the CN control nodes in the fusion gateway to achieve unified management and resource configuration of the TSN network and the AUTBUS network.

[0019] In a possible implementation of the embodiment of the present application, the CN node of the AUTBUS network provides a configuration interface for the centralized network configurator CNC in the TSN network to perform resource configuration and network management on the AUTBUS network.

[0020] From the above, through the configuration interface provided by the CN node of the AUTBUS network, the CNC of the TSN network can perform resource configuration and network management on the AUTBUS network.

[0021] In a possible implementation of the embodiment of the present application, a CN node of the AUTBUS network is provided with a configuration interface for a centralized network configurator CNC in the TSN network to configure a scheduling period on the AUTBUS network.

[0022] 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.

[0023] In a possible implementation of the embodiment of the present application, the scheduling period of the TSN network is set based on the minimum scheduling granularity of the AUTBUS network.

[0024] Based on the above, this implementation specifically includes: the TSN network scheduling period is divided into time slices for each TN node of the AUTBUS network. 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 the duration of an AUTBUS symbol, thereby ensuring that the TSN network scheduling period meets the minimum scheduling granularity of the AUTBUS network in the heterogeneous system. The AUTBUS network cannot allocate time slices shorter than the duration of an AUTBUS symbol. When configuring the network configurator, it is necessary to ensure that the TSN gating time is greater than the time slice of an AUTBUS symbol of the AUTBUS network.

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

[0026] As described above, by configuring the time slice of data flows 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 flows with the priority of the TSN network can be deterministically scheduled in the AUTBUS network, realizing end-to-end deterministic scheduling in heterogeneous systems.

[0027] In one possible implementation of the present application, a CN node module of the AUTBUS network is provided with a network configurator for dividing the scheduling period configured by the TSN network configurator into multiple time slices and allocating the divided time slices to the TN nodes on the AUTBUS network. The time slices allocated to each TN node include a plurality of discontinuous or continuous durations.

[0028] As shown 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 implement resource management of the TN nodes.

[0029] In a possible implementation of the embodiment of the present application, when the destination TN nodes of several data flows of a priority level respectively correspond to different TN nodes of an AUTBUS network, the network configurator on the CN node module configures a time slice for each of the different TN nodes.

[0030] 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.

[0031] In one possible implementation of the embodiment of the present application, when the fusion gateway includes CN node modules of multiple AUTBUS networks, the scheduling period of each AUTBUS network is the same as the TSN scheduling period. After receiving the broadcast command from the TSN network, the broadcast command is forwarded in parallel on each AUTBUS network.

[0032] From the above, the scheduling period of each AUTBUS network is the same as the TSN scheduling period, and unified scheduling of each AUTBUS network and TSN network is achieved from the scheduling period.

[0033] In one possible implementation of an embodiment of the present application, when calculating the end-to-end transmission delay of a data stream passing through a converged gateway, it also includes: the transmission delay between adjacent TSN nodes through which the data stream passes, the transmission delay between the TSN node through which the data stream passes and is adjacent to the converged gateway and the converged gateway, and the transmission delay between the converged gateway passed and the TN node passed.

[0034] As mentioned above, the end-to-end transmission delay includes the transmission delay between adjacent nodes to achieve end-to-end deterministic data transmission.

[0035] In one possible implementation of the present application, the start time offset between the scheduling periods of each two adjacent network nodes through which the data flow passes is configured according to the transmission delay between the two. The network nodes include TSN nodes, TN nodes, TSN modules within the converged gateway, and CN node modules.

[0036] As described above, the start time offset between the scheduling cycles of adjacent network nodes is configured according to the transmission delay between the two nodes, so as to achieve end-to-end deterministic data transmission at the start time of the scheduling cycle.

[0037] In one possible implementation of the embodiment of the present application, the downlink transmission delay between the converged gateway TSN module and the CN node module includes the line delay between the two and the data processing delay of the TSN module, and the uplink transmission delay between the converged gateway TSN module and the CN node module includes the line delay between the two and the data processing delay of the CN node module.

[0038] As described above, the transmission delay between adjacent nodes includes line delay and data processing delay, so as to accurately determine the deviation of the start time of the scheduling cycle between adjacent nodes. In one possible implementation of the embodiment of the present application, the CN node module of the AUTBUS network is also used to realize the conversion between AUTBUS messages and TSN messages, including priority conversion and address conversion.

[0039] From the above, the CN node module of the AUTBUS network is also used to realize the conversion between AUTBUS messages and TSN messages, so as to realize the flow mapping and frame mapping between the TSN network and the AUTBUS network.

[0040] In one possible implementation of an embodiment of the present application, the storage and forwarding model set on the CN node module of the AUTBUS network is a downlink storage and forwarding model, which is used to implement flow identification, flow classification and flow storage functions; the traffic scheduling mechanism set on the CN node module of the AUTBUS network is used to implement the flow scheduling function based on priority and time slice allocation mechanism.

[0041] As mentioned above, the CN node module of the AUTBUS network implements the functions of incoming message flow identification, flow classification and flow storage through the downlink store-and-forward 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-forward and traffic scheduling of downlink messages in the AUTBUS network with the same mechanism as the TSN network.

[0042] In one possible implementation of the embodiment of the present application, the downlink 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 corresponding priority queues; the traffic scheduling mechanism set on the CN node module of the AUTBUS network is specifically used to schedule messages in each queue based on the AUTBUS scheduling cycle, the time slice 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.

[0043] As mentioned above, the CN node module of the AUTBUS network identifies and classifies the downlink AUTBUS messages through the downlink store-and-forward model, and stores them in the corresponding priority queues. The traffic scheduling mechanism is used to schedule the messages in each queue based on priority and time slices, so as to realize the same storage-and-forward and traffic scheduling mechanism of downlink messages in the AUTBUS network as the TSN network.

[0044] In one possible implementation of the embodiment of the present application, the TN node of the AUTBUS bus is provided with an uplink store-and-forward 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.

[0045] As described above, by setting up an uplink store-and-forward model and traffic scheduling mechanism at the TN node, the uplink message can be stored and forwarded and traffic scheduling in the AUTBUS network with the same mechanism as that of the TSN network.

[0046] In one possible implementation of an embodiment of the present application, the uplink store-and-forward model is specifically used to identify and classify AUTBUS messages and store them in corresponding priority queues; the traffic scheduling mechanism is specifically used to schedule 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.

[0047] As mentioned above, the TN node module of the AUTBUS bus identifies and classifies the uplink AUTBUS messages through the uplink store-and-forward 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 that the uplink messages in the AUTBUS network can be stored and forwarded and traffic scheduling with the same mechanism as the TSN network.

[0048] In a possible implementation of the embodiment of the present application, the CN node module in the fusion gateway receives the AUTBUS message and converts it into an Ethernet data stream, and then sends it to the TSN module in the fusion gateway.

[0049] As described above, after receiving the AUTBUS message through the CN node module in the fusion gateway and converting it into an Ethernet data stream, it is sent to the TSN module in the fusion gateway to realize the transmission of the message from the TN node in the TSN network. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is a structural diagram of a first embodiment of a heterogeneous system integrating a TSN network and an AUTBUS network of the present application;

[0051] Figure 2 This is a structural diagram of a time synchronization method for a heterogeneous system integrating a TSN network and an AUTBUS network according to a second embodiment of the present application;

[0052] Figure 3 This is a schematic diagram of the deviation of the start time of the scheduling cycle between the TSN network and the AUTBUS network in the second embodiment of a heterogeneous system integrating the TSN network and the AUTBUS network of the present application;

[0053] Figure 4 This is a schematic diagram of the start time deviation of a data flow end-to-end scheduling period in Example 2 of a heterogeneous system integrating a TSN network and an AUTBUS network of the present application;

[0054] Figure 5 This is a schematic diagram of the storage and forwarding model and traffic scheduling mechanism of the CN node module of the second embodiment of a heterogeneous system that integrates the TSN network and the AUTBUS network of this application. DETAILED DESCRIPTION

[0055] In the following description, reference is made to “some embodiments”, which describes 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.

[0056] 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 herein can be implemented in an order other than that illustrated or described herein.

[0057] 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 steps can be interchanged or they can be executed simultaneously.

[0058] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0059] Time Sensitive Networking (TSN) is a real-time network based on traditional Ethernet that uses highly accurate time synchronization, guarantees bandwidth to limit transmission latency, and provides high-quality service to support various industrial applications. Leveraging the strengths of Ethernet, TSN technology is increasingly being used. TSN networks are comprised of a series of technical standards, primarily covering clock synchronization, data flow scheduling strategies (i.e., shapers), and TSN network and user configuration.

[0060] The AUTBUS network includes the AUTBUS bus, a broadband fieldbus that uses a two-wire, unbridged medium and OFDM technology at the physical layer. The AUTBUS bus has a transmission rate of 100 Mbps at a distance of 500 meters and 6.25 Mbps at a distance of 2500 meters. It supports up to 254 nodes. The twisted-pair cable is polarity-insensitive, simplifying wiring.

[0061] AUTBUS bus nodes 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 AUTBUS bus time slot resources for the terminal node for data transmission, supporting mixed carrying of real-time and non-real-time business data, ensuring the time determinism and real-time performance of various data transmissions.

[0062] 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.

[0063] The embodiment of the present application provides a heterogeneous system that integrates a TSN network and an AUTBUS network, including: multiple TSN nodes and at least one integrated gateway and multiple TN nodes of the AUTBUS bus; the integrated gateway includes a TSN module and at least one CN node module of the AUTBUS network; the integrated gateway is connected to the TSN node via the TSN module therein; the CN node module of the integrated 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 synchronized with that of the TSN network. The CN node module of the AUTBUS network participates in the global scheduling and global resource allocation of the TSN as a node of the TSN network. The scheduling cycle of the AUTBUS network is consistent with the scheduling cycle of the TSN network. When the network configurator of the TSN network configures the end-to-end time determinism between the TSN node and the TN node, the end-to-end transmission delay includes the start time deviation between the TSN network scheduling cycle and the AUTBUS network scheduling cycle. The CN node module of the AUTBUS network is provided with the same storage and forwarding 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.

[0064] The technical solution of the embodiment of the present application is applied to the real-time broadband industrial Internet, with the TSN network as the switching network and the AUTBUS network as the access network. Based on the time synchronization and cyclic scheduling period of the TSN network and the AUTBUS network, the network configurator of the TSN network configures the time determinism of end-to-end transmission between TSN nodes and TN nodes, realizing end-to-end time determinism in the heterogeneous system of the TSN network and the AUTBUS network. In the best case, it only includes the line delay between nodes and the data processing delay within the node, and there is no waiting delay. The CN node module of the AUTBUS network is equipped with the same storage and forwarding model and traffic scheduling mechanism as the TSN network, and the AUTBUS bus is compatible with the TSN network in terms of data scheduling mechanism.

[0065] For example, the heterogeneous system provided in this application 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 as an AUTBUS TN node through a non-polarity twisted pair cable to a fusion gateway containing an AUTBUS control node and a TSN switching chip. The fusion gateway is connected to the TSN switch via Ethernet, and the data is aggregated upward to the system server at the upper layer to achieve precise control and management of the mirror field. Specifically, the solar thermal mirror field control system adopts a three-layer architecture, namely the AUTBUS bus layer, the access layer, and the aggregation layer. The AUTBUS bus layer connects to the heliostat controllers via polarity-neutral twisted-pair cables. Each AUTBUS bus can connect 10-15 heliostat controllers. The access layer uses AUTBUS to connect to a TSN switch. Two Ethernet optical ports, one active and one standby, are used to connect to the aggregation layer to form an Ethernet ring. Two Ethernet electrical ports, one active and one standby, are used to connect the AUTBUS to the TSN switch to form a local daisy-chain Ethernet network. The four AUTBUS bus channels can connect to a total of 40-60 heliostat controllers. The aggregation layer uses an n-port L3 managed switch to connect to the access layer TSN switch and to form an aggregation layer Ethernet ring, connecting to the system servers. The heterogeneous system time synchronization mechanism, scheduling cycle configuration strategy, and latency calculation provided by the embodiments of the present invention enable, on the one hand, the heliostat controller to transmit real-time data collected from the heliostats, such as position, angle, and reflectivity, to the system server via the AUTBUS and TSN networks according to the management requirements of the server, achieving end-to-end time determinism for the real-time data stream from the heliostat controller to the server. On the other hand, the server's control commands for the heliostat can also reach the heliostat controller on the AUTBUS network via the TSN network within a deterministic time.

[0066] The following describes various embodiments of the present application in conjunction with the accompanying drawings. Figure 1 The present invention introduces a first embodiment of a heterogeneous system integrating a TSN network and an AUTBUS network.

[0067] Figure 1 The structure of a first embodiment of a heterogeneous system integrating a TSN network and an AUTBUS network of the present application is shown, including a TSN network and several AUTBUS networks.

[0068] The TSN network is a switching network consisting of several TSN nodes, some of which are connected to the AUTBUS network. Each AUTBUS network is an access network, consisting of the AUTBUS bus's CN node (control node) and several TN nodes (terminal nodes). Each AUTBUS bus's TN node connects to industrial equipment for real-time control.

[0069] Among them, the 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.

[0070] For example, Figure 1 The TSN network in Figure 1 includes three TSN network nodes. TSN network node 1 (TSN Node 1) and the CN node of AUTBUS bus 1 form 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 Node 3) and the CN node of AUTBUS bus 2 form 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 TSN network nodes and converged gateway nodes is determined according to actual needs, as is the number of TN nodes connected to each AUTBUS bus.

[0071] The following describes this embodiment in detail from five aspects: time synchronization between the TSN network and the AUTBUS network, consistent scheduling cycles, end-to-end delay calculation, scheduling mechanism compatibility, and unified configuration.

[0072] (1) To achieve time synchronization between the TSN network and the AUTBUS network in a heterogeneous system, the TSN module of each converged gateway provides a physical clock source to the CN node module of the AUTBUS network so that the two heterogeneous networks have the same clock source. The CN node module performs phase alignment according to the time mark provided by the TSN module at fixed intervals, thereby keeping the phase of the AUTBUS network and the TSN network synchronized, that is, the start time of the two heterogeneous networks is synchronized.

[0073] In practical scenarios, the TSN network uses its time server as a reference, using the 1588 protocol to synchronize and calibrate the corresponding 1588 clock within each TSN node, and periodically synchronize the time. The time is in UTC, and the TSN time server ultimately connects to the GPS positioning time / Beidou time. Within the AUTBUS network, the CN control node is used as a reference. Within the AUTBUS physical layer communication mechanism, the AUTBUS communication clock is calibrated and synchronized within each TN node. For example, the CN node broadcasts a synchronization pilot signal to the AUTBUS network in fixed frames. The time is defined internally by the AUTBUS. The two networks use different time synchronization mechanisms. To address this technical issue, the TSN time server within the TSN module of the converged gateway provides a physical clock source for the CN node modules in the AUTBUS network, achieving clock synchronization between the two networks. The CN node modules perform phase alignment at regular intervals based on the time stamps provided by the TSN module, maintaining phase synchronization between the AUTBUS and TSN networks and achieving calibrated synchronization between the two networks. After the AUTBUS network and the TSN network achieve the same clock source and calibration source, the start time of the two networks remains synchronized, thus providing the same time reference for communication between the two networks.

[0074] In some embodiments of this example, the TSN module included in each converged gateway timestamps the CN node module of each AUTBUS network using the PPS+TOD method at the MAC layer of Ethernet. That is, the CN node module keeps the phase between the two networks synchronized at fixed intervals based on the time stamp provided by the TSN module, thereby achieving microsecond-level time calibration between the TSN network and the AUTBUS network, meeting the requirements of time-sensitive services.

[0075] In some implementations of this example, the time server of 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, further meeting the requirements of time-sensitive services.

[0076] In some embodiments 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. Based on the difference in 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.

[0077] (2) To achieve deterministic scheduling of TSN and AUTBUS networks in heterogeneous systems, each CN node module of the AUTBUS network participates in TSN global scheduling and global resource allocation as a TSN node. The scheduling cycle length of the AUTBUS network is consistent with the scheduling cycle length of the TSN network. Nodes in heterogeneous systems include TSN nodes, converged gateways including TSN modules and CN node modules, and AUTBUS TN nodes.

[0078] In some implementations of this embodiment, the start time of the scheduling period of each network node in the heterogeneous system is set based on the scheduling direction. For the downlink direction, the start time of the AUTBUS scheduling period is later than the TSN scheduling period, so that downlink data does not need to wait in the send queue. For the uplink direction, the start time of the AUTBUS scheduling period is earlier than the TSN scheduling period, so that uplink data does not need to wait in the send queue. The downlink direction is from the TSN network to the AUTBUS network and from the CN node of the AUTBUS network to the TN node. The uplink direction is from the AUTBUS network to the TSN network and from the TN node of the AUTBUS bus to the CN node. Each TSN node in the TSN network also has two scheduling directions.

[0079] In some implementations of this embodiment, when the fusion gateway includes CN node modules of multiple AUTBUS networks, i.e., multiple CN nodes, 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.

[0080] In some embodiments of this example, the time slice of data streams of 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 the heterogeneous system. For downlink data, when data streams of each priority on the TSN network have data streams of corresponding priority on an AUTBUS network, the time slices of the data streams of corresponding priority on the AUTBUS network and the TSN network are the same. When data streams of some priorities on the TSN network have data streams of corresponding priority on an AUTBUS network, the time slice of the data stream of a priority on the AUTBUS network is greater than the time slice of the data stream of the corresponding priority on the TSN network. In this case, the tolerance for delay jitter of data transmission is higher, the number of scheduling waits caused by delay jitter is reduced, and the determinism of end-to-end data transmission is improved.

[0081] In some implementations of this embodiment, 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 the duration of 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 duration of an AUTBUS symbol, 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 TSN priority constitute a TSN scheduling period, and the time slices of each TSN priority must be greater than the time slice of an AUTBUS symbol of the AUTBUS network.

[0082] In some implementations of this embodiment, when the destination TN nodes of several data streams of a priority correspond to different TN nodes of an AUTBUS network, the network configurator on the CN node module configures a time slice for each of the different TN nodes. 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 ensure that the priorities corresponding to different TN nodes are different. 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. However, during the configuration, it must be noted that there should not be too many TN nodes corresponding to one priority, so as to avoid the situation where too many time slices are configured and exceed the scheduling period.

[0083] (3) End-to-end latency calculation: The network configurator calculates the end-to-end latency of a data flow passing through a converged gateway, primarily based on the start-time offset between the TSN network scheduling cycle and the AUTBUS network scheduling cycle. This time offset represents the transmission latency between the TSN module and the CN node module of the converged gateway through which the data flow passes. The transmission latency between each converged gateway's TSN module and CN node module includes both the line latency and the data processing latency between the two.

[0084] 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 on the system maintains synchronization in communication and computing, ensuring that the data flow can achieve end-to-end time certainty when transmitted in a heterogeneous system.

[0085] In some implementations of this embodiment, the end-to-end transmission delay of the data stream passing through the fusion gateway includes: the transmission delay between the TSN nodes that the data stream passes through and is adjacent to, the transmission delay between the TSN node that the data stream passes through and is adjacent to the fusion gateway and the fusion gateway, the transmission delay between the TSN module inside the fusion gateway and the CN node module, and the transmission delay between the CN node module of the fusion gateway and the TN node passed through.

[0086] refer to Figure 4 End-to-end data flow A passes through TSN Node 1, TSN Node 2, the converged gateway, and AUTBUS-TN2. TSN Node 1 and TSN Node 2 are adjacent, and TSN Node 2 is adjacent to the converged gateway. For example, the adjacent TSN nodes through which data flow A passes are TSN Node 1 and TSN Node 2, with a transmission delay of ΔT1 between them. The TSN node through which data flow A passes, which is adjacent to the converged gateway, is TSN Node 2. The transmission delay between TSN Node 2 and the converged gateway is ΔT2, which is essentially the transmission delay between the CN node module of the converged gateway and TSN Node 2. The transmission delay between the TSN module within the converged gateway and the CN node module is ΔT3. The TN node through which data flow A passes is AUTBUS-TN2, with a transmission delay of ΔT4 between the CN node module of the converged gateway and AUTBUS-TN2.

[0087] Among them, the transmission delay between the passed and adjacent TSN nodes includes the line delay and data processing delay between the adjacent TSN nodes, and is used to determine the start time deviation between the scheduling cycles between the adjacent TSN nodes; the transmission delay between the passed fusion gateway and the adjacent TSN node also includes the line delay and data processing delay between the two, and is also used to determine the start time deviation between the scheduling cycles between the two.

[0088] Among them, the transmission delay between adjacent TSN nodes in the TSN network is obtained through the 802.1AS protocol. The transmission delay between the fusion gateway and the adjacent TSN node is also obtained through the 802.1AS protocol. The transmission delay between the CN node module and the TN node in the AUTBUS network is a fixed value.

[0089] (IV) To achieve scheduling mechanism compatibility between TSN network and AUTBUS network in heterogeneous systems, the nodes of AUTBUS network are regarded as extensions of TSN network. The CN node module of AUTBUS network is provided 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.

[0090] In some possible implementations of this embodiment, 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, and to implement flow mapping and frame structure mapping between AUTBUS messages and TSN messages, so as to implement conversion between the data flow of the MAC layer protocol in the AUTBUS PHY chip and the data flow of the Ethernet 802.3 MAC layer. In particular, both AUTBUS messages and TSN messages are divided into 8 priority levels, and both AUTBUS messages and TSN messages can be addressed based on MAC addresses. The TSN network and the AUTBUS network use a unified addressing method.

[0091] In some implementations of this embodiment, the store-and-forward model set on the CN node module of the AUTBUS network is a downlink store-and-forward model, which is used to implement flow identification, flow classification, and flow storage functions; 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, so as to achieve the same store-and-forward and traffic scheduling of downlink messages in the AUTBUS network as the TSN network. Here, flow identification is to identify the identity information of the downlink data flow, flow classification is to classify the downlink data flow according to the flow identity information, and the flow storage function is to store the downlink data flow according to the data frame according to the classification result into the corresponding queue.

[0092] In one possible implementation of this embodiment, the downlink 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 corresponding priority queues; 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, the time slice 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 through AUTBUS, so as to realize the storage-forwarding and traffic scheduling of downlink messages in the AUTBUS network with the same mechanism as the TSN network.

[0093] In some implementations of this embodiment, the TN node of the AUTBUS bus is provided with an uplink store-and-forward model and a traffic scheduling mechanism to implement flow identification, flow classification, and flow storage functions for AUTBUS messages, and implement a flow scheduling function based on priority and time slice allocation mechanism for the mapped AUTBUS messages, so as to implement the same storage, forwarding, and traffic scheduling mechanism for uplink messages in the AUTBUS network as in the TSN network. Flow identification here is to identify the identity information of the uplink data flow, 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 into the corresponding queue according to the data frame based on the classification result.

[0094] In some implementations of this 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 through AUTBUS, so as to realize the time-determined scheduling of the uplink messages.

[0095] In some implementations of this embodiment, the CN node module in the fusion gateway receives the AUTBUS message and converts it into an Ethernet data stream, and then 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.

[0096] (5) To achieve unified management and resource allocation 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.

[0097] In some implementations of this embodiment, the TSN network uses a centralized network configuration method to uniformly manage and configure resources for TSN nodes and CN control nodes in the converged gateway, thereby achieving unified management and resource configuration of the TSN network and the AUTBUS network.

[0098] In some implementations of this embodiment, the CN node of the AUTBUS network provides a configuration interface for the centralized network configurator CNC in the TSN network to perform resource configuration and network management on the AUTBUS network, thereby enabling the CNC of the TSN network to perform resource configuration and network management on the AUTBUS network.

[0099] In some implementations of this embodiment, the CN node of the AUTBUS network provides a configuration interface for the centralized network configurator CNC in the TSN network to configure the scheduling period on the AUTBUS network, thereby enabling the CNC of the TSN network to configure the scheduling period on the AUTBUS network.

[0100] In some implementations of this embodiment, a network configurator is provided on the 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. The time slices allocated to each TN node include multiple discontinuous or continuous durations.

[0101] In summary, in a first embodiment of a heterogeneous system integrating TSN network and AUTBUS network, the time of TSN network and AUTBUS network is synchronized and the scheduling cycle length is the same as the scheduling cycle length of TSN network, the starting time deviation between the scheduling cycles of adjacent nodes is equal to the propagation delay between the two nodes, and the CN node module of AUTBUS network is provided with the same storage and forwarding model and traffic scheduling mechanism as TSN network, which not only ensures the end-to-end communication time determinism of the data flow between TSN node and TN node, but also realizes the scheduling mechanism compatibility between TSN network and AUTBUS network.

[0102] The following combination Figures 1 to 5 A second embodiment of a heterogeneous system integrating a TSN network and an AUTBUS network is introduced.

[0103] A second embodiment of a heterogeneous system integrating a TSN network and an AUTBUS network is a detailed implementation of the first embodiment of a heterogeneous system integrating a TSN network and an AUTBUS bus, with all its advantages.

[0104] Figure 1 The structure of a second embodiment of a heterogeneous system integrating a TSN network and an AUTBUS network is also shown. In the heterogeneous system, time synchronization is performed between the TSN network and the AUTBUS network.

[0105] Inside each converged gateway, the TSN module and the CN node module share a PCB board and are connected via Ethernet. The TSN module calibrates the clock at the Ethernet MAC layer and provides a time stamp for the CN node module to achieve time synchronization between the TSN network and the AUTBUS network.

[0106] Figure 2This diagram shows the structure of the time synchronization method for the TSN module and CN node module within each converged gateway. The converged gateway's TSN module and CN node module are connected via ETH (Ethernet), with clock calibration performed at the Ethernet MAC layer. The TSN module's TSN switch chip uses a designed "PPS+TOD" interface (GPIO+UART connection) to synchronize the phase of the AUTBUS chip in the CN node module of the downstream AUTBUS network, achieving periodic timing according to UTC time.

[0107] Among them, PPS provides a periodic pulse signal to define the arrival of a specified UTC time, and TOD outputs 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 time calibration can be achieved from the same source.

[0108] In heterogeneous systems, data flows of each priority level are scheduled end-to-end deterministically using a scheduling cycle + time slice approach. The scheduling cycles of the TSN and AUTBUS networks are the same length and are configured on the TSN CNC.

[0109] The TSN network's CNC also configures the start time of the scheduling cycle for each node in the heterogeneous system. On network nodes through which end-to-end data flows pass, the deviation between the start times of the scheduling cycles of two adjacent nodes is set to the transmission delay between the two nodes in that data flow direction. The transmission delay between two adjacent nodes includes the line delay between the two nodes and the data processing delay in the first of the two adjacent nodes. The start time of the scheduling cycle for each node within the TSN network is first determined. Using the TSN module of the converged gateway as a reference, the start time of the scheduling cycle of the CN node module is configured based on the transmission delay between the CN node module and the TSN module within the converged gateway.

[0110] Figure 3 A schematic diagram shows the deviation of the start time of the scheduling cycle between the TSN network and the AUTBUS network. The scheduling cycle lengths of the AUTBUS network and the TSN network use the same value, 4ms for example. Δt is the difference in the start time of the scheduling cycle and is the transmission delay between the TSN module of the converged gateway and the CN node module. Figure 3 Indicates the start time deviation of the scheduling period between the TSN network and the AUTBUS network in the downstream scheduling direction within the converged gateway. The start time of the TSN network scheduling period is before that of the AUTBUS network. In the upstream scheduling direction, the start time of the TSN network scheduling period is after that of the AUTBUS network.

[0111] Among them, the deviation Δt of the start time of the scheduling cycle between the TSN module and the CN node module in each fusion gateway includes: the transmission delay Δtt between the TSN module and the CN node module in the fusion gateway is a determined value obtained in advance, and Δt is obtained based on Δtt. Δt can further include the jitter delay of the transmission delay.

[0112] Figure 4 A schematic diagram of the start time deviation of an end-to-end scheduling period of a data stream in a second embodiment of a heterogeneous system integrating a TSN network and an AUTBUS network is shown.

[0113] For the convenience of description, Figure 4 Take data flow FlowA from TSN Node1 to the TN node of the AUTBUS bus as an example.

[0114] Data flow FlowA is sent according to a period. The period of data flow FlowA controlled by the industrial control application layer is the same as the scheduling period of the TSN network. The time when data flow FlowA is sent is Period. TSN Node1 is the TSN node it is connected to. The starting data of its scheduling period is configured as Period+T0, and T0 is the time consumed by the service entering TSN Node1.

[0115] Data flow FlowA passes through TSN Node2 and the TSN module of the converged gateway in the forwarding path in the TSN network. Each node is uniformly configured with a unidirectional communication time slice at the same location; the transmission delay from TSN Node1 to TSN Node2 is ΔT1, and the time when TSN Node2's scheduling period starts is Period+T0+ΔT1; the transmission delay from TSN Node2 to the TSN module of the converged gateway is ΔT2, and the time when TSN Node2's scheduling period starts is Period+T0+ΔT1+ΔT2.

[0116] 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.

[0117] Both ΔT1 and ΔT2 include line delay and intra-node data processing delay. The transmission delay from the converged gateway's TSN module to the converged gateway's CN node module is ΔT3. The AUTBUS bus scheduling cycle begins at Period + T0 + ΔT1 + ΔT2 + ΔT3. This service flow is output at the final AUTBUS destination node, and its delay is added with ΔT4, which is the fixed line delay within the AUTBUS bus and is set according to the scheduling cycle.

[0118] Ultimately, 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 performance of its end-to-end communication.

[0119] The end-to-end delay, Period+T0+ΔT1+ΔT2+ΔT3+ΔT4, also takes into account the overall delay jitter caused by clock alignment jitter and internal processing jitter. This is described as Period+T±ΔTd, where T is the end-to-end delay within the system (T0+ΔT1+ΔT2+ΔT3+ΔT4), specifically the line delay and the node's 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's time synchronization jitter.

[0120] The TSN network's CNC also configures the time slices for each priority level of data flows within the TSN and AUTBUS networks. The time slices allocated to each priority level during the scheduling cycle are the same within the TSN network. For downstream data flows, the time slice corresponding to that priority level within the AUTBUS network is equal to or greater than the time slice within the TSN network. When a priority level includes data flows from multiple TN nodes, a time slice is allocated to each of the multiple TN nodes. When a priority level includes data flows from multiple TN nodes, the time slice corresponding to that priority level within the AUTBUS network for upstream data flows is equal to or less than the time slice within the TSN network.

[0121] Table 1 shows the time slices for scheduling data flows of each priority level within the TSN network. Pri represents the TSN network priority, which consists of eight priorities, 0 to 7, arranged in descending order. Gcl represents the time slice. Priorities 3 to 6 are each scheduled with a 0.1ms time slice, while priorities 0 to 2 (high priority) are scheduled with a 9.6ms time slice. Priority 7 is enabled to ensure that the AS protocol is not blocked.

[0122] Table 1

[0123] Gcl / pri 0 1 2 3 4 5 6 7 time 0 √ √ 0.1ms 1 √ √ 0.1ms 2 √ √ 0.1ms 3 √ √ 0.1ms 4 √ √ √ √ 9.6ms

[0124] Based on the time slice lengths for each priority level defined in Table 1, each time slice constitutes a TSN scheduling cycle. The start time and length of each time slice must be configured within the TSN scheduling cycle to determine the transmission position of each time slice within the TSN scheduling cycle. Using Table 1 as an example to illustrate the scheduling process, a TSN scheduling cycle of 10ms is configured, with five time slices per scheduling cycle. With gating state management enabled, in time slice 0, the gating state is 192 (binary 11000000), allowing only queues 6 and 7 to pass for 100μs. In time slice 1, the gating state is 160 (binary 10100000), opening queues 5 and 7 for 100μs. In time slice 2, the gating state is 144 (binary 10010000), opening queues 4 and 7 for 100μs. In time slice 3, the gating state is 136 (binary 10001000), opening queues 3 and 7 for 100μs. In time slice 4, the gate state is 135 (binary 10000111), and priority 0, 1, 2, and 7 queues are open for 9.6ms.

[0125] In a heterogeneous system, the scheduling cycles of the TSN network and the AUTBUS network are configured to have the same duration. The start time of the scheduling cycle of each node is configured based on the transmission between adjacent nodes. The time slices of data flows of each priority level in the TSN network and the AUTBUS network are configured to achieve end-to-end deterministic scheduling of data flows.

[0126] The CN node module of the AUTBUS network sets the configuration interface, which is used by the centralized network configurator CNC of the TSN network to configure the scheduling period of the AUTBUS network, the start time of the scheduling period of the uplink and downlink data flows of the AUTBUS network, and the time slice of each priority data flow. It is also used to divide the time slice of each priority to the TN node.

[0127] In a heterogeneous system, for the TSN network, each AUTBUS bus is a continuation of its network, and the CN node and TN node of each AUTBUS bus are nodes extended by the TSN network.

[0128] 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 802.3 MAC layer. The conversion includes at least one of the following: flow identification and classification, priority mapping.

[0129] Among them, an ingress port is set in the CN node module of each AUTBUS network to perform flow identification and classification on the standard fields (VLAN, IP, QOS, DSCP and other fields) in the link layer message of the TSN network and the TSN data stream identity information, and convert them into flow identity information in the downstream data stream of the AUTBUS bus. At the same time, the priority of the TSN data stream is mapped to the priority of the AUTBUS bus in the downstream data stream of the AUTBUS bus to obtain the downstream data stream of the AUTBUS bus. Each downstream data stream of the AUTBUS bus corresponds to a priority based on the AUTBUS bus.

[0130] 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.

[0131] For example, during flow identification and classification, the mapping between the standard fields of the flow identity information of the TSN data flow and the Data ID of the AUTBUS is achieved 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 achieved through a predefined priority mapping table.

[0132] The CN node module of each AUTBUS network is also used to implement the mapping between the data frames of the TSN data stream and the data frames of the AUTBUS bus, and to map the addresses in the data frames of the TSN data stream to the addresses in the data frames of the AUTBUS bus, thereby achieving unique addressing of the service flow within the converged gateway. During data frame mapping, because the data frame packet length of Ethernet is larger than the packet length of the AUTBUS link layer, a model is set up for the AUTBUS bus to move data from Ethernet to reduce the number of times the TSN data stream is unpacked.

[0133] 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.

[0134] Within the TSN network, each TSN network node identifies the flow identity of the TSN data stream through the storage and forwarding model. Each TSN data stream 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 stream. It is then scheduled to different output ports based on priority and time slices through the traffic scheduling mechanism.

[0135] 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 connected TSN network, converts the downstream data stream of the AUTBUS bus, and uses a store-and-forward model similar to TSN. After identifying the flow identity of the downstream data stream, the data frame of the downstream data stream is stored in the downstream buffer queue corresponding to the priority of the downstream data stream. Through a traffic scheduling mechanism similar to TSN, the CN node module of each AUTBUS network schedules a downstream time slice for each data frame in each downstream buffer queue according to the corresponding priority of each downstream buffer queue, and sends it to the target TN node within this time slice. The width of the downstream time slice of each data frame varies positively with the priority of the downstream data stream.

[0136] Figure 5 The figure shows the storage and forwarding model and traffic scheduling mechanism of the CN node module of the AUTBUS network. The CN node module is used to identify the flow identity of the downstream data flow of the AUTBUS bus and store the data frame of the downstream data flow into the downstream buffer queue corresponding to the priority of the downstream data flow. The AUTBUS bus defines 8 priorities based on data type, so Figure 5 There are eight buffer queues in the AUTBUS. The CN node module is also used to schedule the output of the downlink buffer queue according to traffic scheduling rules similar to TSN time. According to the corresponding priority of each downlink buffer queue, the CN node module schedules the downlink time slice for each data frame in each downlink buffer queue. It should be noted that when data streams sent to multiple TN nodes on an AUTBUS bus correspond to the same priority, the CN node module will schedule each data stream of that priority to be sent to the time slice of the corresponding TN node.

[0137] In the uplink scheduling direction of the AUTBUS bus, the TN node of each AUTBUS bus uses the store-and-forward model of 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 sent by the TN node of the AUTBUS bus into a TSN data flow after receiving the uplink data flow, so as to send it to the TSN network.

[0138] Note that the above are only preferred embodiments of the present application and the technical principles employed. 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 has been described in more detail through the above embodiments, the present application is not limited to the above embodiments and may include many other equivalent embodiments without departing from the scope of protection of the present application, all of which fall within the scope of protection of the present application.

Claims

1. A heterogeneous system integrating TSN network and AUTBUS network, characterized in that: include: Multiple TSN nodes and at least one converged gateway and multiple AUTBUS TN nodes; The fusion gateway includes a 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 fusion gateway CN node module 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 participates in the global scheduling and global resource allocation of TSN as a node of the TSN network. The scheduling cycle of the AUTBUS network is consistent with the scheduling cycle of the TSN network. When the network configurator of the TSN network configures the end-to-end time determinism between the TSN node and the TN node, the end-to-end transmission delay includes the start time deviation between the TSN network scheduling period and the AUTBUS network scheduling period, and the start time deviation is obtained according to the transmission delay between the TSN module and the CN node module of the fusion gateway. The start time of the scheduling period of each network node in the heterogeneous system is set based on the scheduling direction. For the downlink direction, the start time of the scheduling period of the AUTBUS network is later than that of the TSN network, so that the downlink data does not need to wait in the sending queue; for the uplink direction, the start time of the scheduling period of the AUTBUS network is earlier than that of the TSN network, so that the uplink data does not need to wait in the sending queue; 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. The store-and-forward model is a downlink store-and-forward model, which is used to identify and classify downlink AUTBUS messages and store them in corresponding priority queues; the traffic scheduling mechanism is used to schedule the messages in each queue based on the AUTBUS scheduling cycle, the time slice 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 through the AUTBUS bus; The centralized network configurator CNC of the TSN network configures the time slice of the TSN network and the AUTBUS network for each priority data flow. When the same priority includes data flows of multiple TN nodes, a time slice is allocated to each of the multiple TN nodes.

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

3. The system according to claim 1, wherein: The TSN module included in the fusion gateway performs time stamping on the CN node module of each AUTBUS network through the PPS+TOD method at the MAC layer of the Ethernet.

4. The system according to claim 1, wherein: The TSN module included in the fusion gateway and the CN node module of the AUTBUS network are set on the same PCB board.

5. The system according to claim 1, wherein: 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.

6. The system according to claim 1, wherein: The TSN network uses a centralized network configuration method to uniformly manage and configure resources for TSN nodes and CN control nodes in the converged gateway.

7. The system according to claim 1, wherein: The CN node of the AUTBUS network provides a configuration interface for the centralized network configurator CNC in the TSN network to perform resource configuration and network management on the AUTBUS network.

8. The system according to claim 1, wherein: The CN node of the AUTBUS network provides a configuration interface for the centralized network configurator CNC in the TSN network to configure the scheduling cycle on the AUTBUS network.

9. The system according to claim 1, wherein: The scheduling period of the TSN network is based on the minimum scheduling granularity setting of the AUTBUS network.

10. The system according to claim 1, wherein: 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 system according to claim 1, wherein: The CN node module of the AUTBUS network is provided with a network configurator for dividing the scheduling period configured by the TSN network configurator into multiple time slices and allocating the divided time slices to the TN nodes on the AUTBUS network.

12. The system according to claim 1, wherein: When the fusion gateway includes 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 on each AUTBUS network.

13. The system according to claim 1, wherein: The downlink transmission delay between the converged gateway TSN module and the CN node module includes the line delay between the two and the data processing delay of the TSN module. The uplink transmission delay between the converged gateway TSN module and the CN node module includes the line delay between the two and the data processing delay of the CN node module.

14. The system according to claim 1, wherein: When calculating the end-to-end transmission delay of the data flow passing through the fusion gateway, it also includes: the transmission delay between the adjacent TSN nodes through which the data flow passes, the transmission delay between the TSN nodes adjacent to the fusion gateway through which the data flow passes and the fusion gateway, and the transmission delay between the fusion gateway passed and the TN nodes passed.

15. The system according to claim 1, wherein: The CN node module of the AUTBUS network is also used to implement conversion between AUTBUS messages and TSN messages, including priority conversion and address conversion.

16. The system according to claim 1, wherein: The TN node of the AUTBUS bus is equipped with an uplink store-and-forward model and a traffic scheduling mechanism 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.

17. The system according to claim 16, wherein: The uplink store-and-forward model is specifically used to identify and classify AUTBUS messages and store them in corresponding priority queues; 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.

18. The system according to claim 15, wherein: The CN node module in the fusion gateway receives the AUTBUS message and converts it into an Ethernet data stream, and then sends it to the TSN module in the fusion gateway.

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