5G Internet of Vehicles TSN fusion simulator

Abstract

The invention relates to the technical field of 5G Internet of Vehicles, and discloses a 5G Internet of Vehicles TSN fusion simulator, which comprises an OMNeT + + base layer, and is characterized in that the OMNeT + + base layer comprises a 5G communication module, a TSN module, a vehicle communication and mobility module, a road traffic simulation module, an interaction cooperation module and a simulation control module; the 5G communication module provides a 5G wireless communication capability for the Internet of Vehicles; the TSN module provides support of a wired network side for fusion of the Internet of Vehicles and the TSN; the vehicle communication and mobility module provides vehicle dynamic characteristic support for a vehicle networking scene; the road traffic simulation module provides traffic scene input for the vehicle communication and mobility module. According to the invention, through cooperation of the 5G communication module and the TSN module and combination of the cross-module data transmission capability of the interaction cooperation module, end-to-end wired and wireless cooperation scenes of a TSN control center-5G network-vehicle node can be simulated, and joint simulation of 5G and TSN in the dynamic environment of the Internet of Vehicles is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of 5G vehicle networking, in particular to a 5G vehicle networking TSN fusion simulator. BACKGROUND

[0002] With the deep integration of intelligent transportation and industrial automation, 5G vehicle networking (C-V2X) has become the core support for vehicle cooperative driving, remote control and other scenarios due to its ultra-low latency and high reliability wireless communication capabilities. Time-sensitive network (TSN) has achieved millisecond-level latency guarantee in wired networks through deterministic scheduling, traffic shaping and other mechanisms. The fusion of the two is a key direction to meet the "wired-wireless collaboration" scenarios such as vehicle-road cooperation and factory internal mobile robot control.

[0003] Currently, 5G vehicle networking simulation mainly relies on Simu5G (OMNeT++ library), which can realize 5G RAN / core network data plane simulation and end-to-end performance evaluation of C-V2X vehicle networking scenarios (such as vehicle platooning), but lacks TSN function support. TSN and 5G fusion simulation relies on the 5GTQ framework, which realizes 5G-TSN bridging (DS-TT / NW-TT), QoS mapping based on Simu5G and INET4.4, but is not optimized for vehicle networking scenarios and cannot support vehicle mobility models, C-V2X direct communication (D2D), and vehicle networking dedicated traffic scheduling. Therefore, we propose a 5G vehicle networking TSN fusion simulator. SUMMARY

[0004] (I) Technical problems solved

[0005] In view of the deficiencies of the prior art, the present application provides a 5G vehicle networking TSN fusion simulator, which solves the problem that the existing scheme is not optimized for vehicle networking scenarios and cannot support vehicle mobility models, C-V2X direct communication (D2D), and vehicle networking dedicated traffic scheduling.

[0006] (II) Technical solutions

[0007] To achieve the above object, the application is implemented by the following technical solutions: a 5G vehicle networking TSN fusion simulator, comprising an OMNeT++ basic layer, the OMNeT++ basic layer comprising a 5G communication module, a TSN module, a vehicle communication and mobility module, a road traffic simulation module, an interactive coordination module and a simulation control module; the 5G communication module provides 5G wireless communication capability for vehicle networking; the TSN module provides wired network side support for vehicle networking and TSN fusion; the vehicle communication and mobility module provides vehicle dynamic characteristic support for vehicle networking scenarios; the road traffic simulation module provides traffic scenario input for the vehicle communication and mobility module; the interactive coordination module connects each functional module to realize data interaction and coordination between modules; the simulation control module is responsible for the control of the entire simulation process, including simulation parameter setting, simulation process starting and stopping, simulation data collection and the like, through the coordination of the 5G communication module and the TSN module, combined with the cross-module data transmission capability of the interactive coordination module, the end-to-end wired and wireless coordination scenarios of "TSN control center-5G network-vehicle node" can be simulated, the joint simulation of 5G and TSN in the vehicle networking dynamic environment is realized, the simulation control module can uniformly configure parameters, start and stop the process, and collect key data such as end-to-end delay, traffic priority and switching state throughout the process, not only reducing the technical dependence of the operator on multiple tools, but also ensuring that the simulation process is traceable and the results are reproducible, providing clear data support for subsequent optimization of 5G-TSN fusion strategies for vehicle networking.

[0008] Further, the 5G communication module supports 5G enabled com, realizes 5G NR full protocol stack, C-V2X Mode 1 / 2 scheduling and the like, and is a key support for high-speed and low-latency communication between vehicles and networks, with OMNeT++ as a unified basic layer, seamless data interaction between 5G communication, TSN, vehicle movement, road traffic and the like is realized through the interactive coordination module, avoiding compatibility problems and data fragmentation when multiple tools are simulated separately.

[0009] Further, the TSN module comprises a DS-TT module and a NW-TT module, the DS-TT module has time-aware scheduling function, and the NW-TT module has TSN core functions such as traffic shaping, and can realize deterministic delay guarantee in wired networks, the TSN module realizes time-aware scheduling and traffic shaping, provides millisecond-level delay guarantee for wired networks, and the C-V2X-TSN traffic coordination module establishes a three-dimensional mapping table of "TSN PCP-5G 5QI-C-V2X traffic type", binds C-V2X safety class traffic to the highest priority of TSN and 5G DC-GBR, and ensures the priority transmission of core traffic.

[0010] Furthermore, the vehicle communication and mobility module includes functions such as Vehicular Com and Mobility, which can simulate communication interactions between vehicles and the vehicle's movement status. By integrating the vehicle communication and mobility module, the road traffic simulation module, and the vehicle-to-everything (V2X) dedicated interference model, it solves the problem that 5GTQ only supports static nodes and lacks vehicle mobility and C-V2X D2D communication.

[0011] Furthermore, the road traffic simulation module can simulate real road traffic environments, output vehicle distribution and traffic flow data, and input the data to the vehicle communication and mobility module, making the vehicle mobility simulation close to the actual scenario. The road traffic simulation module can simulate real road traffic flow, and the vehicle communication and mobility module can output real-time vehicle location and speed data and simulate vehicle-to-vehicle direct communication. The vehicle-to-everything (V2X) dedicated interference model can reproduce path loss caused by vehicle occlusion. At the same time, the vehicle-TSN scheduling linkage module can dynamically adjust the TSN GCL according to vehicle movement data to ensure that the simulation scenario fits the actual working conditions of V2X such as high-speed vehicle movement and cross-gNB handover, providing real and reliable simulation support for performance evaluation of scenarios such as vehicle-road cooperation and vehicle platooning.

[0012] Furthermore, it also includes a vehicle-to-network (TSN) coordination layer, which includes a vehicle-to-TSN scheduling and linkage module, a C-V2X-TSN traffic coordination module, and a vehicle-to-network interference TSN compensation module; the vehicle-to-TSN scheduling and linkage module can read vehicle location and speed data output by the 5G communication module and dynamically adjust the TSN GCL.

[0013] Furthermore, the vehicle-TSN scheduling linkage module is configured with a preset distance threshold. When the distance between the vehicle and the serving gNB exceeds the preset threshold, a GCL update command is sent to the TSN control center to adjust the TSN gate opening and closing time to match the 5G handover latency.

[0014] Furthermore, the C-V2X-TSN traffic coordination module establishes a three-dimensional mapping table of "TSN PCP-5G 5QI-C-V2X traffic type", mapping TSN PCP priority to 5G 5QI, where TSN PCP 7 is mapped to 5G DC-GBR 5QI=9, TSN PCP 4 is mapped to 5G GBR 5QI=5, and TSN PCP 0 is mapped to 5G Non-GBR 5QI=99, and the corresponding C-V2X secure / non-secure traffic types are bound.

[0015] Furthermore, the vehicle-to-everything (V2X) interference TSN compensation module is configured to: adjust the TSN CBS shaping parameters during the vehicle's cross-gNB handover phase to compensate for the latency fluctuations caused by the handover, ensuring that the end-to-end latency is ≤3ms.

[0016] Furthermore, the DS-TT module of the TSN module is deeply integrated with the vehicle UE of the 5G communication module, supporting uninterrupted TSN frame encapsulation / decapsulation during vehicle cross-gNB handover, ensuring the continuity of 5G-TSN bridging in mobile scenarios. During the handover compensation phase, the deep integration of the DS-TT module with the vehicle UE ensures the continuity of frame processing. Combined with the vehicle network interference TSN compensation module to adjust the CBS parameters, the latency fluctuation caused by cross-gNB handover can be compensated to ≤3ms, meeting the stringent requirements of vehicle network for transmission latency and stability.

[0017] In summary, the technical effects and advantages of this invention are as follows:

[0018] 1. In this invention, by coordinating the 5G communication module and the TSN module, and combining the cross-module data transmission capability of the interactive coordination module, the end-to-end wired and wireless coordination scenario of "TSN control center - 5G network - vehicle node" can be simulated, realizing the joint simulation of 5G and TSN in the dynamic environment of vehicle networking.

[0019] 2. In this invention, by integrating a vehicle communication and mobility module, a road traffic simulation module, and a dedicated interference model for vehicle-to-everything (V2X) communication, the problem that 5GTQ only supports static nodes and lacks vehicle mobility and C-V2X D2D communication is solved. The road traffic simulation module can simulate real road traffic flow, the vehicle communication and mobility module can output real-time vehicle location and speed data and simulate vehicle-to-vehicle direct communication, and the dedicated interference model for V2X communication can reproduce path loss caused by vehicle occlusion. At the same time, the vehicle-TSN scheduling linkage module can dynamically adjust the TSN GCL according to vehicle movement data to ensure that the simulation scenario fits the actual working conditions of V2X communication such as high-speed vehicle movement and cross-gNB handover, providing realistic and reliable simulation support for performance evaluation of scenarios such as vehicle-road cooperation and vehicle platooning.

[0020] 3. In this invention, the TSN module implements time-aware scheduling and traffic shaping, providing millisecond-level latency guarantees for wired networks. The C-V2X-TSN traffic coordination module establishes a three-dimensional mapping table of "TSN PCP-5G 5QI-C-V2X traffic types", binding C-V2X security traffic to the highest priority of TSN and 5G DC-GBR to ensure priority transmission of core traffic. In addition, during the handover compensation phase, the deep integration of the DS-TT module with the vehicle UE ensures the continuity of frame processing. Combined with the vehicle network interference TSN compensation module to adjust CBS parameters, the latency fluctuations caused by cross-gNB handover can be compensated to ≤3ms, meeting the stringent requirements of vehicle networks for transmission latency and stability.

[0021] 4. In this invention, OMNeT++ is used as a unified basic layer. Seamless data interaction between modules such as 5G communication, TSN, vehicle movement, and road traffic is achieved through interactive collaboration modules. This avoids compatibility issues and data fragmentation that occur when multiple tools are used for separate simulation. The simulation control module can uniformly configure parameters and start / stop procedures, and collect key data such as end-to-end latency, traffic priority, and switching status throughout the process. This not only reduces the operator's technical dependence on multiple tools, but also ensures that the simulation process is traceable and the results are reproducible, providing clear data support for subsequent optimization of 5G-TSN fusion strategies for vehicle networking. Attached Figure Description

[0022] Fig. 1 This is a schematic diagram of the system architecture of a 5G vehicle-to-everything (V2X) fusion simulator according to the present invention;

[0023] Fig. 2 This is a simulation example diagram of a 5G vehicle-to-everything (V2X) fusion simulator according to the present invention. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] refer to Figs. 1-2The 5G vehicle-to-everything (V2X) TSN fusion simulator shown includes an OMNeT++ base layer. The OMNeT++ base layer comprises a 5G communication module, a TSN module, a vehicle communication and mobility module, a road traffic simulation module, an interactive collaboration module, and a simulation control module. The 5G communication module provides 5G wireless communication capabilities for the V2X network, supporting 5G-enabled COM and implementing the full 5G NR protocol stack, C-V2X Mode 1 / 2 scheduling, etc., serving as a key support for high-speed, low-latency communication between vehicles and the network. Using OMNeT++ as a unified base layer, the interactive collaboration module enables seamless data interaction between 5G communication, TSN, vehicle mobility, and road traffic modules, avoiding compatibility issues and data fragmentation common in multi-tool separate simulations. The TSN module provides wired network support for the integration of V2X and TSN. The vehicle communication and mobility module provides support for vehicle dynamic characteristics in V2X scenarios, encompassing Vehicular... With features such as COM and Mobility, it can simulate vehicle-to-vehicle communication and interaction as well as vehicle movement. By integrating vehicle communication and mobility modules, road traffic simulation modules, and dedicated interference models for vehicle-to-everything (V2X) communication, it addresses the limitations of 5GTQ, which only supports static nodes and lacks vehicle mobility and C-V2X capabilities. The D2D communication problem; the road traffic simulation module provides traffic scenario input for the vehicle communication and mobility module; the interactive collaboration module connects various functional modules to realize data interaction and collaboration between modules, ensuring that 5G vehicle networking and TSN functions can be effectively integrated in the simulation; the simulation control module is responsible for controlling the entire simulation process, including simulation parameter setting, simulation process start and stop, simulation data collection, etc. Through the collaboration of the 5G communication module and the TSN module, combined with the cross-module data transmission capability of the interactive collaboration module, it can simulate the end-to-end wired and wireless collaborative scenario of "TSN control center-5G network-vehicle node", realize the joint simulation of 5G and TSN in the dynamic environment of vehicle networking. The simulation control module can uniformly configure parameters and start and stop processes, and collect key data such as end-to-end latency, traffic priority, and switching status throughout the process. This not only reduces the operator's technical dependence on multiple tools, but also ensures that the simulation process is traceable and the results are reproducible, providing clear data support for subsequent optimization of vehicle networking 5G-TSN integration strategy.

[0026] Furthermore, the TSN module includes a DS-TT module and an NW-TT module. The DS-TT module has time-aware scheduling capabilities, while the NW-TT module has core TSN functions such as traffic shaping, enabling deterministic latency guarantees in wired networks. The TSN module implements time-aware scheduling and traffic shaping, providing millisecond-level latency guarantees for wired networks. The C-V2X-TSN traffic coordination module establishes a three-dimensional mapping table of "TSN PCP-5G 5QI-C-V2X traffic types," binding C-V2X security traffic to the highest priority TSN and 5G DC-GBR to ensure priority transmission of core traffic.

[0027] Furthermore, the road traffic simulation module can simulate real road traffic environments, output vehicle distribution and traffic flow data, and input the data into the vehicle communication and mobility module, making the vehicle mobility simulation close to the actual scenario. The road traffic simulation module can simulate real road traffic flow, and the vehicle communication and mobility module can output real-time vehicle location and speed data and simulate vehicle-to-vehicle direct communication. The vehicle-to-everything (V2X) dedicated interference model can reproduce path loss caused by vehicle occlusion. At the same time, the vehicle-TSN scheduling linkage module can dynamically adjust the TSN GCL according to vehicle movement data to ensure that the simulation scenario fits the actual working conditions of V2X such as high-speed vehicle movement and cross-gNB handover, providing realistic and reliable simulation support for performance evaluation of scenarios such as vehicle-road cooperation and vehicle platooning.

[0028] Furthermore, it also includes a vehicle-to-network (TSN) coordination layer, which includes a vehicle-to-TSN scheduling and linkage module, a C-V2X-TSN traffic coordination module, and a vehicle-to-network interference TSN compensation module. The vehicle-to-TSN scheduling and linkage module can read vehicle location and speed data output by the 5G communication module and dynamically adjust the TSN GCL.

[0029] Furthermore, the vehicle-TSN scheduling linkage module is configured with a preset distance threshold. When the distance between the vehicle and the serving gNB exceeds the preset threshold, a GCL update command is sent to the TSN control center to adjust the TSN gate opening and closing time to match the 5G handover latency.

[0030] Furthermore, the C-V2X-TSN traffic coordination module establishes a three-dimensional mapping table of "TSN PCP-5G 5QI-C-V2X traffic type", mapping TSN PCP priority to 5G 5QI, where TSN PCP 7 is mapped to 5G DC-GBR 5QI=9, TSN PCP 4 is mapped to 5G GBR 5QI=5, and TSN PCP 0 is mapped to 5G GNBon-GBR 5QI=99, and the corresponding C-V2X security / non-security traffic types are bound.

[0031] Furthermore, the vehicle-to-everything (V2X) interference TSN compensation module is configured to: adjust the TSN CBS shaping parameters during the vehicle's cross-gNB handover phase to compensate for the latency fluctuations caused by the handover, ensuring that the end-to-end latency is ≤3ms.

[0032] Furthermore, the DS-TT module of the TSN module is deeply integrated with the vehicle UE of the 5G communication module, supporting uninterrupted TSN frame encapsulation / decapsulation during vehicle cross-gNB handover, ensuring the continuity of 5G-TSN bridging in mobile scenarios. During the handover compensation phase, the deep integration of the DS-TT module with the vehicle UE ensures the continuity of frame processing. Combined with the vehicle-to-everything (V2X) interference TSN compensation module to adjust CBS parameters, the latency fluctuations caused by cross-gNB handover can be compensated to ≤3ms, meeting the stringent requirements of V2X for transmission latency and stability.

[0033] The working principle of this invention is as follows: This 5G vehicle-to-everything (V2X) fusion simulator uses the OMNeT++ base layer as its core operating platform. By integrating the 5G communication module, TSN module, vehicle communication and mobility module, road traffic simulation module, interactive collaboration module, simulation control module, and V2X-TSN collaboration layer, it realizes the fusion simulation of 5G V2X and TSN. The specific workflow is divided into three stages: simulation initialization, dynamic simulation operation, and handover compensation. Each module works together to complete the joint scheduling and end-to-end simulation of 5G-TSN in the V2X scenario.

[0034] During the simulation initialization phase, the simulation control module first completes parameter configuration, including setting the initial vehicle speed, serving gNB coverage, TSN GCL initial gating time, C-V2X traffic type, and end-to-end latency threshold. Simultaneously, the road traffic simulation module loads preset real road traffic scenario data, generates vehicle distribution and initial traffic flow states, and transmits this data to the vehicle communication and mobility module via the interactive collaboration module, providing initial input for vehicle dynamics simulation. The 5G communication module and TSN module also complete protocol stack initialization during this phase. The 5G communication module activates the 5G NR full protocol stack and C-V2X Mode 1 / 2 scheduling function, while the TSN module activates the DS-TT module's time-aware scheduling and the NW-TT module's traffic shaping function, ensuring that each module has basic operational capabilities.

[0035] After entering the dynamic simulation operation phase, the vehicle communication and mobility module simulates vehicle movement and inter-vehicle communication based on traffic flow data input from the road traffic simulation module. It also synchronizes real-time vehicle location and speed data to the 5G communication module and the vehicle-to-grid (TSN) collaborative layer via the interaction and coordination module. Upon receiving vehicle data, the 5G communication module utilizes 5G-enabled COM capabilities to achieve high-speed, low-latency communication between the vehicle and the network, while simulating dedicated interference for vehicle-to-grid systems to ensure the realism of the communication simulation. The TSN module, through the collaboration of the DS-TT and NW-TT modules, performs time-aware scheduling and traffic shaping in the wired network, providing deterministic latency guarantees for 5G-TSN convergence. Simultaneously, the C-V2X-TSN traffic coordination module of the vehicle-to-grid collaborative layer calls the "TSN PCP-5G 5QI-C-V2X traffic type" three-dimensional mapping table to link TSN PCP priority with 5G... 5QI and C-V2X traffic type binding ensures high-priority transmission of core vehicle-to-everything (V2X) traffic. Furthermore, the vehicle-TSN scheduling linkage module in the V2X-TSN collaboration layer reads vehicle location and speed data output by the 5G communication module in real time, monitoring the distance between vehicles and the serving gNB. All data interactions between modules are achieved through the interactive collaboration module. For example, traffic flow data from the road traffic simulation module, vehicle dynamic data from the vehicle communication and mobility module, communication status data from the 5G communication module, and scheduling data from the TSN module are all integrated and transmitted through the interactive collaboration module, ensuring the real-time performance and consistency of simulation data. The simulation control module collects simulation data from each module throughout the process, recording key indicators such as end-to-end latency, traffic transmission priority, and vehicle switching status, ensuring the traceability of the simulation process.

[0036] When entering the handover compensation phase, if the high-speed movement of the vehicle simulated by the vehicle communication and mobility module causes the distance between the vehicle and the serving gNB to exceed a preset threshold, the vehicle will trigger a cross-gNB handover. At this time, the DS-TT module of the TSN module, due to its deep integration with the vehicle UE of the 5G communication module, can maintain uninterrupted TSN frame encapsulation / decapsulation during the handover process, ensuring the continuity of 5G-TSN bridging. Simultaneously, the vehicle-to-everything (V2X) interference TSN compensation module of the V2X-TSN collaboration layer is activated, adjusting the TSN CBS shaping parameters to compensate for latency fluctuations caused by communication interference during the handover process. The simulation control module monitors the end-to-end latency in real time to ensure that the latency after compensation still meets the requirement of ≤3ms. Finally, the 5G-TSN fusion simulation in the vehicle cross-gNB handover scenario is completed, realizing deterministic scheduling and stable communication simulation in the dynamic scenario of V2X.

[0037] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A 5G vehicle-to-everything (V2X) TSN fusion emulator, comprising an OMNeT++ base layer, characterized in that: The OMNeT++ base layer includes a 5G communication module, a TSN module, a vehicle communication and mobility module, a road traffic simulation module, an interactive collaboration module, and a simulation control module. The 5G communication module provides 5G wireless communication capabilities for the vehicle-to-everything (V2X) network. The TSN module provides wired network support for the integration of V2X and TSN. The vehicle communication and mobility module provides vehicle dynamic characteristic support for V2X scenarios. The road traffic simulation module provides traffic scenario input for the vehicle communication and mobility module. The interactive collaboration module connects the various functional modules, enabling data interaction and collaboration between modules. The simulation control module is responsible for controlling the entire simulation process, including setting simulation parameters, starting and stopping the simulation process, and collecting simulation data.

2. The 5G vehicle-to-everything (V2X) TSN fusion simulator according to claim 1, characterized in that: The 5G communication module supports 5G enabled com, realizes the full 5G NR protocol stack, C-V2X Mode 1 / 2 scheduling, etc., and is a key support for high-speed, low-latency communication between vehicles and the network.

3. The 5G vehicle-to-everything (V2X) TSN fusion simulator according to claim 1, characterized in that: The TSN module includes a DS-TT module and an NW-TT module. The DS-TT module has time-aware scheduling capabilities, and the NW-TT module has core TSN functions such as traffic shaping, enabling deterministic latency guarantees in wired networks.

4. A 5G vehicle-to-everything (V2X) TSN fusion simulator according to claim 1, characterized in that: The vehicle communication and mobility module includes functions such as Vehicular Com and Mobility, which can simulate communication interactions between vehicles and the vehicle's movement status.

5. A 5G vehicle-to-everything (V2X) TSN fusion simulator according to claim 1, characterized in that: The road traffic simulation module can simulate a real road traffic environment, output vehicle distribution and traffic flow data, and input the data into the vehicle communication and mobility module to make the vehicle mobility simulation closely resemble the actual scenario.

6. A 5G vehicle-to-everything (V2X) TSN fusion simulator according to claim 1, characterized in that: It also includes a vehicle-to-network (TSN) coordination layer, which includes a vehicle-to-TSN scheduling and linkage module, a C-V2X-TSN traffic coordination module, and a vehicle-to-network interference TSN compensation module. The vehicle-to-TSN scheduling and linkage module can read vehicle location and speed data output by the 5G communication module and dynamically adjust the TSN GCL.

7. A 5G vehicle-to-everything (V2X) TSN fusion simulator according to claim 6, characterized in that: The vehicle-TSN scheduling linkage module is configured with a preset distance threshold. When the distance between the vehicle and the serving gNB exceeds the preset threshold, a GCL update command is sent to the TSN control center to adjust the TSN gate opening and closing time to match the 5G handover latency.

8. A 5G vehicle-to-everything (V2X) TSN fusion simulator according to claim 6, characterized in that: The C-V2X-TSN traffic coordination module establishes a three-dimensional mapping table of "TSN PCP-5G 5QI-C-V2X traffic type", mapping TSN PCP priority to 5G 5QI, where TSN PCP 7 is mapped to 5G DC-GBR 5QI=9, TSN PCP 4 is mapped to 5G GBR 5QI=5, and TSN PCP 0 is mapped to 5G Non-GBR 5QI=99, and binds the corresponding C-V2X security / non-security traffic types.

9. A 5G vehicle-to-everything (V2X) TSN fusion simulator according to claim 6, characterized in that: The vehicle-to-everything (V2X) interference TSN compensation module is configured to adjust the TSN CBS shaping parameters during the vehicle's cross-gNB handover phase to compensate for the latency fluctuations caused by the handover, ensuring that the end-to-end latency is ≤3ms.

10. A 5G vehicle-to-everything (V2X) TSN fusion simulator according to claim 1, characterized in that: The DS-TT module of the TSN module is deeply integrated with the vehicle UE of the 5G communication module, which supports uninterrupted TSN frame encapsulation / decapsulation when the vehicle switches across gNBs, ensuring the continuity of 5G-TSN bridging in mobile scenarios.

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